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Rover: move RPM sensor logging into AP_RPM

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Peter Barker 2022-01-05 22:23:45 +11:00 committed by Andrew Tridgell
parent 9b60443fa4
commit 94dca37d2e
3 changed files with 1 additions and 13 deletions
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2
Rover/Rover.cpp
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@ -96,7 +96,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
#if GRIPPER_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Gripper, &rover.g2.gripper, update, 10, 75, 69),
#endif
SCHED_TASK(rpm_update, 10, 100, 72),
SCHED_TASK_CLASS(AP_RPM, &rover.rpm_sensor, update, 10, 100, 72),
#if HAL_MOUNT_ENABLED
SCHED_TASK_CLASS(AP_Mount, &rover.camera_mount, update, 50, 200, 75),
#endif

1
Rover/Rover.h
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@ -353,7 +353,6 @@ private:
void update_wheel_encoder();
void read_rangefinders(void);
void read_airspeed();
void rpm_update(void);
// Steering.cpp
void set_servos(void);

11
Rover/sensors.cpp
View File

@ -101,14 +101,3 @@ void Rover::read_airspeed(void)
{
g2.airspeed.update(should_log(MASK_LOG_IMU));
}
/*
update RPM sensors
*/
void Rover::rpm_update(void)
{
rpm_sensor.update();
if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
logger.Write_RPM(rpm_sensor);
}
}