Plane: add and use AP_RPM_ENABLED

ArduPlane/ArduPlane.cpp

@@ -88,7 +88,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(one_second_loop,         1,    400,  90),
     SCHED_TASK(three_hz_loop,           3,     75,  93),
     SCHED_TASK(check_long_failsafe,     3,    400,  96),
+#if AP_RPM_ENABLED
     SCHED_TASK_CLASS(AP_RPM,           &plane.rpm_sensor,     update,     10, 100,  99),
+#endif
 #if AP_AIRSPEED_AUTOCAL_ENABLE
     SCHED_TASK(airspeed_ratio_update,   1,    100,  102),
 #endif // AP_AIRSPEED_AUTOCAL_ENABLE

ArduPlane/Parameters.cpp

@@ -961,10 +961,12 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
 #endif
 
+#if AP_RPM_ENABLED
     // @Group: RPM
     // @Path: ../libraries/AP_RPM/AP_RPM.cpp
     GOBJECT(rpm_sensor, "RPM", AP_RPM),
-    
+#endif
+
     // @Group: RSSI_
     // @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
     GOBJECT(rssi, "RSSI_",  AP_RSSI),

ArduPlane/Plane.h

@@ -194,7 +194,9 @@ private:
 
     AP_Vehicle::FixedWing::Rangefinder_State rangefinder_state;
 
+#if AP_RPM_ENABLED
     AP_RPM rpm_sensor;
+#endif
 
     AP_TECS TECS_controller{ahrs, aparm, landing, MASK_LOG_TECS};
     AP_L1_Control L1_controller{ahrs, &TECS_controller};

ArduPlane/system.cpp

@@ -66,7 +66,9 @@ void Plane::init_ardupilot()
 
     rssi.init();
 
+#if AP_RPM_ENABLED
     rpm_sensor.init();
+#endif
 
     // setup telem slots with serial ports
     gcs().setup_uarts();