From cafe727f3ab831b93afea602291cc7787d76aaf6 Mon Sep 17 00:00:00 2001
From: Mark Haslinghuis <mark@numloq.nl>
Date: Thu, 23 Nov 2023 22:56:14 +0100
Subject: [PATCH] Fix Dshot telemetry (#13140)

* Fix Dshot telemetry

* Revert check per review
---
 src/main/fc/core.c            | 11 +++++------
 src/main/fc/runtime_config.c  |  2 +-
 src/main/fc/runtime_config.h  |  2 +-
 src/main/osd/osd_warnings.c   |  2 +-
 src/main/target/common_post.h |  5 +----
 5 files changed, 9 insertions(+), 13 deletions(-)

diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index dd52b05663b..ebeea263de3 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -360,13 +360,12 @@ void updateArmingStatus(void)
         }
 #endif
 
-#ifdef USE_RPM_FILTER
-        // USE_RPM_FILTER will only be defined if USE_DSHOT and USE_DSHOT_TELEMETRY are defined
-        // If the RPM filter is enabled and any motor isn't providing telemetry, then disable arming
-        if (isRpmFilterEnabled() && !isDshotTelemetryActive()) {
-            setArmingDisabled(ARMING_DISABLED_RPMFILTER);
+#ifdef USE_DSHOT_TELEMETRY
+        // If Dshot Telemetry is enabled and any motor isn't providing telemetry, then disable arming
+        if (motorConfig()->dev.useDshotTelemetry && !isDshotTelemetryActive()) {
+            setArmingDisabled(ARMING_DISABLED_DSHOT_TELEM);
         } else {
-            unsetArmingDisabled(ARMING_DISABLED_RPMFILTER);
+            unsetArmingDisabled(ARMING_DISABLED_DSHOT_TELEM);
         }
 #endif
 
diff --git a/src/main/fc/runtime_config.c b/src/main/fc/runtime_config.c
index 8185ed4bd7a..fa97b266ea5 100644
--- a/src/main/fc/runtime_config.c
+++ b/src/main/fc/runtime_config.c
@@ -54,7 +54,7 @@ const char *armingDisableFlagNames[]= {
     "PARALYZE",
     "GPS",
     "RESCUE_SW",
-    "RPMFILTER",
+    "DSHOT_TELEM",
     "REBOOT_REQD",
     "DSHOT_BBANG",
     "NO_ACC_CAL",
diff --git a/src/main/fc/runtime_config.h b/src/main/fc/runtime_config.h
index c8d250bfd73..d5e8ba4727f 100644
--- a/src/main/fc/runtime_config.h
+++ b/src/main/fc/runtime_config.h
@@ -60,7 +60,7 @@ typedef enum {
     ARMING_DISABLED_PARALYZE        = (1 << 17),
     ARMING_DISABLED_GPS             = (1 << 18),
     ARMING_DISABLED_RESC            = (1 << 19),
-    ARMING_DISABLED_RPMFILTER       = (1 << 20),
+    ARMING_DISABLED_DSHOT_TELEM     = (1 << 20),
     ARMING_DISABLED_REBOOT_REQUIRED = (1 << 21),
     ARMING_DISABLED_DSHOT_BITBANG   = (1 << 22),
     ARMING_DISABLED_ACC_CALIBRATION = (1 << 23),
diff --git a/src/main/osd/osd_warnings.c b/src/main/osd/osd_warnings.c
index 2de7a86e60a..e8b29ebb6a3 100644
--- a/src/main/osd/osd_warnings.c
+++ b/src/main/osd/osd_warnings.c
@@ -338,7 +338,7 @@ void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr)
 
             // Add esc warnings
             if (ARMING_FLAG(ARMED) && osdConfig()->esc_rpm_alarm != ESC_RPM_ALARM_OFF
-                    && (dshotTelemetryState.motorState[k].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_eRPM)) != 0
+                    && isDshotMotorTelemetryActive(k)
                     && (dshotTelemetryState.motorState[k].telemetryData[DSHOT_TELEMETRY_TYPE_eRPM] * 100 * 2 / motorConfig()->motorPoleCount) <= osdConfig()->esc_rpm_alarm) {
                 warningText[dshotEscErrorLength++] = 'R';
             }
diff --git a/src/main/target/common_post.h b/src/main/target/common_post.h
index 9667076519e..3733ca60f2e 100644
--- a/src/main/target/common_post.h
+++ b/src/main/target/common_post.h
@@ -482,6 +482,7 @@
 #ifndef USE_DSHOT_TELEMETRY
 #undef USE_RPM_FILTER
 #undef USE_DSHOT_TELEMETRY_STATS
+#undef USE_DYN_IDLE
 #endif
 
 #if !defined(USE_BOARD_INFO)
@@ -568,10 +569,6 @@ extern uint8_t __config_end;
 #define RAM_CODE                   __attribute__((section(".ram_code")))
 #endif
 
-#if !defined(USE_RPM_FILTER)
-#undef USE_DYN_IDLE
-#endif
-
 #ifndef USE_ITERM_RELAX
 #undef USE_ABSOLUTE_CONTROL
 #endif