ardupilot/libraries/AP_RPM/RPM_Generator.cpp

39 lines
1.2 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_RPM_config.h"
#if AP_RPM_GENERATOR_ENABLED
#include "RPM_Generator.h"
#include <AP_Generator/AP_Generator.h>
void AP_RPM_Generator::update(void)
{
const auto *generator = AP::generator();
if (generator == nullptr) {
return;
}
if (generator->healthy()) {
state.rate_rpm = generator->get_rpm();
state.rate_rpm *= ap_rpm._params[state.instance].scaling;
state.signal_quality = 0.5;
} else {
state.signal_quality = 0;
}
}
#endif // AP_RPM_GENERATOR_ENABLED