Plane: convert to new get_rpm() API

5 years ago · 8aaefea2a4
1 changed files with 3 additions and 2 deletions
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@ -466,9 +466,10 @@ void Plane::update_dynamic_notch()
				@@ -466,9 +466,10 @@ void Plane::update_dynamic_notch()
            break;

        case HarmonicNotchDynamicMode::UpdateRPM: // rpm sensor based tracking
-            if (rpm_sensor.healthy(0)) {
+            float rpm;
+            if (rpm_sensor.get_rpm(0, rpm)) {
                // set the harmonic notch filter frequency from the main rotor rpm
-                ins.update_harmonic_notch_freq_hz(MAX(ref_freq, rpm_sensor.get_rpm(0) * ref / 60.0f));
+                ins.update_harmonic_notch_freq_hz(MAX(ref_freq, rpm * ref / 60.0f));
            } else {
                ins.update_harmonic_notch_freq_hz(ref_freq);
            }