From d5918c52059df7c6f4c1c51cf0a72a2950089c75 Mon Sep 17 00:00:00 2001
From: Ferruccio Vicari <Ferruccio1984@users.noreply.github.com>
Date: Sat, 6 May 2023 17:30:43 +0000
Subject: [PATCH] AP_OSD: support for main rotor rpm

displays main rotor rpm in OSD
---
 libraries/AP_OSD/AP_OSD.h          |  7 +++++
 libraries/AP_OSD/AP_OSD_Screen.cpp | 41 ++++++++++++++++++++++++++++++
 2 files changed, 48 insertions(+)

diff --git a/libraries/AP_OSD/AP_OSD.h b/libraries/AP_OSD/AP_OSD.h
index 9dcc8b1fc8..617609b85f 100644
--- a/libraries/AP_OSD/AP_OSD.h
+++ b/libraries/AP_OSD/AP_OSD.h
@@ -28,6 +28,7 @@
 #include <AP_OLC/AP_OLC.h>
 #include <AP_MSP/msp.h>
 #include <AP_Baro/AP_Baro.h>
+#include <AP_RPM/AP_RPM_config.h>
 #if HAL_GCS_ENABLED
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #endif
@@ -185,6 +186,9 @@ private:
     AP_OSD_Setting aspd1;
     AP_OSD_Setting aspd2;
     AP_OSD_Setting vspeed{true, 24, 9};
+#if AP_RPM_ENABLED
+    AP_OSD_Setting rrpm{false, 2, 2};
+#endif
 #if HAL_WITH_ESC_TELEM
     AP_OSD_Setting esc_temp {false, 24, 13};
     AP_OSD_Setting esc_rpm{false, 22, 12};
@@ -256,6 +260,9 @@ private:
     void draw_home(uint8_t x, uint8_t y);
     void draw_throttle(uint8_t x, uint8_t y);
     void draw_heading(uint8_t x, uint8_t y);
+#if AP_RPM_ENABLED
+    void draw_rrpm(uint8_t x, uint8_t y);
+#endif
 #ifdef HAL_OSD_SIDEBAR_ENABLE
     void draw_sidebars(uint8_t x, uint8_t y);
 #endif
diff --git a/libraries/AP_OSD/AP_OSD_Screen.cpp b/libraries/AP_OSD/AP_OSD_Screen.cpp
index 64285146b4..0f5e00a53b 100644
--- a/libraries/AP_OSD/AP_OSD_Screen.cpp
+++ b/libraries/AP_OSD/AP_OSD_Screen.cpp
@@ -40,6 +40,7 @@
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
 #include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_RPM/AP_RPM.h>
 #if APM_BUILD_TYPE(APM_BUILD_Rover)
 #include <AP_WindVane/AP_WindVane.h>
 #endif
@@ -1017,6 +1018,24 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
     // @Range: 0 15
     AP_SUBGROUPINFO(avgcellrestvolt, "ACRVOLT", 61, AP_OSD_Screen, AP_OSD_Setting),
 
+#if AP_RPM_ENABLED
+	// @Param: RPM_EN
+	// @DisplayName: RPM_EN
+	// @Description: Displays main rotor revs/min
+	// @Values: 0:Disabled,1:Enabled
+
+	// @Param: RPM_X
+	// @DisplayName: RPM_X
+	// @Description: Horizontal position on screen
+	// @Range: 0 29
+
+	// @Param: RPM_Y
+	// @DisplayName: RPM_Y
+	// @Description: Vertical position on screen
+	// @Range: 0 15
+	AP_SUBGROUPINFO(rrpm, "RPM", 62, AP_OSD_Screen, AP_OSD_Setting),
+#endif
+
     AP_GROUPEND
 };
 
@@ -1646,6 +1665,25 @@ void AP_OSD_Screen::draw_heading(uint8_t x, uint8_t y)
     backend->write(x, y, false, "%3d%c", yaw, SYMBOL(SYM_DEGR));
 }
 
+#if AP_RPM_ENABLED
+void AP_OSD_Screen::draw_rrpm(uint8_t x, uint8_t y)
+{
+    float _rrpm;
+    const AP_RPM *rpm = AP_RPM::get_singleton();
+    if (rpm != nullptr) {
+            if (!rpm->get_rpm(0, _rrpm)) {
+                // No valid RPM data
+                _rrpm = -1;
+            }
+        } else {
+            // No RPM because pointer is null
+            _rrpm = -1;
+        }
+    int r_rpm = static_cast<int>(_rrpm);
+    backend->write(x, y, false, "%4d%c", (int)r_rpm, SYMBOL(SYM_RPM));
+}
+#endif
+
 void AP_OSD_Screen::draw_throttle(uint8_t x, uint8_t y)
 {
     backend->write(x, y, false, "%3d%c", gcs().get_hud_throttle(), SYMBOL(SYM_PCNT));
@@ -2257,6 +2295,9 @@ void AP_OSD_Screen::draw(void)
     DRAW_SETTING(heading);
     DRAW_SETTING(wind);
     DRAW_SETTING(home);
+#if AP_RPM_ENABLED
+    DRAW_SETTING(rrpm);
+#endif
 #if AP_FENCE_ENABLED
     DRAW_SETTING(fence);
 #endif