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fuel_tank_status: do not infer the consumed fuel, as the provided data is measured

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Nuno Marques
2024-05-16 12:50:08 +01:00
parent 03920f2ae3
commit 4067ff0a59
1 changed files with 2 additions and 4 deletions
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src/drivers/uavcan/sensors/fuel_tank_status.cpp
+2 -4
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@@ -70,13 +70,11 @@ void UavcanFuelTankStatusBridge::fuel_tank_status_sub_cb(const
// Fetching maximum fuel capacity (in liters) from a parameter // Fetching maximum fuel capacity (in liters) from a parameter
param_get(param_find("UAVCAN_ECU_MAXF"), &_max_fuel_capacity); param_get(param_find("UAVCAN_ECU_MAXF"), &_max_fuel_capacity);
_max_fuel_capacity *= 1000.0f; _max_fuel_capacity *= 1000.0f; // convert to ml
report.maximum_fuel_capacity = _max_fuel_capacity; report.maximum_fuel_capacity = _max_fuel_capacity;
report.fuel_type = fuel_tank_status_s::MAV_FUEL_TYPE_LIQUID; report.fuel_type = fuel_tank_status_s::MAV_FUEL_TYPE_LIQUID;
// Calculating consumed fuel based on available fuel report.consumed_fuel = NAN; // only the remaining fuel is measured
report.consumed_fuel = (_max_fuel_capacity > msg.available_fuel_volume_cm3) ? _max_fuel_capacity -
msg.available_fuel_volume_cm3 : NAN;
report.fuel_consumption_rate = msg.fuel_consumption_rate_cm3pm / 60.0f; // convert to ml/s report.fuel_consumption_rate = msg.fuel_consumption_rate_cm3pm / 60.0f; // convert to ml/s
report.percent_remaining = msg.available_fuel_volume_percent; report.percent_remaining = msg.available_fuel_volume_percent;
report.remaining_fuel = msg.available_fuel_volume_cm3; report.remaining_fuel = msg.available_fuel_volume_cm3;