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add dronecan negative rpm in reverse direction #165

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add dronecan negative rpm in reverse direction #165

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6 changes: 5 additions & 1 deletion Src/DroneCAN/DroneCAN.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1020,7 +1020,11 @@ static void send_ESCStatus(void)
current.count = 0;

pkt.temperature = C_TO_KELVIN(degrees_celsius);
pkt.rpm = (e_rpm * 200) / eepromBuffer.motor_poles;
if (forward) {
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Suggested change
if (forward) {
if (forward != eepromBuffer.dir_reversed) {

Tested on top of #164. Reversing the direction in the ESC shouldn't reverse the sign of the RPM. The RPM sign should match the throttle sign if the motor is operating correctly.

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@Huibean Huibean Jan 26, 2025 •
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@tpwrules can you make a PR for this?I am not sure how the negative RPM is actually used in FC(just CW/CCW in here), maybe you PR this will be better?

pkt.rpm = (e_rpm * 200) / eepromBuffer.motor_poles;
} else {
pkt.rpm = (e_rpm * 200) / eepromBuffer.motor_poles * -1;
}
pkt.power_rating_pct = 0; // how do we get this?
pkt.esc_index = eepromBuffer.can.esc_index;

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