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Plane: convert to new get_rpm() API

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This commit is contained in:
Andrew Tridgell 2020-03-06 10:50:52 +11:00
parent 375c08f39c
commit 8aaefea2a4
1 changed files with 3 additions and 2 deletions
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5
ArduPlane/system.cpp
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@ -466,9 +466,10 @@ void Plane::update_dynamic_notch()
break;
case HarmonicNotchDynamicMode::UpdateRPM: // rpm sensor based tracking
if (rpm_sensor.healthy(0)) {
float rpm;
if (rpm_sensor.get_rpm(0, rpm)) {
// set the harmonic notch filter frequency from the main rotor rpm
ins.update_harmonic_notch_freq_hz(MAX(ref_freq, rpm_sensor.get_rpm(0) * ref / 60.0f));
ins.update_harmonic_notch_freq_hz(MAX(ref_freq, rpm * ref / 60.0f));
} else {
ins.update_harmonic_notch_freq_hz(ref_freq);
}