mirror of
https://github.com/ArduPilot/ardupilot.git
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106 lines
3.6 KiB
C++
106 lines
3.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_EFI_Loweheiser.h"
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#if AP_EFI_LOWEHEISER_ENABLED
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#include <AP_Generator/AP_Generator.h>
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#include <AP_Generator/AP_Generator_Loweheiser.h>
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// The Loweheiser EFI backend can be unhealthy not simply because
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// we've not gotten an update, but also because it is rejecting our
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// (mavlink) commands:
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bool AP_EFI_Loweheiser::healthy() const
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{
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AP_Generator *gen = AP::generator();
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if (gen == nullptr) {
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return false;
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}
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AP_Generator_Loweheiser *backend = gen->get_loweheiser();
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if (backend == nullptr) {
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return false;
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}
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if (!backend->good_ack) {
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return false;
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}
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return AP_EFI_Backend::healthy();
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}
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void AP_EFI_Loweheiser::update()
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{
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AP_Generator *gen = AP::generator();
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if (gen == nullptr) {
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return;
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}
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AP_Generator_Loweheiser *backend = gen->get_loweheiser();
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if (backend == nullptr) {
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return;
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}
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if (backend->last_packet_received_ms == internal_state.last_updated_ms) {
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return;
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}
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// AP_Generator_Loweheiser remembers the last packet we got from
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// the generator as a convenient way of storing data we may wish
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// to relay:
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const mavlink_loweheiser_gov_efi_t &pkt = backend->packet;
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// this list is ordered by the field order in the
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// LOWEHEISER_GOV_EFI message. These fields become NaN when the
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// EFI is powered off. This is the case when the generator
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// control switch is in the "don't run" position.
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if (isnan(pkt.throttle)) {
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// this is an integer field in internal_state
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internal_state.throttle_out = 0;
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} else {
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internal_state.throttle_out = pkt.throttle;
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}
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// pkt.efi_batt is used in battery monitoring
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if (isnan(pkt.efi_rpm)) {
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// this is an integer field in internal_state
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internal_state.engine_speed_rpm = 0;
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} else {
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internal_state.engine_speed_rpm = pkt.efi_rpm;
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}
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internal_state.cylinder_status.injection_time_ms = pkt.efi_pw;
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// we convert to cubic-cm-per-minute here from litres/second here:
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internal_state.fuel_consumption_rate_cm3pm = pkt.efi_fuel_flow*(1000/60.0);
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internal_state.estimated_consumed_fuel_volume_cm3 = backend->fuel_consumed() * 1000;;
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internal_state.intake_manifold_pressure_kpa = pkt.efi_baro;
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internal_state.intake_manifold_temperature = C_TO_KELVIN(pkt.efi_mat);
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internal_state.cylinder_status.cylinder_head_temperature = C_TO_KELVIN(pkt.efi_clt);
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internal_state.cylinder_status.exhaust_gas_temperature = C_TO_KELVIN(pkt.efi_exhaust_gas_temperature);
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if (isnan(pkt.efi_tps)) {
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// this is an integer field in internal_state
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internal_state.throttle_position_percent = 0;
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} else {
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internal_state.throttle_position_percent = pkt.efi_tps;
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}
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internal_state.ignition_voltage = pkt.efi_batt;
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internal_state.last_updated_ms = backend->last_packet_received_ms;
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// copy the data to the front end
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copy_to_frontend();
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}
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#endif // AP_EFI_LOWEHEISER_ENABLED
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