mirror of https://github.com/ArduPilot/ardupilot
34 lines
1.1 KiB
C++
34 lines
1.1 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_ESC_TELEM_ENABLED
|
|
|
|
#include <AP_ESC_Telem/AP_ESC_Telem.h>
|
|
#include "RPM_ESC_Telem.h"
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
void AP_RPM_ESC_Telem::update(void)
|
|
{
|
|
AP_ESC_Telem &esc_telem = AP::esc_telem();
|
|
float esc_rpm = esc_telem.get_average_motor_rpm(ap_rpm._params[state.instance].esc_mask);
|
|
state.rate_rpm = esc_rpm * ap_rpm._params[state.instance].scaling;
|
|
state.signal_quality = 0.5f;
|
|
state.last_reading_ms = AP_HAL::millis();
|
|
}
|
|
|
|
#endif // AP_RPM_ESC_TELEM_ENABLED
|