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Plane: convert to new get_rpm() API

c415-sdk
Andrew Tridgell 5 years ago
parent
375c08f39c
commit
8aaefea2a4
1 changed files with 3 additions and 2 deletions
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  1. 5
      ArduPlane/system.cpp

5
ArduPlane/system.cpp
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@ -466,9 +466,10 @@ void Plane::update_dynamic_notch()
break; break;
case HarmonicNotchDynamicMode::UpdateRPM: // rpm sensor based tracking 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 // 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 { } else {
ins.update_harmonic_notch_freq_hz(ref_freq); ins.update_harmonic_notch_freq_hz(ref_freq);
} }

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