From a08fa50fda3c5e5aa6ab6a50f3e8b7608eb352c6 Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Wed, 18 Nov 2015 18:59:10 -0500
Subject: [PATCH] AP_RPM: Add enabled() method to check if sensor is enabled

---
 libraries/AP_RPM/AP_RPM.cpp | 15 +++++++++++++++
 libraries/AP_RPM/AP_RPM.h   |  2 ++
 2 files changed, 17 insertions(+)

diff --git a/libraries/AP_RPM/AP_RPM.cpp b/libraries/AP_RPM/AP_RPM.cpp
index 0ea92585c0..6cc2434fbf 100644
--- a/libraries/AP_RPM/AP_RPM.cpp
+++ b/libraries/AP_RPM/AP_RPM.cpp
@@ -129,3 +129,18 @@ bool AP_RPM::healthy(uint8_t instance) const
     }
     return true;
 }
+
+/*
+  check if an instance is activated
+ */
+bool AP_RPM::enabled(uint8_t instance) const
+{
+    if (instance >= num_instances) {
+        return false;
+    }
+    // if no sensor type is selected, the sensor is not activated.
+    if (_type[instance] == RPM_TYPE_NONE) {
+        return false;
+    }
+    return true;
+}
diff --git a/libraries/AP_RPM/AP_RPM.h b/libraries/AP_RPM/AP_RPM.h
index 1f821837ff..ff6e988413 100644
--- a/libraries/AP_RPM/AP_RPM.h
+++ b/libraries/AP_RPM/AP_RPM.h
@@ -77,6 +77,8 @@ public:
 
     bool healthy(uint8_t instance) const;
 
+    bool enabled(uint8_t instance) const;
+
 private:
     RPM_State state[RPM_MAX_INSTANCES];
     AP_RPM_Backend *drivers[RPM_MAX_INSTANCES];