magic fafo constant found

spinnyboy_rust/src/bin/dc_driver/dshot.rs

@@ -16,6 +16,7 @@ fn calculate_crc(frame: u16) -> u16 {
 IFlight XING-E Pro 2207 2750KV 
 */
 const XING_EPRO_22_POLES: u32 = 4; 
+const XING_EPRO_22_MAGNETS: u32 = 14; 
 
 #[allow(dead_code)]
 #[allow(non_camel_case_types)]
@@ -322,8 +323,9 @@ impl<'a> DShot<'a> {
                                             let period_ms: u32 = (mantissa << exp).into();
                                             let erpm = (60 * 1_000_000) / period_ms;
 
-                                            let rpm = erpm/XING_EPRO_22_POLES;
-                                            self.rpm.set(Some(rpm))
+                                            let rpm = erpm/(XING_EPRO_22_MAGNETS/2);
+                                            // let rpm = erpm/7;
+                                            self.rpm.set(Some((rpm as f32) as _))
                                         }
                                     }
                                 }

spinnyboy_rust/src/bin/main.rs

@@ -126,8 +126,8 @@ fn main() -> ! {
     //PID-Controller
     let loop_time = Duration::from_micros(10);
     let cfg = pid::PidConfigBuilder::default()
-    .kp(3.0)
-    .ki(1.0).output_limits(100.00, 2040.00)
+    .kp(2.0)
+    .ki(0.1).output_limits(100.00, 2040.00)
     .sample_time(loop_time)
     .filter_tc(0.1)
     .build()
@@ -137,7 +137,7 @@ fn main() -> ! {
     let set_point = DEFAULT_TARGET_RPM;
     dshot_esc.arm();
     let mut rpm = 0;
-    let mut control: f32 = 200.0;
+    let mut control: f32 = 600.0;
     // let timestamp = Instant::now();
     loop {
         dshot_esc.process();