From 9b3788c83ce9e1c840b72ef64789acf66d0e351a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Oct 2018 13:12:12 +1100
Subject: [PATCH] AP_RPM: treat RPM_TYPE 1 as type 2 on non-PX4

makes upgrades easier
---
 libraries/AP_RPM/AP_RPM.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_RPM/AP_RPM.cpp b/libraries/AP_RPM/AP_RPM.cpp
index 5d229b759f..630c9f5aee 100644
--- a/libraries/AP_RPM/AP_RPM.cpp
+++ b/libraries/AP_RPM/AP_RPM.cpp
@@ -105,12 +105,17 @@ void AP_RPM::init(void)
         return;
     }
     for (uint8_t i=0; i<RPM_MAX_INSTANCES; i++) {
-        const uint8_t type = _type[i];
+        uint8_t type = _type[i];
 
 #if (CONFIG_HAL_BOARD == HAL_BOARD_PX4) || ((CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN) && (!defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) && !defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)))
         if (type == RPM_TYPE_PX4_PWM) {
             drivers[i] = new AP_RPM_PX4_PWM(*this, i, state[i]);
         }
+#else
+        if (type == RPM_TYPE_PX4_PWM) {
+            // on non-PX4 treat PX4-pin as AUXPIN option, for upgrade
+            type = RPM_TYPE_PIN;
+        }
 #endif
         if (type == RPM_TYPE_PIN) {
             drivers[i] = new AP_RPM_Pin(*this, i, state[i]);