Add RPM Sensor Fact Group implementation and related files (mavlink#13775)

Author: igoutta

src/Vehicle/FactGroups/RPMFact.json

@@ -30,6 +30,20 @@
             "type":             "double",
             "decimalPlaces":    2,
             "units":            "rpm"
+        },
+        {
+            "name":             "rpmSensor1",
+            "shortDesc":        "RPM Sensor 1",
+            "type":             "double",
+            "decimalPlaces":    2,
+            "units":            "rpm"
+        },
+        {
+            "name":             "rpmSensor2",
+            "shortDesc":        "RPM Sensor 2",
+            "type":             "double",
+            "decimalPlaces":    2,
+            "units":            "rpm"
         }
     ]
 }

src/Vehicle/FactGroups/VehicleRPMFactGroup.cc

@@ -7,7 +7,7 @@
  *
  ****************************************************************************/
 
-#include "VehicleSetpointFactGroup.h"
+#include "VehicleRPMFactGroup.h"
 #include "Vehicle.h"
 
 VehicleRPMFactGroup::VehicleRPMFactGroup(QObject *parent)
@@ -17,21 +17,35 @@ VehicleRPMFactGroup::VehicleRPMFactGroup(QObject *parent)
     _addFact(&_rpm2Fact);
     _addFact(&_rpm3Fact);
     _addFact(&_rpm4Fact);
+    _addFact(&_rpmSensor1Fact);
+    _addFact(&_rpmSensor2Fact);
 
     _rpm1Fact.setRawValue(qQNaN());
     _rpm2Fact.setRawValue(qQNaN());
     _rpm3Fact.setRawValue(qQNaN());
     _rpm4Fact.setRawValue(qQNaN());
+    _rpmSensor1Fact.setRawValue(qQNaN());
+    _rpmSensor2Fact.setRawValue(qQNaN());
 }
 
 void VehicleRPMFactGroup::handleMessage(Vehicle *vehicle, const mavlink_message_t &message)
 {
     Q_UNUSED(vehicle);
 
-    if (message.msgid != MAVLINK_MSG_ID_RAW_RPM) {
-        return;
+    switch (message.msgid) {
+        case MAVLINK_MSG_ID_RAW_RPM:
+            _handleRawRPM(message);
+            break;
+        case MAVLINK_MSG_ID_RPM:
+            _handleRPMSensor(message);
+            break;
+        default:
+            break;
     }
+}
 
+void VehicleRPMFactGroup::_handleRawRPM(const mavlink_message_t &message)
+{
     mavlink_raw_rpm_t raw_rpm{};
     mavlink_msg_raw_rpm_decode(&message, &raw_rpm);
     switch (raw_rpm.index) {
@@ -49,8 +63,18 @@ void VehicleRPMFactGroup::handleMessage(Vehicle *vehicle, const mavlink_message_
             break;
         default:
             break;
-
     }
 
     _setTelemetryAvailable(true);
 }
+
+void VehicleRPMFactGroup::_handleRPMSensor(const mavlink_message_t &message)
+{
+    mavlink_rpm_t rpm{};
+    mavlink_msg_rpm_decode(&message, &rpm);
+
+    _rpmSensor1Fact.setRawValue(rpm.rpm1);
+    _rpmSensor2Fact.setRawValue(rpm.rpm2);
+
+    _setTelemetryAvailable(true);
+}

src/Vehicle/FactGroups/VehicleRPMFactGroup.h

@@ -18,6 +18,8 @@ class VehicleRPMFactGroup : public FactGroup
     Q_PROPERTY(Fact *rpm2 READ rpm2 CONSTANT)
     Q_PROPERTY(Fact *rpm3 READ rpm3 CONSTANT)
     Q_PROPERTY(Fact *rpm4 READ rpm4 CONSTANT)
+    Q_PROPERTY(Fact *rpmSensor1 READ rpmSensor1 CONSTANT)
+    Q_PROPERTY(Fact *rpmSensor2 READ rpmSensor2 CONSTANT)
 
 public:
     explicit VehicleRPMFactGroup(QObject *parent = nullptr);
@@ -26,13 +28,20 @@ class VehicleRPMFactGroup : public FactGroup
     Fact *rpm2() { return &_rpm2Fact; }
     Fact *rpm3() { return &_rpm3Fact; }
     Fact *rpm4() { return &_rpm4Fact; }
+    Fact *rpmSensor1() { return &_rpmSensor1Fact; }
+    Fact *rpmSensor2() { return &_rpmSensor2Fact; }
 
     // Overrides from FactGroup
     void handleMessage(Vehicle *vehicle, const mavlink_message_t &message) final;
 
 private:
+    void _handleRawRPM(const mavlink_message_t &message);
+    void _handleRPMSensor(const mavlink_message_t &message);
+
     Fact _rpm1Fact = Fact(0, QStringLiteral("rpm1"), FactMetaData::valueTypeDouble);
     Fact _rpm2Fact = Fact(0, QStringLiteral("rpm2"), FactMetaData::valueTypeDouble);
     Fact _rpm3Fact = Fact(0, QStringLiteral("rpm3"), FactMetaData::valueTypeDouble);
     Fact _rpm4Fact = Fact(0, QStringLiteral("rpm4"), FactMetaData::valueTypeDouble);
+    Fact _rpmSensor1Fact = Fact(0, QStringLiteral("rpmSensor1"), FactMetaData::valueTypeDouble);
+    Fact _rpmSensor2Fact = Fact(0, QStringLiteral("rpmSensor2"), FactMetaData::valueTypeDouble);
 };

src/Vehicle/FactGroups/VehicleTemperatureFactGroup.cc

@@ -7,7 +7,7 @@
  *
  ****************************************************************************/
 
-#include "VehicleSetpointFactGroup.h"
+#include "VehicleTemperatureFactGroup.h"
 #include "Vehicle.h"
 
 VehicleTemperatureFactGroup::VehicleTemperatureFactGroup(QObject *parent)