AP_RPM: move logging of RPM into RPM library

libraries/AP_RPM/AP_RPM.cpp

@@ -189,9 +189,11 @@ void AP_RPM::update(void)
         }
     }
 
+#if HAL_LOGGING_ENABLED
     if (enabled(0) || enabled(1)) {
-        AP::logger().Write_RPM(*this);
+        Log_RPM();
     }
+#endif
 }
 
 /*
@@ -259,6 +261,24 @@ bool AP_RPM::arming_checks(size_t buflen, char *buffer) const
     return true;
 }
 
+#if HAL_LOGGING_ENABLED
+void AP_RPM::Log_RPM()
+{
+    float rpm1 = -1, rpm2 = -1;
+
+    get_rpm(0, rpm1);
+    get_rpm(1, rpm2);
+
+    const struct log_RPM pkt{
+        LOG_PACKET_HEADER_INIT(LOG_RPM_MSG),
+        time_us     : AP_HAL::micros64(),
+        rpm1        : rpm1,
+        rpm2        : rpm2
+    };
+    AP::logger().WriteBlock(&pkt, sizeof(pkt));
+}
+#endif
+
 // singleton instance
 AP_RPM *AP_RPM::_singleton;
 

libraries/AP_RPM/AP_RPM.h

@@ -104,6 +104,8 @@ private:
     uint8_t num_instances;
 
     void detect_instance(uint8_t instance);
+
+    void Log_RPM();
 };
 
 namespace AP {

libraries/AP_RPM/LogStructure.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#include <AP_Logger/LogStructure.h>
+
+#define LOG_IDS_FROM_RPM \
+    LOG_RPM_MSG
+
+// @LoggerMessage: RPM
+// @Description: Data from RPM sensors
+// @Field: TimeUS: Time since system startup
+// @Field: rpm1: First sensor's data
+// @Field: rpm2: Second sensor's data
+struct PACKED log_RPM {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    float rpm1;
+    float rpm2;
+};
+
+#define LOG_STRUCTURE_FROM_RPM        \
+    { LOG_RPM_MSG, sizeof(log_RPM), \
+      "RPM",  "Qff", "TimeUS,rpm1,rpm2", "sqq", "F00" , true },