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Fix loop sync in PWM mode #175

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Fix loop sync in PWM mode #175

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Binary file modified docs/calculations.ods
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4 changes: 2 additions & 2 deletions lib/Espfc/src/Model.h
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Original file line number Diff line number Diff line change
Expand Up @@ -359,7 +359,7 @@ class Model
// for synced and standard PWM limit loop rate and pwm pulse width
if(config.output.protocol == ESC_PROTOCOL_PWM && state.loopRate > 500)
{
config.loopSync = std::max(config.loopSync, (int8_t)((state.loopRate + 499) / 500)); // align loop rate to lower than 500Hz
config.loopSync = std::max(config.loopSync, (int8_t)((state.gyroRate + 499) / 500)); // align loop rate to lower than 500Hz
state.loopRate = state.gyroRate / config.loopSync;
if(state.loopRate > 480 && config.output.maxThrottle > 1940)
{
Expand All @@ -369,7 +369,7 @@ class Model
// for onshot125 limit loop rate to 2kHz
if(config.output.protocol == ESC_PROTOCOL_ONESHOT125 && state.loopRate > 2000)
{
config.loopSync = std::max(config.loopSync, (int8_t)((state.loopRate + 1999) / 2000)); // align loop rate to lower than 2000Hz
config.loopSync = std::max(config.loopSync, (int8_t)((state.gyroRate + 1999) / 2000)); // align loop rate to lower than 2000Hz
state.loopRate = state.gyroRate / config.loopSync;
}
}
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