I'll second the Comparator idea, but with a little difference. (Don't filter the signal)
Set a timer to have a delay of 20ms or more.
Using the comparator Interrupts, reload that timer every time you get a pulse.
If the voltage drops below the comparator's trigger point, the timer will overflow.
Use the timer interrupt/flag to determine when there's an error condition
<img src="http://www.picbasic.co.uk/forum/attachment.php?attachmentid=3162&stc=1&d=123345227 4" />
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