Add translation of rpm uORB message to Mavlink

src/modules/mavlink/mavlink_main.cpp

@@ -1596,6 +1596,7 @@ 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);

src/modules/mavlink/mavlink_messages.cpp

@@ -84,6 +84,7 @@
 #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_accel_integrated.h>
 #include <uORB/topics/sensor_accel_status.h>
 #include <uORB/topics/sensor_baro.h>
@@ -2549,17 +2550,17 @@ class MavlinkStreamOdometry : public MavlinkStream
 		if (_mavlink->odometry_loopback_enabled()) {
 			odom_updated = _vodom_sub.update(&odom);
 			// frame matches the external vision system
-			msg.frame_id = MAV_FRAME_VISION_NED;
+			msg.frame_id = MAV_FRAME_RESERVED_16;
 
 		} else {
 			odom_updated = _odom_sub.update(&odom);
 			// frame matches the PX4 local NED frame
-			msg.frame_id = MAV_FRAME_ESTIM_NED;
+			msg.frame_id = MAV_FRAME_RESERVED_18;
 		}
 
 		if (odom_updated) {
 			msg.time_usec = odom.timestamp_sample;
-			msg.child_frame_id = MAV_FRAME_BODY_FRD;
+			msg.child_frame_id = MAV_FRAME_RESERVED_12;
 
 			// Current position
 			msg.x = odom.x;
@@ -5188,6 +5189,70 @@ class MavlinkStreamObstacleDistance : public MavlinkStream
 	}
 };
 
+
+
+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>(),
@@ -5247,7 +5312,8 @@ static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamGroundTruth>(),
 	create_stream_list_item<MavlinkStreamPing>(),
 	create_stream_list_item<MavlinkStreamOrbitStatus>(),
-	create_stream_list_item<MavlinkStreamObstacleDistance>()
+	create_stream_list_item<MavlinkStreamObstacleDistance>(),
+	create_stream_list_item<MavlinkStreamRawRpm>()
 };
 
 const char *get_stream_name(const uint16_t msg_id)

src/modules/mavlink/mavlink_receiver.cpp

@@ -1335,7 +1335,7 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
 	 * local NED frame. The angular velocity needs to be expressed in the
 	 * body (fcu_frd) frame.
 	 */
-	if (odom.child_frame_id == MAV_FRAME_BODY_FRD) {
+	if (odom.child_frame_id == MAV_FRAME_RESERVED_12) {
 		/* Linear velocity has to be rotated to the local NED frame
 		 * Angular velocities are already in the right body frame  */
 		const matrix::Dcmf R_body_to_local = matrix::Dcmf(q_body_to_local);
@@ -1377,7 +1377,7 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
 	if (odom.frame_id == MAV_FRAME_LOCAL_FRD) {
 		_visual_odometry_pub.publish(odometry);
 
-	} else if (odom.frame_id == MAV_FRAME_MOCAP_NED) {
+	} else if (odom.frame_id == MAV_FRAME_RESERVED_14) {
 		_mocap_odometry_pub.publish(odometry);
 
 	} else {