mirror of https://github.com/ArduPilot/ardupilot
43 lines
1.4 KiB
C++
43 lines
1.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include "RPM_HarmonicNotch.h"
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extern const AP_HAL::HAL& hal;
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/*
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open the sensor in constructor
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*/
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AP_RPM_HarmonicNotch::AP_RPM_HarmonicNotch(AP_RPM &_ap_rpm, uint8_t _instance, AP_RPM::RPM_State &_state) :
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AP_RPM_Backend(_ap_rpm, _instance, _state)
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{
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instance = _instance;
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}
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void AP_RPM_HarmonicNotch::update(void)
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{
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AP_InertialSensor& ins = AP::ins();
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if (ins.get_gyro_harmonic_notch_tracking_mode() != HarmonicNotchDynamicMode::Fixed) {
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state.rate_rpm = ins.get_gyro_dynamic_notch_center_freq_hz() * 60.0f;
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state.rate_rpm *= ap_rpm._scaling[state.instance];
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state.signal_quality = 0.5f;
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state.last_reading_ms = AP_HAL::millis();
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}
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}
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