ardupilot/libraries/AP_RPM/RPM_HarmonicNotch.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include "RPM_HarmonicNotch.h"
extern const AP_HAL::HAL& hal;
/*
open the sensor in constructor
*/
AP_RPM_HarmonicNotch::AP_RPM_HarmonicNotch(AP_RPM &_ap_rpm, uint8_t _instance, AP_RPM::RPM_State &_state) :
AP_RPM_Backend(_ap_rpm, _instance, _state)
{
instance = _instance;
}
void AP_RPM_HarmonicNotch::update(void)
{
AP_InertialSensor& ins = AP::ins();
if (ins.get_gyro_harmonic_notch_tracking_mode() != HarmonicNotchDynamicMode::Fixed) {
state.rate_rpm = ins.get_gyro_dynamic_notch_center_freq_hz() * 60.0f;
state.rate_rpm *= ap_rpm._params[state.instance].scaling;
state.signal_quality = 0.5f;
state.last_reading_ms = AP_HAL::millis();
}
}