mirror of https://github.com/ArduPilot/ardupilot
55 lines
1.6 KiB
C++
55 lines
1.6 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 "RPM_Backend.h"
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#if AP_RPM_ENABLED
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#include "AP_RPM.h"
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#if HAL_WITH_ESC_TELEM
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#include "AP_ESC_Telem/AP_ESC_Telem.h"
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#endif
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/*
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base class constructor.
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*/
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AP_RPM_Backend::AP_RPM_Backend(AP_RPM &_ap_rpm, uint8_t instance, AP_RPM::RPM_State &_state) :
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ap_rpm(_ap_rpm),
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state(_state)
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{
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state.instance = instance;
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}
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#if AP_RPM_ESC_TELEM_OUTBOUND_ENABLED
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void AP_RPM_Backend::update_esc_telem_outbound()
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{
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const uint8_t esc_index = ap_rpm._params[state.instance].esc_telem_outbound_index;
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if (esc_index == 0) {
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// Disabled if there's no ESC identified to route the data to
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return;
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}
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if (!ap_rpm.healthy(state.instance)) {
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// If we're unhealthy don't update the telemetry. Let it
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// timeout on it's own instead of showing potentially wrong data
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return;
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}
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AP::esc_telem().update_rpm(esc_index-1, state.rate_rpm, 0);
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}
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#endif
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#endif // AP_RPM_ENABLED
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