Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-18 06:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_RPM: fix reporting of RPM from the harmonic notch

Browse Source
This commit is contained in:
Andy Piper 2022-09-13 18:13:58 +01:00 committed by Andrew Tridgell
parent 81c138e0a4
commit 9d3f4d1906
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_RPM/RPM_HarmonicNotch.cpp
View File

@ -35,7 +35,7 @@ void AP_RPM_HarmonicNotch::update(void)
for (auto &notch : ins.harmonic_notches) { for (auto &notch : ins.harmonic_notches) {
if (notch.params.enabled() && if (notch.params.enabled() &&
notch.params.tracking_mode() != HarmonicNotchDynamicMode::Fixed) { notch.params.tracking_mode() != HarmonicNotchDynamicMode::Fixed) {
state.rate_rpm = notch.params.center_freq_hz() * 60; state.rate_rpm = notch.calculated_notch_freq_hz[0] * 60;
state.rate_rpm *= ap_rpm._params[state.instance].scaling; state.rate_rpm *= ap_rpm._params[state.instance].scaling;
state.signal_quality = 0.5f; state.signal_quality = 0.5f;
state.last_reading_ms = AP_HAL::millis(); state.last_reading_ms = AP_HAL::millis();