RPM message simulator (dummy publisher)

boards/px4/sitl/default.cmake

@@ -16,6 +16,7 @@ px4_add_board(
 		#imu # all available imu drivers
 		#magnetometer # all available magnetometer drivers
 		pwm_out_sim
+		rpm/rpm_simulator
 		#telemetry # all available telemetry drivers
 		tone_alarm
 		#uavcan

src/drivers/rpm/rpm_simulator/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE examples__rpm_simulator
+	MAIN rpm_simulator
+	SRCS
+		rpm_simulator.cpp
+	DEPENDS
+	)

src/drivers/rpm/rpm_simulator/rpm_simulator.cpp

@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020 ThunderFly s.r.o. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file rpm_simulator.c
+ * Simple app for publishing RPM messages with custom value.
+ *
+ * Usage: rpm_simulator <rpm_value>
+ *  rpm_simulator 344.2
+ *
+ * @author ThunderFly s.r.o., Roman Dvorak <[email protected]>
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <drivers/drv_hrt.h>
+
+#include <uORB/Publication.hpp>
+#include <uORB/topics/rpm.h>
+
+extern "C" __EXPORT int rpm_simulator_main(int argc, char *argv[]);
+int rpm_simulator_main(int argc, char *argv[])
+{
+
+	// check input
+	if (argc != 2) {
+		PX4_INFO("Usage: rpm_simulator <published RPM>");
+		PX4_INFO("Exit. Without publishing any message.");
+		return 0;
+	}
+
+	rpm_s rpm{};
+
+	uORB::Publication<rpm_s> rpm_pub{ORB_ID(rpm)};
+	uint64_t timestamp_us = hrt_absolute_time();
+	float frequency = atof(argv[1]);
+
+	// prpepare RPM data message
+	rpm.timestamp = timestamp_us;
+	rpm.indicated_frequency_rpm = frequency;
+	rpm.estimated_accurancy_rpm = frequency / 100.0f;
+
+	// Publish data and let the user know what was published
+	rpm_pub.publish(rpm);
+	print_message(rpm);
+
+	return 0;
+}

src/modules/mavlink/mavlink_messages.cpp

@@ -90,6 +90,7 @@
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/sensor_gyro_integrated.h>
 #include <uORB/topics/sensor_gyro_status.h>
+#include <uORB/topics/rpm.h>
 #include <uORB/topics/sensor_mag.h>
 #include <uORB/topics/sensor_selection.h>
 #include <uORB/topics/tecs_status.h>