Skip to content

max loop rate with pwm motor output fix #194

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
rtlopez merged 1 commit into from
Jan 9, 2026
Merged

max loop rate with pwm motor output fix #194

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions lib/Espfc/src/Model.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -363,7 +363,7 @@ 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.gyro.rate + 499) / 500)); // align loop rate to lower than 500Hz
state.loopRate = state.gyro.rate / config.loopSync;
if(state.loopRate > 480 && config.output.maxThrottle > 1940)
{
Expand All @@ -373,7 +373,7 @@ 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.gyro.rate + 1999) / 2000)); // align loop rate to lower than 2000Hz
state.loopRate = state.gyro.rate / config.loopSync;
}
}
Expand Down