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AP_RPM: Move timeout check into synthetic quality check.

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This commit is contained in:
Robert Lefebvre 2015-11-25 23:08:51 -05:00 committed by Andrew Tridgell
parent fd106b20c7
commit 59a44008d7
2 changed files with 5 additions and 4 deletions
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4
libraries/AP_RPM/AP_RPM.cpp
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@ -135,10 +135,6 @@ bool AP_RPM::healthy(uint8_t instance) const
if (instance >= num_instances) {
return false;
}
// assume we get readings at at least 1Hz
if (AP_HAL::millis() - state[instance].last_reading_ms > 1000) {
return false;
}
// check that data quality is above minimum required
if (state[instance].signal_quality < _quality_min[0]) {

5
libraries/AP_RPM/RPM_PX4_PWM.cpp
View File

@ -120,6 +120,11 @@ void AP_RPM_PX4_PWM::update(void)
if (count != 0) {
state.last_reading_ms = AP_HAL::millis();
}
// assume we get readings at at least 1Hz, otherwise reset quality to zero
if (AP_HAL::millis() - state.last_reading_ms > 1000) {
state.signal_quality = 0;
}
}
#endif // CONFIG_HAL_BOARD