Plane: added RPM logging

useful for seeing if a petrol motor is still running

ArduPlane/ArduPlane.cpp

@@ -70,6 +70,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] PROGMEM = {
     SCHED_TASK(one_second_loop,        50,   1000),
     SCHED_TASK(check_long_failsafe,    15,   1000),
     SCHED_TASK(read_receiver_rssi,      5,   1000),
+    SCHED_TASK(rpm_update,              5,    200),
     SCHED_TASK(airspeed_ratio_update,  50,   1000),
     SCHED_TASK(update_mount,            1,   1500),
     SCHED_TASK(log_perf_info,         500,   1000),

ArduPlane/GCS_Mavlink.cpp

@@ -470,6 +470,19 @@ void Plane::send_wind(mavlink_channel_t chan)
         wind.z);
 }
 
+/*
+  send RPM packet
+ */
+void NOINLINE Plane::send_rpm(mavlink_channel_t chan)
+{
+    if (rpm_sensor.healthy(0) || rpm_sensor.healthy(1)) {
+        mavlink_msg_rpm_send(
+            chan,
+            rpm_sensor.get_rpm(0),
+            rpm_sensor.get_rpm(1));
+    }
+}
+
 /*
   send PID tuning message
  */
@@ -799,7 +812,8 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
         break;
 
     case MSG_RPM:
-        // unused
+        CHECK_PAYLOAD_SIZE(RPM);
+        plane.send_rpm(chan);
         break;
 
     case MSG_MISSION_ITEM_REACHED:
@@ -1025,6 +1039,7 @@ GCS_MAVLINK::data_stream_send(void)
     if (stream_trigger(STREAM_EXTRA1)) {
         send_message(MSG_ATTITUDE);
         send_message(MSG_SIMSTATE);
+        send_message(MSG_RPM);
         if (plane.control_mode != MANUAL) {
             send_message(MSG_PID_TUNING);
         }

ArduPlane/Parameters.cpp

@@ -1193,6 +1193,10 @@ const AP_Param::Info Plane::var_info[] PROGMEM = {
     // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
     GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
 #endif
+
+    // @Group: RPM
+    // @Path: ../libraries/AP_RPM/AP_RPM.cpp
+    GOBJECT(rpm_sensor, "RPM", AP_RPM),
     
     // @Group: RSSI_
     // @Path: ../libraries/AP_RSSI/AP_RSSI.cpp

ArduPlane/Parameters.h

@@ -141,9 +141,8 @@ public:
         k_param_gcs_pid_mask,
         k_param_crash_detection_enable,
         k_param_land_abort_throttle_enable,
-
-        // 97: RSSI
         k_param_rssi = 97,
+        k_param_rpm_sensor,
         
         // 100: Arming parameters
         k_param_arming = 100,

ArduPlane/Plane.h

@@ -58,6 +58,7 @@
 #include <AP_Camera/AP_Camera.h>          // Photo or video camera
 #include <AP_Airspeed/AP_Airspeed.h>
 #include <AP_Terrain/AP_Terrain.h>
+#include <AP_RPM/AP_RPM.h>
 
 #include <APM_OBC/APM_OBC.h>
 #include <APM_Control/APM_Control.h>
@@ -206,6 +207,8 @@ private:
     } rangefinder_state;
 #endif
 
+    AP_RPM rpm_sensor;
+    
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF EKF{&ahrs, barometer, rangefinder};
@@ -704,6 +707,7 @@ private:
     void send_hwstatus(mavlink_channel_t chan);
     void send_wind(mavlink_channel_t chan);
     void send_pid_tuning(mavlink_channel_t chan);
+    void send_rpm(mavlink_channel_t chan);
     void send_rangefinder(mavlink_channel_t chan);
     void send_current_waypoint(mavlink_channel_t chan);
     void send_statustext(mavlink_channel_t chan);
@@ -846,6 +850,7 @@ private:
     void zero_airspeed(bool in_startup);
     void read_battery(void);
     void read_receiver_rssi(void);
+    void rpm_update(void);
     void report_radio();
     void report_ins();
     void report_compass();

ArduPlane/make.inc

@@ -56,3 +56,4 @@ LIBRARIES += AP_HAL_FLYMAPLE
 LIBRARIES += AP_HAL_Linux
 LIBRARIES += AP_HAL_Empty
 LIBRARIES += AP_HAL_VRBRAIN
+LIBRARIES += AP_RPM

ArduPlane/sensors.cpp

@@ -99,3 +99,15 @@ void Plane::read_receiver_rssi(void)
     receiver_rssi = rssi.read_receiver_rssi_uint8();
 }
 
+/*
+  update RPM sensors
+ */
+void Plane::rpm_update(void)
+{
+    rpm_sensor.update();
+    if (rpm_sensor.healthy(0) || rpm_sensor.healthy(1)) {
+        if (should_log(MASK_LOG_RC)) {
+            DataFlash.Log_Write_RPM(rpm_sensor);
+        }
+    }
+}

ArduPlane/system.cpp

@@ -138,6 +138,8 @@ void Plane::init_ardupilot()
     // initialise battery monitoring
     battery.init();
 
+    rpm_sensor.init();
+
     // init the GCS
     gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);