Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <AP_Generator/AP_Generator.h>
       4             : 
       5             : #if HAL_GENERATOR_ENABLED
       6             : 
       7             : #include "AP_BattMonitor.h"
       8             : #include "AP_BattMonitor_Backend.h"
       9             : 
      10             : // Sub class for generator electrical
      11             : class AP_BattMonitor_Generator_Elec : public AP_BattMonitor_Backend
      12             : {
      13             : public:
      14             : 
      15             :     // Inherit constructor
      16             :     using AP_BattMonitor_Backend::AP_BattMonitor_Backend;
      17             : 
      18          16 :     void init(void) override {};
      19             : 
      20             :     // Read the battery voltage and current
      21             :     void read(void) override;
      22             : 
      23             :     bool has_current(void) const override;
      24             : 
      25             :     bool has_consumed_energy(void) const override;
      26             : 
      27             :     // Override backend update_failsafes
      28             :     AP_BattMonitor::Failsafe update_failsafes() override;
      29             : };
      30             : 
      31             : // Sub class for generator fuel
      32             : class AP_BattMonitor_Generator_FuelLevel : public AP_BattMonitor_Backend
      33             : {
      34             : public:
      35             : 
      36             :     // Inherit constructor
      37             :     using AP_BattMonitor_Backend::AP_BattMonitor_Backend;
      38             : 
      39             :     void init(void) override;
      40             : 
      41             :     // Read the fuel level
      42             :     void read(void) override;
      43             : 
      44             :     // This is where we tell the battery monitor 'we have current' if we want to report a fuel level remaining
      45             :     bool has_current(void) const override;
      46             : 
      47             :     // This is where we tell the battery monitor 'we have consumed energy' if we want to report a fuel level remaining
      48             :     bool has_consumed_energy(void) const override;
      49             : 
      50             :     // reset remaining percentage to given value
      51             :     bool reset_remaining(float percentage) override;
      52             : 
      53             :     // capacity_remaining_ml - returns true if the capacity remaining in (mL) is valid and writes to capacity_ml
      54             :     bool capacity_remaining_ml(float &capacity_ml) const;
      55             : 
      56             :     // capacity_remaining_pct - returns true if the percentage is valid and writes to percentage argument
      57             :     bool capacity_remaining_pct(uint8_t &percentage) const override;
      58             : 
      59             :     // Override backend update_failsafes
      60             :     AP_BattMonitor::Failsafe update_failsafes() override;
      61             :     
      62             :     // by default we asume 100% full tank, we can use MAV_CMD_BATTERY_RESET mavlink command to specify otherwise
      63             :     // this is only used in case the generator doesn't provide a fuel percentage on its own. This variable
      64             :     // is needed to support tank refills or different than 100% initial fuel level
      65             :     uint8_t _initial_fuel_pct = 100.0f;
      66             : };
      67             : #endif