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AP_RPM: set health false if disabled during runtime

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Tom Pittenger 2019-01-31 07:02:54 -08:00 committed by Randy Mackay
parent 6048c10a7c
commit 2646e37e2c
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_RPM/AP_RPM.cpp
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@ -132,9 +132,11 @@ void AP_RPM::update(void)
for (uint8_t i=0; i<num_instances; i++) {
if (drivers[i] != nullptr) {
if (_type[i] == RPM_TYPE_NONE) {
// allow user to disable a RPM sensor at runtime
// allow user to disable an RPM sensor at runtime and force it to re-learn the quality if re-enabled.
state[i].signal_quality = 0;
continue;
}
drivers[i]->update();
}
}
@ -145,7 +147,7 @@ void AP_RPM::update(void)
*/
bool AP_RPM::healthy(uint8_t instance) const
{
if (instance >= num_instances) {
if (instance >= num_instances || _type[instance] == RPM_TYPE_NONE) {
return false;
}