RPMCapture: fix pulses per revolution parameter name, description, type -> use module params

src/drivers/rpm_capture/RPMCapture.cpp

@@ -40,7 +40,8 @@
 #include <systemlib/mavlink_log.h>
 
 RPMCapture::RPMCapture() :
-	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
+	ModuleParams(nullptr)
 {
 	_pwm_input_pub.advertise();
 	ScheduleNow();
@@ -58,8 +59,8 @@ bool RPMCapture::init()
 {
 	bool success = false;
 
-	param_get(param_find("RPM_PULSES_PER_REV"), &_pulses_per_revolution);
-	_min_pulse_period_us = static_cast<uint32_t>(60.f * 1e6f / static_cast<float>(RPM_MAX_VALUE * _pulses_per_revolution));
+	_min_pulse_period_us = static_cast<uint32_t>(60.f * 1e6f / static_cast<float>(RPM_MAX_VALUE *
+			       _param_rpm_puls_per_rev.get()));
 
 	for (unsigned i = 0; i < 16; ++i) {
 		char param_name[17];
@@ -135,7 +136,7 @@ void RPMCapture::Run()
 
 		if (_period < RPM_PULSE_TIMEOUT) {
 			// 1'000'000 / [us] -> pulses per second * 60 -> pulses per minute
-			rpm_raw = 60.f * 1e6f / static_cast<float>(_pulses_per_revolution * _period);
+			rpm_raw = 60.f * 1e6f / static_cast<float>(_param_rpm_puls_per_rev.get() * _period);
 		}
 
 		const float dt = math::constrain((now - _timestamp_last_update) * 1e-6f, 0.01f, 1.f);

src/drivers/rpm_capture/RPMCapture.hpp

@@ -38,6 +38,7 @@
 #include <lib/mathlib/math/filter/MedianFilter.hpp>
 #include <px4_arch/micro_hal.h>
 #include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
@@ -46,7 +47,7 @@
 
 using namespace time_literals;
 
-class RPMCapture : public ModuleBase<RPMCapture>, public px4::ScheduledWorkItem
+class RPMCapture : public ModuleBase<RPMCapture>, public px4::ScheduledWorkItem, public ModuleParams
 {
 public:
 	RPMCapture();
@@ -76,7 +77,6 @@ private:
 
 	int _channel{-1};
 	uint32_t _rpm_capture_gpio{0};
-	uint32_t _pulses_per_revolution{1};
 	uint32_t _min_pulse_period_us{1};	///< [us] minimum pulse period
 	uORB::Publication<pwm_input_s> _pwm_input_pub{ORB_ID(pwm_input)};
 	uORB::PublicationMulti<rpm_s> _rpm_pub{ORB_ID(rpm)};
@@ -90,4 +90,8 @@ private:
 	hrt_abstime _timestamp_last_update{0}; ///< to caluclate dt
 	AlphaFilter<float> _rpm_filter;
 	MedianFilter<float, 5> _rpm_median_filter;
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::RPM_PULS_PER_REV>) _param_rpm_puls_per_rev
+	)
 };

src/drivers/rpm_capture/rpm_capture_params.c

@@ -43,13 +43,13 @@
 PARAM_DEFINE_INT32(RPM_CAP_ENABLE, 0);
 
 /**
- * RPM Pulses per Revolution
+ * Voltage pulses per revolution
  *
- * Number of pulses per revolution for the RPM sensor.
+ * Number of voltage pulses per one rotor revolution on the capturing pin.
  *
  * @group System
  * @min 1
  * @max 50
  * @reboot_required true
  */
-PARAM_DEFINE_INT32(RPM_PULSES_PER_REV, 1);
+PARAM_DEFINE_INT32(RPM_PULS_PER_REV, 1);