Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : #include "AP_RPM_config.h"
      17             : 
      18             : #if AP_RPM_HARMONICNOTCH_ENABLED
      19             : 
      20             : #include "RPM_HarmonicNotch.h"
      21             : 
      22             : #include <AP_HAL/AP_HAL.h>
      23             : #include <AP_InertialSensor/AP_InertialSensor.h>
      24             : 
      25           0 : void AP_RPM_HarmonicNotch::update(void)
      26             : {
      27           0 :     const AP_InertialSensor& ins = AP::ins();
      28           0 :     for (const auto &notch : ins.harmonic_notches) {
      29           0 :         if (notch.params.enabled() &&
      30           0 :             notch.params.tracking_mode() != HarmonicNotchDynamicMode::Fixed) {
      31           0 :             state.rate_rpm = notch.calculated_notch_freq_hz[0] * 60;
      32           0 :             state.rate_rpm *= ap_rpm._params[state.instance].scaling;
      33           0 :             state.signal_quality = 0.5f;
      34           0 :             state.last_reading_ms = AP_HAL::millis();
      35             :         }
      36             :     }
      37           0 : }
      38             : 
      39             : #endif  // AP_RPM_HARMONICNOTCH_ENABLED