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ArduSub: 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 0cf4254290
commit 9b60443fa4
3 changed files with 1 additions and 17 deletions
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2
ArduSub/ArduSub.cpp
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@ -76,7 +76,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_InertialSensor, &sub.ins, periodic, 400, 50, 60), SCHED_TASK_CLASS(AP_InertialSensor, &sub.ins, periodic, 400, 50, 60),
SCHED_TASK_CLASS(AP_Scheduler, &sub.scheduler, update_logging, 0.1, 75, 63), SCHED_TASK_CLASS(AP_Scheduler, &sub.scheduler, update_logging, 0.1, 75, 63),
#if RPM_ENABLED == ENABLED #if RPM_ENABLED == ENABLED
SCHED_TASK(rpm_update, 10, 200, 66), SCHED_TASK_CLASS(AP_RPM, &sub.rpm_sensor, update 10, 200, 66),
#endif #endif
SCHED_TASK_CLASS(Compass, &sub.compass, cal_update, 100, 100, 69), SCHED_TASK_CLASS(Compass, &sub.compass, cal_update, 100, 100, 69),
SCHED_TASK(terrain_update, 10, 100, 72), SCHED_TASK(terrain_update, 10, 100, 72),

3
ArduSub/Sub.h
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@ -406,9 +406,6 @@ private:
float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt); float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
void update_poscon_alt_max(); void update_poscon_alt_max();
void rotate_body_frame_to_NE(float &x, float &y); void rotate_body_frame_to_NE(float &x, float &y);
#if RPM_ENABLED == ENABLED
void rpm_update();
#endif
void Log_Write_Control_Tuning(); void Log_Write_Control_Tuning();
void Log_Write_Attitude(); void Log_Write_Attitude();
void Log_Write_MotBatt(); void Log_Write_MotBatt();

13
ArduSub/sensors.cpp
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@ -71,19 +71,6 @@ bool Sub::rangefinder_alt_ok() const
return (rangefinder_state.enabled && rangefinder_state.alt_healthy); return (rangefinder_state.enabled && rangefinder_state.alt_healthy);
} }
/*
update RPM sensors
*/
#if RPM_ENABLED == ENABLED
void Sub::rpm_update(void)
{
rpm_sensor.update();
if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
logger.Write_RPM(rpm_sensor);
}
}
#endif
/* /*
ask airspeed sensor for a new value, duplicated from plane ask airspeed sensor for a new value, duplicated from plane
*/ */