diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp
index 8463fa68f2..55ddf0304d 100644
--- a/ArduCopter/ArduCopter.cpp
+++ b/ArduCopter/ArduCopter.cpp
@@ -128,6 +128,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] PROGMEM = {
     { SCHED_TASK(full_rate_logging_loop),1,    100 },
     { SCHED_TASK(perf_update),        4000,     75 },
     { SCHED_TASK(read_receiver_rssi),   40,     75 },
+    { SCHED_TASK(rpm_update),           40,    200 },
 #if FRSKY_TELEM_ENABLED == ENABLED
     { SCHED_TASK(frsky_telemetry_send), 80,     75 },
 #endif
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index d19ca04bd3..05c73ba70f 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -102,6 +102,7 @@
 #endif
 #include <AP_LandingGear/AP_LandingGear.h>     // Landing Gear library
 #include <AP_Terrain/AP_Terrain.h>
+#include <AP_RPM/AP_RPM.h>
 
 // AP_HAL to Arduino compatibility layer
 // Configuration
@@ -172,6 +173,8 @@ private:
     bool sonar_enabled; // enable user switch for sonar
 #endif
 
+    AP_RPM rpm_sensor;
+
     // Inertial Navigation EKF
     NavEKF EKF{&ahrs, barometer, sonar};
     AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF};
@@ -579,6 +582,8 @@ private:
     void send_vfr_hud(mavlink_channel_t chan);
     void send_current_waypoint(mavlink_channel_t chan);
     void send_rangefinder(mavlink_channel_t chan);
+    void send_rpm(mavlink_channel_t chan);
+    void rpm_update();
     void send_pid_tuning(mavlink_channel_t chan);
     void send_statustext(mavlink_channel_t chan);
     bool telemetry_delayed(mavlink_channel_t chan);
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index a6442736cd..858ab145fd 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -414,6 +414,19 @@ void NOINLINE Copter::send_rangefinder(mavlink_channel_t chan)
 }
 #endif
 
+/*
+  send RPM packet
+ */
+void NOINLINE Copter::send_rpm(mavlink_channel_t chan)
+{
+    if (rpm_sensor.healthy(0) || rpm_sensor.healthy(1)) {
+        mavlink_msg_rpm_send(
+            chan,
+            rpm_sensor.get_rpm(0),
+            rpm_sensor.get_rpm(1));
+    }
+}
+
 
 /*
   send PID tuning message
@@ -629,6 +642,11 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
 #endif
         break;
 
+    case MSG_RPM:
+        CHECK_PAYLOAD_SIZE(RPM);
+        copter.send_rpm(chan);
+        break;
+
     case MSG_TERRAIN:
 #if AP_TERRAIN_AVAILABLE
         CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
@@ -945,6 +963,7 @@ GCS_MAVLINK::data_stream_send(void)
         send_message(MSG_GIMBAL_REPORT);
         send_message(MSG_EKF_STATUS_REPORT);
         send_message(MSG_VIBRATION);
+        send_message(MSG_RPM);
     }
 }
 
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 238c792c30..2c1811f88f 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1046,6 +1046,10 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
     GOBJECT(optflow,   "FLOW", OpticalFlow),
 #endif
 
+    // @Group: RPM
+    // @Path: ../libraries/AP_RPM/AP_RPM.cpp
+    GOBJECT(rpm_sensor, "RPM", AP_RPM),
+
     // @Param: AUTOTUNE_AXIS_BITMASK
     // @DisplayName: Autotune axis bitmask
     // @Description: 1-byte bitmap of axes to autotune
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 40e2d0c77c..08cf3ab382 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -337,6 +337,7 @@ public:
         k_param_pi_vel_xy,
         k_param_fs_ekf_action,
         k_param_rtl_climb_min,  // 249
+        k_param_rpm_sensor,
 
         // 254,255: reserved
     };
diff --git a/ArduCopter/make.inc b/ArduCopter/make.inc
index 834f7ea0ca..b0689a2187 100644
--- a/ArduCopter/make.inc
+++ b/ArduCopter/make.inc
@@ -63,3 +63,4 @@ LIBRARIES += AP_EPM
 LIBRARIES += AP_Parachute
 LIBRARIES += AP_LandingGear
 LIBRARIES += AP_Terrain
+LIBRARIES += AP_RPM
diff --git a/ArduCopter/sensors.cpp b/ArduCopter/sensors.cpp
index d6ed0cc0f2..0b02778ac8 100644
--- a/ArduCopter/sensors.cpp
+++ b/ArduCopter/sensors.cpp
@@ -69,6 +69,14 @@ int16_t Copter::read_sonar(void)
 #endif
 }
 
+/*
+  update RPM sensors
+ */
+void Copter::rpm_update(void)
+{
+    rpm_sensor.update();
+}
+
 // initialise compass
 void Copter::init_compass()
 {
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 479af37580..69c60a7119 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -240,6 +240,9 @@ void Copter::init_ardupilot()
     init_sonar();
 #endif
 
+    // initialise AP_RPM library
+    rpm_sensor.init();
+
     // initialise mission library
     mission.init();