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AP_ICEngine: 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 0f83da7e16
commit a93aa27cc1
1 changed files with 5 additions and 4 deletions
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9
libraries/AP_ICEngine/AP_ICEngine.cpp
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@ -229,8 +229,9 @@ void AP_ICEngine::update(void)
gcs().send_text(MAV_SEVERITY_INFO, "Stopped engine");
} else if (rpm_instance > 0) {
// check RPM to see if still running
if (!rpm.healthy(rpm_instance-1) ||
rpm.get_rpm(rpm_instance-1) < rpm_threshold) {
float rpm_value;
if (!rpm.get_rpm(rpm_instance-1, rpm_value) ||
rpm_value < rpm_threshold) {
// engine has stopped when it should be running
state = ICE_START_DELAY;
}
@ -365,10 +366,10 @@ void AP_ICEngine::update_idle_governor(int8_t &min_throttle)
}
// get current RPM feedback
uint32_t rpmv = ap_rpm->get_rpm(rpm_instance-1);
float rpmv;
// Double Check to make sure engine is really running
if (rpmv < 1) {
if (!ap_rpm->get_rpm(rpm_instance-1, rpmv) || rpmv < 1) {
// Reset idle point to the default value when the engine is stopped
idle_governor_integrator = min_throttle;
return;