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Unwanted RPM behaviour #1

Description

@LMerbecks

In the RPM measuring algorithm there must be an error. The RPM sometimes jumps to very low or high numbers.

A suspicion is that this results from the switching between measuring and control state. Follow this logic:

The RPM is measured but the change detected on the tacho signal is from the control signal still or already.

Is this possible at all? It doesn't seem like measuring and controlling can happen at the same time as the code forbids this.

Need to investigate more.

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