Sub: Disable RPM

ArduSub/ArduSub.cpp

@@ -123,7 +123,9 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK(full_rate_logging_loop,400,    100),
     SCHED_TASK(dataflash_periodic,    400,    300),
     SCHED_TASK(perf_update,           0.1,    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(terrain_update,        10,    100),

ArduSub/GCS_Mavlink.cpp

@@ -438,6 +438,7 @@ void NOINLINE Sub::send_rangefinder(mavlink_channel_t chan)
 /*
   send RPM packet
  */
+#if RPM_ENABLED == ENABLED
 void NOINLINE Sub::send_rpm(mavlink_channel_t chan)
 {
     if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
@@ -447,6 +448,7 @@ void NOINLINE Sub::send_rpm(mavlink_channel_t chan)
             rpm_sensor.get_rpm(1));
     }
 }
+#endif
 
 
 /*
@@ -652,8 +654,10 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
         break;
 
     case MSG_RPM:
+#if RPM_ENABLED == ENABLED
         CHECK_PAYLOAD_SIZE(RPM);
         sub.send_rpm(chan);
+#endif
         break;
 
     case MSG_TERRAIN:
@@ -1001,7 +1005,9 @@ GCS_MAVLINK::data_stream_send(void)
         send_message(MSG_MAG_CAL_PROGRESS);
         send_message(MSG_EKF_STATUS_REPORT);
         send_message(MSG_VIBRATION);
+#if RPM_ENABLED == ENABLED
         send_message(MSG_RPM);
+#endif
     }
 
     if (sub.gcs_out_of_time) return;

ArduSub/Parameters.cpp

@@ -996,9 +996,11 @@ const AP_Param::Info Sub::var_info[] = {
     GOBJECT(optflow,   "FLOW", OpticalFlow),
 #endif
 
+#if RPM_ENABLED == ENABLED
     // @Group: RPM
     // @Path: ../libraries/AP_RPM/AP_RPM.cpp
     GOBJECT(rpm_sensor, "RPM", AP_RPM),
+#endif
 
 #if AUTOTUNE_ENABLED == ENABLED
     // @Param: AUTOTUNE_AXES

ArduSub/Sub.h

@@ -86,7 +86,9 @@
 #include <AP_BattMonitor/AP_BattMonitor.h>     // Battery monitor library
 #include <AP_BoardConfig/AP_BoardConfig.h>     // board configuration library
 #include <AP_Terrain/AP_Terrain.h>
+#if RPM_ENABLED == ENABLED
 #include <AP_RPM/AP_RPM.h>
+#endif
 #include <AC_InputManager/AC_InputManager.h>        // Pilot input handling library
 #include <AP_JSButton/AP_JSButton.h>   // Joystick/gamepad button function assignment
 #include "../libraries/AP_LeakDetector/AP_LeakDetector.h" // Leak detector
@@ -175,7 +177,9 @@ private:
         LowPassFilterFloat alt_cm_filt; // altitude filter
     } rangefinder_state = { false, false, 0, 0 };
 
+#if RPM_ENABLED == ENABLED
     AP_RPM rpm_sensor;
+#endif
 
     // Inertial Navigation EKF
     NavEKF EKF{&ahrs, barometer, rangefinder};
@@ -556,8 +560,10 @@ private:
     void send_vfr_hud(mavlink_channel_t chan);
     void send_current_waypoint(mavlink_channel_t chan);
     void send_rangefinder(mavlink_channel_t chan);
+#if RPM_ENABLED == ENABLED
     void send_rpm(mavlink_channel_t chan);
     void rpm_update();
+#endif
     void send_pid_tuning(mavlink_channel_t chan);
     void gcs_send_message(enum ap_message id);
     void gcs_send_mission_item_reached_message(uint16_t mission_index);

ArduSub/config.h

@@ -86,6 +86,14 @@
    #   define RC_FAST_SPEED 490
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// RPM
+//
+
+#ifndef RPM_ENABLED
+# define RPM_ENABLED DISABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Rangefinder
 //

ArduSub/sensors.cpp

@@ -84,6 +84,7 @@ bool Sub::rangefinder_alt_ok()
 /*
   update RPM sensors
  */
+#if RPM_ENABLED == ENABLED
 void Sub::rpm_update(void)
 {
     rpm_sensor.update();
@@ -93,6 +94,7 @@ void Sub::rpm_update(void)
         }
     }
 }
+#endif
 
 // initialise compass
 void Sub::init_compass()

ArduSub/system.cpp

@@ -250,7 +250,9 @@ void Sub::init_ardupilot()
 #endif
 
     // initialise AP_RPM library
+#if RPM_ENABLED == ENABLED
     rpm_sensor.init();
+#endif
 
     // initialise mission library
     mission.init();