Rpm mode

[negre]

Hi,

I have worked on rpm mode with the AM32 firmware. It would be nice if you integrate the changes on your code. The main modifications are :

• Improvement of the closed loop rpm mode

  • add a feed-forward term based on the input voltage and the motor Kv, that greatly improves the response time and reduce oscillations.
  • correction of the "doPidCalculations" function (numeric precision error due to the "float" type)

• Change the eeprom memory layout to add rpm mode activation and pid tuning

  • this is no more compatible with "Esc_Config_Tool" nor "esc-configurator" but I have forked the "esc-configurator" here : https://github.com/gipsa-lab-uav/esc-configurator
  • The new memory terms are eeprom[48] : RPM mode if val !=0 eeprom[49] : min RPM / 1000 eeprom[50] : max RPM / 1000 eeprom[51] : PID.Kp eeprom[52] : PID.Ki eeprom[53] : PID.Kd eeprom[54] : PID.integral_limit / 100000

• Add an option to configure the serial telemetry pin in OpenDrain

• Add some targets (HGLRC35_F051 for hglrc T-Rex 35A, and HKMICRO_F051 for ReadyToSky 35A LED)

I have successfully tested the firmware with HGLRC esc T-Rex 35A, HGLRC 4en1 Zeus 45A and ReadyToSky 35A)

[AlkaMotors]

I like parts of this, the drive by rpm mode was going to be an eeprom addition in the future and i have added those changes to my config too but I used different memory offsets. I would not be able to merge this as is. Do you use discord? I would like to discuss this more with you possibly. There are many things that i would like to incorporate from your pr but there are a few things to consider when increasing the settings area.

[negre]

OK that's nice if you can include the rpm mode tuning in the esc configuration tools. I've just joined the discord server if you wanna talk about the PR.