Copter: Add option to disable RPM module

ArduCopter/APM_Config.h

@@ -25,6 +25,7 @@
 //#define SPRAYER               DISABLED            // disable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
 //#define WINCH_ENABLED         DISABLED            // disable winch support
 //#define GRIPPER_ENABLED       DISABLED            // disable gripper support
+//#define RPM_ENABLED           DISABLED            // disable rotations per minute sensor support
 //#define MAGNETOMETER          DISABLED            // disable magnetometer support
 //#define STATS_ENABLED         DISABLED            // disable statistics support
 //#define MODE_ACRO_ENABLED     DISABLED            // disable acrobatic mode support

ArduCopter/ArduCopter.cpp

@@ -151,7 +151,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_InertialSensor,    &copter.ins,                 periodic,       400,  50),
     SCHED_TASK_CLASS(AP_Scheduler,         &copter.scheduler,           update_logging, 0.1,  75),
     SCHED_TASK(read_receiver_rssi,    10,     75),
+#if RPM_ENABLED == ENABLED
     SCHED_TASK(rpm_update,            10,    200),
+#endif
     SCHED_TASK(compass_cal_update,   100,    100),
     SCHED_TASK(accel_cal_update,      10,    100),
     SCHED_TASK_CLASS(AP_TempCalibration,   &copter.g2.temp_calibration, update,          10, 100),

ArduCopter/Copter.h

@@ -77,7 +77,6 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>     // board configuration library
 #include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 #include <AP_LandingGear/AP_LandingGear.h>     // Landing Gear library
-#include <AP_RPM/AP_RPM.h>
 #include <AC_InputManager/AC_InputManager.h>        // Pilot input handling library
 #include <AC_InputManager/AC_InputManager_Heli.h>   // Heli specific pilot input handling library
 #include <AP_Button/AP_Button.h>
@@ -157,6 +156,9 @@
  # include <AP_WheelEncoder/AP_WheelEncoder.h>
  # include <AP_Winch/AP_Winch.h>
 #endif
+#if RPM_ENABLED == ENABLED
+ #include <AP_RPM/AP_RPM.h>
+#endif
 
 // Local modules
 #include "Parameters.h"
@@ -237,7 +239,9 @@ private:
         int8_t glitch_count;
     } rangefinder_state = { false, false, 0, 0 };
 
+#if RPM_ENABLED == ENABLED
     AP_RPM rpm_sensor;
+#endif
 
     // Inertial Navigation EKF
     NavEKF2 EKF2{&ahrs, rangefinder};

ArduCopter/GCS_Mavlink.cpp

@@ -190,12 +190,14 @@ void NOINLINE Copter::send_vfr_hud(mavlink_channel_t chan)
  */
 void NOINLINE Copter::send_rpm(mavlink_channel_t chan)
 {
+#if RPM_ENABLED == ENABLED
     if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
         mavlink_msg_rpm_send(
             chan,
             rpm_sensor.get_rpm(0),
             rpm_sensor.get_rpm(1));
     }
+#endif
 }
 
 
@@ -366,8 +368,10 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
         break;
 
     case MSG_RPM:
+#if RPM_ENABLED == ENABLED
         CHECK_PAYLOAD_SIZE(RPM);
         copter.send_rpm(chan);
+#endif
         break;
 
     case MSG_TERRAIN:

ArduCopter/Parameters.cpp

@@ -737,9 +737,11 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECT(precland, "PLND_", AC_PrecLand),
 #endif
 
+#if RPM_ENABLED == ENABLED
     // @Group: RPM
     // @Path: ../libraries/AP_RPM/AP_RPM.cpp
     GOBJECT(rpm_sensor, "RPM", AP_RPM),
+#endif
 
 #if ADSB_ENABLED == ENABLED
     // @Group: ADSB_

ArduCopter/config.h

@@ -241,6 +241,12 @@
 # define WINCH_ENABLED !HAL_MINIMIZE_FEATURES
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// rotations per minute sensor support
+#ifndef RPM_ENABLED
+# define RPM_ENABLED ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Parachute release
 #ifndef PARACHUTE

ArduCopter/sensors.cpp

@@ -89,12 +89,14 @@ bool Copter::rangefinder_alt_ok()
  */
 void Copter::rpm_update(void)
 {
+#if RPM_ENABLED == ENABLED
     rpm_sensor.update();
     if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
         if (should_log(MASK_LOG_RCIN)) {
             DataFlash.Log_Write_RPM(rpm_sensor);
         }
     }
+#endif
 }
 
 // initialise compass

ArduCopter/system.cpp

@@ -225,8 +225,10 @@ void Copter::init_ardupilot()
     // init visual odometry
     init_visual_odom();
 
+#if RPM_ENABLED == ENABLED
     // initialise AP_RPM library
     rpm_sensor.init();
+#endif
 
 #if MODE_AUTO_ENABLED == ENABLED
     // initialise mission library