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RPMCapture: fix pulses per revolution parameter name, description, type -> use module params

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This commit is contained in:
Matthias Grob
2024-12-19 07:30:25 +01:00
parent d31271c38e
commit 825dc47fad
3 changed files with 14 additions and 9 deletions
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src/drivers/rpm_capture/RPMCapture.cpp
+5 -4
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@@ -40,7 +40,8 @@
#include <systemlib/mavlink_log.h>
RPMCapture::RPMCapture() :
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
ModuleParams(nullptr)
{
_pwm_input_pub.advertise();
ScheduleNow();
@@ -58,8 +59,8 @@ bool RPMCapture::init()
{
bool success = false;
param_get(param_find("RPM_PULSES_PER_REV"), &_pulses_per_revolution);
_min_pulse_period_us = static_cast<uint32_t>(60.f * 1e6f / static_cast<float>(RPM_MAX_VALUE * _pulses_per_revolution));
_min_pulse_period_us = static_cast<uint32_t>(60.f * 1e6f / static_cast<float>(RPM_MAX_VALUE *
_param_rpm_puls_per_rev.get()));
for (unsigned i = 0; i < 16; ++i) {
char param_name[17];
@@ -135,7 +136,7 @@ void RPMCapture::Run()
if (_period < RPM_PULSE_TIMEOUT) {
// 1'000'000 / [us] -> pulses per second * 60 -> pulses per minute
rpm_raw = 60.f * 1e6f / static_cast<float>(_pulses_per_revolution * _period);
rpm_raw = 60.f * 1e6f / static_cast<float>(_param_rpm_puls_per_rev.get() * _period);
}
const float dt = math::constrain((now - _timestamp_last_update) * 1e-6f, 0.01f, 1.f);