mavlink: publish RAW_RPM

src/modules/mavlink/mavlink_main.cpp

@@ -1594,6 +1594,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("PING", 0.1f);
 		configure_stream_local("POSITION_TARGET_GLOBAL_INT", 1.0f);
 		configure_stream_local("POSITION_TARGET_LOCAL_NED", 1.5f);
+		configure_stream_local("RAW_RPM", 2.0f);
 		configure_stream_local("RC_CHANNELS", 5.0f);
 		configure_stream_local("SERVO_OUTPUT_RAW_0", 1.0f);
 		configure_stream_local("SYS_STATUS", 1.0f);
@@ -1640,6 +1641,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("PING", 1.0f);
 		configure_stream_local("POSITION_TARGET_GLOBAL_INT", 10.0f);
 		configure_stream_local("POSITION_TARGET_LOCAL_NED", 10.0f);
+		configure_stream_local("RAW_RPM", 5.0f);
 		configure_stream_local("RC_CHANNELS", 20.0f);
 		configure_stream_local("SERVO_OUTPUT_RAW_0", 10.0f);
 		configure_stream_local("SYS_STATUS", 5.0f);
@@ -1760,6 +1762,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
 		configure_stream_local("PING", 1.0f);
 		configure_stream_local("POSITION_TARGET_GLOBAL_INT", 10.0f);
+		configure_stream_local("RAW_RPM", 5.0f);
 		configure_stream_local("RC_CHANNELS", 10.0f);
 		configure_stream_local("SCALED_IMU", 25.0f);
 		configure_stream_local("SCALED_IMU2", 25.0f);

src/modules/mavlink/mavlink_messages.cpp

@@ -89,6 +89,7 @@
 #include <uORB/topics/orbit_status.h>
 #include <uORB/topics/position_controller_status.h>
 #include <uORB/topics/position_setpoint_triplet.h>
+#include <uORB/topics/rpm.h>
 #include <uORB/topics/sensor_baro.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/sensor_mag.h>
@@ -5178,6 +5179,70 @@ protected:
 	}
 };
 
+
+
+class MavlinkStreamRawRpm : public MavlinkStream
+{
+public:
+	const char *get_name() const override
+	{
+		return MavlinkStreamRawRpm::get_name_static();
+	}
+
+	static constexpr const char *get_name_static()
+	{
+		return "RAW_RPM";
+	}
+
+	static constexpr uint16_t get_id_static()
+	{
+		return MAVLINK_MSG_ID_RAW_RPM;
+	}
+
+	uint16_t get_id() override
+	{
+		return get_id_static();
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamRawRpm(mavlink);
+	}
+
+	unsigned get_size() override
+	{
+		return _rpm_sub.advertised() ? MAVLINK_MSG_ID_RAW_RPM + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	uORB::Subscription _rpm_sub{ORB_ID(rpm)};
+
+	/* do not allow top copying this class */
+	MavlinkStreamRawRpm(MavlinkStreamRawRpm &) = delete;
+	MavlinkStreamRawRpm &operator = (const MavlinkStreamRawRpm &) = delete;
+
+protected:
+	explicit MavlinkStreamRawRpm(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{}
+
+	bool send(const hrt_abstime t) override
+	{
+		rpm_s rpm;
+
+		if (_rpm_sub.update(&rpm)) {
+			mavlink_raw_rpm_t msg{};
+
+			msg.frequency = rpm.indicated_frequency_rpm;
+
+			mavlink_msg_raw_rpm_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
 static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamHeartbeat>(),
 	create_stream_list_item<MavlinkStreamStatustext>(),
@@ -5241,7 +5306,8 @@ static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamAutopilotVersion>(),
 	create_stream_list_item<MavlinkStreamProtocolVersion>(),
 	create_stream_list_item<MavlinkStreamFlightInformation>(),
-	create_stream_list_item<MavlinkStreamStorageInformation>()
+	create_stream_list_item<MavlinkStreamStorageInformation>(),
+	create_stream_list_item<MavlinkStreamRawRpm>()
 };
 
 const char *get_stream_name(const uint16_t msg_id)