Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_RCTelemetry: add and use AP_RPM_ENABLED

This commit is contained in:
Peter Barker 2022-08-12 09:35:07 +10:00 committed by Andrew Tridgell
parent bcf03eb01d
commit bdc848743d
1 changed files with 2 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp
View File

@ -302,6 +302,7 @@ void AP_Spektrum_Telem::calc_rpm()
// battery voltage in centivolts, can have up to a 12S battery (4.25Vx12S = 51.0V)
_telem.rpm.volts = htobe16(((uint16_t)roundf(_battery.voltage(0) * 100.0f)));
_telem.rpm.temperature = htobe16(int16_t(roundf(32.0f + AP::baro().get_temperature(0) * 9.0f / 5.0f)));
#if AP_RPM_ENABLED
const AP_RPM *rpm = AP::rpm();
float rpm_value;
if (!rpm || !rpm->get_rpm(0, rpm_value) || rpm_value < 999.0f) {
@ -310,6 +311,7 @@ void AP_Spektrum_Telem::calc_rpm()
_telem.rpm.microseconds = htobe16(uint16_t(roundf(MICROSEC_PER_MINUTE / rpm_value)));
_telem.rpm.dBm_A = 0x7F;
_telem.rpm.dBm_B = 0x7F;
#endif
_telem_pending = true;
}