RPM: clean up message

msg/Rpm.msg

@@ -1,7 +1,5 @@
 uint64 timestamp                      # time since system start (microseconds)
 
-float32 indicated_frequency_rpm       # indicated rotor Frequency in Revolution per minute
+float32 rpm_estimate # filtered revolutions per minute
-float32 estimated_accurancy_rpm       # estimated accuracy in Revolution per minute
-
 float32 rpm_raw # measured rpm
-float32 rpm_estimate # filtered rpm
+float32 estimated_accurancy_rpm # estimated accuracy

src/drivers/rpm/pcf8583/PCF8583.cpp

@@ -200,7 +200,7 @@ void PCF8583::RunImpl()
 
 	// publish data to uorb
 	rpm_s msg{};
-	msg.indicated_frequency_rpm = indicated_rpm;
+	msg.rpm_estimate = indicated_rpm;
 	msg.estimated_accurancy_rpm = estimated_accurancy;
 	msg.timestamp = hrt_absolute_time();
 	_rpm_pub.publish(msg);

src/drivers/rpm/rpm_simulator/rpm_simulator.cpp

@@ -66,7 +66,7 @@ int rpm_simulator_main(int argc, char *argv[])
 
 	// prpepare RPM data message
 	rpm.timestamp = timestamp_us;
-	rpm.indicated_frequency_rpm = frequency;
+	rpm.rpm_estimate = frequency;
 	rpm.estimated_accurancy_rpm = frequency / 100.0f;
 
 	// Publish data and let the user know what was published

src/modules/mavlink/streams/RAW_RPM.hpp

@@ -68,7 +68,7 @@ private:
 				mavlink_raw_rpm_t msg{};
 
 				msg.index = i;
-				msg.frequency = rpm.indicated_frequency_rpm;
+				msg.frequency = rpm.rpm_estimate;
 
 				mavlink_msg_raw_rpm_send_struct(_mavlink->get_channel(), &msg);
 				updated = true;

src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp

@@ -388,14 +388,12 @@ void SimulatorMavlink::handle_message(const mavlink_message_t *msg)
 		break;
 
 	case MAVLINK_MSG_ID_RAW_RPM:
-		mavlink_raw_rpm_t rpm;
+		mavlink_raw_rpm_t rpm_mavlink;
-		mavlink_msg_raw_rpm_decode(msg, &rpm);
+		mavlink_msg_raw_rpm_decode(msg, &rpm_mavlink);
-		rpm_s rpmmsg{};
+		rpm_s rpm_uorb{};
-		rpmmsg.timestamp = hrt_absolute_time();
+		rpm_uorb.timestamp = hrt_absolute_time();
-		rpmmsg.indicated_frequency_rpm = rpm.frequency;
+		rpm_uorb.rpm_estimate = rpm_mavlink.frequency;
-		rpmmsg.estimated_accurancy_rpm = 0;
+		_rpm_pub.publish(rpm_uorb);
-
-		_rpm_pub.publish(rpmmsg);
 		break;
 	}
 }