diff --git a/libraries/AP_RPM/examples/RPM_generic/Makefile b/libraries/AP_RPM/examples/RPM_generic/Makefile
new file mode 100644
index 0000000000..f5daf25151
--- /dev/null
+++ b/libraries/AP_RPM/examples/RPM_generic/Makefile
@@ -0,0 +1 @@
+include ../../../../mk/apm.mk
diff --git a/libraries/AP_RPM/examples/RPM_generic/RPM_generic.cpp b/libraries/AP_RPM/examples/RPM_generic/RPM_generic.cpp
new file mode 100644
index 0000000000..bc57de1855
--- /dev/null
+++ b/libraries/AP_RPM/examples/RPM_generic/RPM_generic.cpp
@@ -0,0 +1,72 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ *   RPM_generic.cpp - RPM library example sketch
+ *
+ */
+
+#include <AP_RPM/AP_RPM.h>
+#include <AP_HAL/AP_HAL.h>
+
+const AP_HAL::HAL& hal = AP_HAL::get_HAL();
+
+static AP_RPM RPM;
+
+char sensor_state;
+
+void setup()
+{
+    hal.console->println("APM RPM library test\n\n");
+    RPM.init();
+
+    hal.console->printf("Detected %u RPM sensors\n\n", RPM.num_sensors());
+}
+
+void loop(void)
+{
+    RPM.update();
+
+    for (uint8_t ii = 0; ii<RPM.num_sensors(); ii++) {
+
+        // Determine sensor state
+        if (RPM.healthy(ii)) {
+            // Healthy sensor
+            sensor_state = 'h';
+        } else if (RPM.enabled(ii)) {
+            // Enabled but not healthy
+            sensor_state = 'e';
+        } else {
+            // Not enabled, not healthy
+            sensor_state = '-';
+        }
+
+        hal.console->printf("%u - (%c) RPM: %8.2f  Quality: %.2f  ",
+                ii, sensor_state, RPM.get_rpm(ii), RPM.get_signal_quality(ii));
+
+        if (ii+1<RPM.num_sensors()) {
+            // Print a seperating bar if more sensors to process
+            hal.console->printf("|  ");
+        }
+
+    }
+
+    hal.scheduler->delay(100);
+
+    hal.console->printf("\n");
+}
+
+AP_HAL_MAIN();
diff --git a/libraries/AP_RPM/examples/RPM_generic/make.inc b/libraries/AP_RPM/examples/RPM_generic/make.inc
new file mode 100644
index 0000000000..cf636eac91
--- /dev/null
+++ b/libraries/AP_RPM/examples/RPM_generic/make.inc
@@ -0,0 +1,26 @@
+LIBRARIES += AP_ADC
+LIBRARIES += AP_AHRS
+LIBRARIES += AP_Airspeed
+LIBRARIES += AP_Baro
+LIBRARIES += AP_BattMonitor
+LIBRARIES += AP_Common
+LIBRARIES += AP_Compass
+LIBRARIES += AP_Declination
+LIBRARIES += AP_GPS
+LIBRARIES += AP_InertialSensor
+LIBRARIES += AP_AccelCal
+LIBRARIES += AP_Math
+LIBRARIES += AP_Mission
+LIBRARIES += AP_NavEKF
+LIBRARIES += AP_Notify
+LIBRARIES += AP_Param
+LIBRARIES += AP_RPM
+LIBRARIES += AP_Rally
+LIBRARIES += AP_RangeFinder
+LIBRARIES += AP_Scheduler
+LIBRARIES += AP_Terrain
+LIBRARIES += AP_Vehicle
+LIBRARIES += DataFlash
+LIBRARIES += Filter
+LIBRARIES += GCS_MAVLink
+LIBRARIES += StorageManager
diff --git a/libraries/AP_RPM/examples/RPM_generic/wscript b/libraries/AP_RPM/examples/RPM_generic/wscript
new file mode 100644
index 0000000000..719ec151ba
--- /dev/null
+++ b/libraries/AP_RPM/examples/RPM_generic/wscript
@@ -0,0 +1,7 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+def build(bld):
+    bld.ap_example(
+        use='ap',
+    )