mirror of https://github.com/ArduPilot/ardupilot
39 lines
1.2 KiB
C++
39 lines
1.2 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_RPM_config.h"
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#if AP_RPM_GENERATOR_ENABLED
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#include "RPM_Generator.h"
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#include <AP_Generator/AP_Generator.h>
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void AP_RPM_Generator::update(void)
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{
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const auto *generator = AP::generator();
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if (generator == nullptr) {
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return;
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}
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if (generator->healthy()) {
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state.rate_rpm = generator->get_rpm();
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state.rate_rpm *= ap_rpm._params[state.instance].scaling;
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state.signal_quality = 0.5;
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} else {
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state.signal_quality = 0;
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}
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}
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#endif // AP_RPM_GENERATOR_ENABLED
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