ArduCopter: move RPM sensor logging into AP_RPM

ArduCopter/Copter.cpp

@@ -184,7 +184,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 
     SCHED_TASK_CLASS(AP_Scheduler,         &copter.scheduler,           update_logging, 0.1,  75, 126),
 #if RPM_ENABLED == ENABLED
-    SCHED_TASK(rpm_update,            40,    200, 129),
+    SCHED_TASK_CLASS(AP_RPM,               &copter.rpm_sensor,          update,          40, 200, 129),
 #endif
     SCHED_TASK_CLASS(Compass, &copter.compass, cal_update, 100, 100, 132),
     SCHED_TASK_CLASS(AP_TempCalibration,   &copter.g2.temp_calibration, update,          10, 100, 135),

ArduCopter/Copter.h

@@ -862,7 +862,6 @@ private:
     void read_rangefinder(void);
     bool rangefinder_alt_ok() const;
     bool rangefinder_up_ok() const;
-    void rpm_update();
     void update_optical_flow(void);
     void compass_cal_update(void);
 

ArduCopter/sensors.cpp

@@ -145,17 +145,3 @@ bool Copter::get_rangefinder_height_interpolated_cm(int32_t& ret)
     ret += inertial_alt_cm - rangefinder_state.inertial_alt_cm;
     return true;
 }
-
-
-/*
-  update RPM sensors
- */
-void Copter::rpm_update(void)
-{
-#if RPM_ENABLED == ENABLED
-    rpm_sensor.update();
-    if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
-        logger.Write_RPM(rpm_sensor);
-    }
-#endif
-}