2011-09-08 22:29:39 -03:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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2015-05-13 03:09:36 -03:00
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#include "Plane.h"
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2015-08-28 03:01:32 -03:00
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#include <AP_RSSI/AP_RSSI.h>
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2015-05-13 03:09:36 -03:00
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void Plane::init_barometer(void)
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2011-09-08 22:29:39 -03:00
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{
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2015-11-03 23:52:54 -04:00
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gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
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2012-12-04 18:22:21 -04:00
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barometer.calibrate();
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2012-11-18 17:09:44 -04:00
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2015-11-18 15:17:50 -04:00
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gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
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2011-09-08 22:29:39 -03:00
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}
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2015-05-13 03:09:36 -03:00
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void Plane::init_rangefinder(void)
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2013-10-30 19:23:21 -03:00
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{
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2015-05-13 20:00:11 -03:00
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#if RANGEFINDER_ENABLED == ENABLED
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2014-08-26 08:17:47 -03:00
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rangefinder.init();
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2015-05-13 20:00:11 -03:00
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#endif
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2013-10-30 19:23:21 -03:00
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}
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2014-08-26 08:17:47 -03:00
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/*
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read the rangefinder and update height estimate
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*/
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2015-05-13 03:09:36 -03:00
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void Plane::read_rangefinder(void)
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2013-10-30 19:23:21 -03:00
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{
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2015-05-13 20:00:11 -03:00
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#if RANGEFINDER_ENABLED == ENABLED
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2015-10-15 18:50:06 -03:00
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// notify the rangefinder of our approximate altitude above ground to allow it to power on
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// during low-altitude flight when configured to power down during higher-altitude flight
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float height;
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#if AP_TERRAIN_AVAILABLE
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if (terrain.status() == AP_Terrain::TerrainStatusOK && terrain.height_above_terrain(height, true)) {
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rangefinder.set_estimated_terrain_height(height);
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} else
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#endif
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{
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// use the best available alt estimate via baro above home
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if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
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flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL) {
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// ensure the rangefinder is powered-on when land alt is higher than home altitude.
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// This is done using the target alt which we know is below us and we are sinking to it
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height = height_above_target();
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} else {
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// otherwise just use the best available baro estimate above home.
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height = relative_altitude();
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}
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rangefinder.set_estimated_terrain_height(height);
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}
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2014-08-26 08:17:47 -03:00
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rangefinder.update();
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2014-01-13 22:07:43 -04:00
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if (should_log(MASK_LOG_SONAR))
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2013-10-30 19:23:21 -03:00
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Log_Write_Sonar();
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2014-08-26 22:50:07 -03:00
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rangefinder_height_update();
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2015-05-13 20:00:11 -03:00
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#endif
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2013-10-30 19:23:21 -03:00
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}
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2015-07-31 00:21:50 -03:00
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/*
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calibrate compass
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*/
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void Plane::compass_cal_update() {
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if (!hal.util->get_soft_armed()) {
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compass.compass_cal_update();
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}
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}
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2015-10-21 18:11:52 -03:00
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/*
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Accel calibration
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*/
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void Plane::accel_cal_update() {
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if (hal.util->get_soft_armed()) {
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return;
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}
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ins.acal_update();
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float trim_roll, trim_pitch;
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if(ins.get_new_trim(trim_roll, trim_pitch)) {
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ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
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}
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}
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2013-08-28 09:37:07 -03:00
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/*
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ask airspeed sensor for a new value
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*/
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2015-05-13 03:09:36 -03:00
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void Plane::read_airspeed(void)
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2011-09-08 22:29:39 -03:00
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{
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2013-06-04 00:34:58 -03:00
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if (airspeed.enabled()) {
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airspeed.read();
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2014-01-27 19:35:59 -04:00
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if (should_log(MASK_LOG_IMU)) {
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Log_Write_Airspeed();
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}
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2013-06-04 00:34:58 -03:00
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calc_airspeed_errors();
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2014-11-11 20:26:49 -04:00
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// supply a new temperature to the barometer from the digital
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// airspeed sensor if we can
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float temperature;
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if (airspeed.get_temperature(temperature)) {
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barometer.set_external_temperature(temperature);
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}
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2013-06-04 00:34:58 -03:00
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}
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2014-11-11 22:35:34 -04:00
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// update smoothed airspeed estimate
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float aspeed;
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if (ahrs.airspeed_estimate(&aspeed)) {
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smoothed_airspeed = smoothed_airspeed * 0.8f + aspeed * 0.2f;
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}
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2011-09-08 22:29:39 -03:00
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}
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2015-05-13 03:09:36 -03:00
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void Plane::zero_airspeed(bool in_startup)
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2011-09-08 22:29:39 -03:00
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{
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2014-11-13 06:12:59 -04:00
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airspeed.calibrate(in_startup);
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2014-11-11 20:26:49 -04:00
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read_airspeed();
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// update barometric calibration with new airspeed supplied temperature
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barometer.update_calibration();
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2015-11-18 15:17:50 -04:00
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gcs_send_text(MAV_SEVERITY_INFO,"Zero airspeed calibrated");
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2011-09-08 22:29:39 -03:00
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}
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2013-09-29 09:54:39 -03:00
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// read_battery - reads battery voltage and current and invokes failsafe
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// should be called at 10hz
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2015-05-13 03:09:36 -03:00
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void Plane::read_battery(void)
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2011-09-08 22:29:39 -03:00
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{
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2013-09-29 09:54:39 -03:00
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battery.read();
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2014-04-14 19:28:32 -03:00
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compass.set_current(battery.current_amps());
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2012-08-16 21:50:15 -03:00
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2015-08-13 23:41:19 -03:00
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if (!usb_connected &&
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hal.util->get_soft_armed() &&
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battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
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2013-05-22 07:33:57 -03:00
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low_battery_event();
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}
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2011-09-08 22:29:39 -03:00
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}
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2012-08-22 00:58:25 -03:00
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// read the receiver RSSI as an 8 bit number for MAVLink
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2012-08-22 00:33:12 -03:00
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// RC_CHANNELS_SCALED message
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2015-05-13 03:09:36 -03:00
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void Plane::read_receiver_rssi(void)
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2012-08-22 00:33:12 -03:00
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{
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2015-08-28 03:01:32 -03:00
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receiver_rssi = rssi.read_receiver_rssi_uint8();
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2012-08-22 00:33:12 -03:00
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}
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2012-09-19 03:22:53 -03:00
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2015-09-24 07:58:18 -03:00
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/*
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update RPM sensors
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*/
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void Plane::rpm_update(void)
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{
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rpm_sensor.update();
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if (rpm_sensor.healthy(0) || rpm_sensor.healthy(1)) {
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if (should_log(MASK_LOG_RC)) {
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DataFlash.Log_Write_RPM(rpm_sensor);
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}
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}
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}
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