From 668b30e8e97c91fee2a126fdaee5c09d88b02a07 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 31 Oct 2019 12:20:41 +0900
Subject: [PATCH] AP_BLHeli: minor style fix for get_average_moto_frequency_hz
---
libraries/AP_BLHeli/AP_BLHeli.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/libraries/AP_BLHeli/AP_BLHeli.cpp b/libraries/AP_BLHeli/AP_BLHeli.cpp
index a7b8538fe9..998e910db2 100644
--- a/libraries/AP_BLHeli/AP_BLHeli.cpp
+++ b/libraries/AP_BLHeli/AP_BLHeli.cpp
@@ -1300,7 +1300,7 @@ bool AP_BLHeli::get_telem_data(uint8_t esc_index, struct telem_data &td)
float AP_BLHeli::get_average_motor_frequency_hz() const
{
float motor_freq = 0.0f;
- uint32_t now = AP_HAL::millis();
+ const uint32_t now = AP_HAL::millis();
uint8_t valid_escs = 0;
// average the rpm of each motor as reported by BLHeli and convert to Hz
for (uint8_t i = 0; i < num_motors; i++) {
@@ -1309,7 +1309,7 @@ float AP_BLHeli::get_average_motor_frequency_hz() const
motor_freq += last_telem[i].rpm / 60.0f;
}
}
- if (valid_escs) {
+ if (valid_escs > 0) {
motor_freq /= valid_escs;
}