Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : #include "AP_EFI_Loweheiser.h"
      17             : 
      18             : #if AP_EFI_LOWEHEISER_ENABLED
      19             : 
      20             : #include <AP_Generator/AP_Generator.h>
      21             : #include <AP_Generator/AP_Generator_Loweheiser.h>
      22             : 
      23             : // The Loweheiser EFI backend can be unhealthy not simply because
      24             : // we've not gotten an update, but also because it is rejecting our
      25             : // (mavlink) commands:
      26       42002 : bool AP_EFI_Loweheiser::healthy() const
      27             : {
      28       42002 :     AP_Generator *gen = AP::generator();
      29       42002 :     if (gen == nullptr) {
      30           0 :         return false;
      31             :     }
      32             : 
      33       42002 :     AP_Generator_Loweheiser *backend = gen->get_loweheiser();
      34       42002 :     if (backend == nullptr) {
      35         106 :         return false;
      36             :     }
      37             : 
      38       41896 :     if (!backend->good_ack) {
      39          92 :         return false;
      40             :     }
      41             : 
      42       41804 :     return AP_EFI_Backend::healthy();
      43             : }
      44             : 
      45       37090 : void AP_EFI_Loweheiser::update()
      46             : {
      47       37090 :     AP_Generator *gen = AP::generator();
      48       37090 :     if (gen == nullptr) {
      49           0 :         return;
      50             :     }
      51             : 
      52       37090 :     AP_Generator_Loweheiser *backend = gen->get_loweheiser();
      53       37090 :     if (backend == nullptr) {
      54         106 :         return;
      55             :     }
      56             : 
      57       36984 :     if (backend->last_packet_received_ms == internal_state.last_updated_ms) {
      58       33279 :         return;
      59             :     }
      60             : 
      61             :     // AP_Generator_Loweheiser remembers the last packet we got from
      62             :     // the generator as a convenient way of storing data we may wish
      63             :     // to relay:
      64        3705 :     const mavlink_loweheiser_gov_efi_t &pkt = backend->packet;
      65             : 
      66             :     // this list is ordered by the field order in the
      67             :     // LOWEHEISER_GOV_EFI message.  These fields become NaN when the
      68             :     // EFI is powered off.  This is the case when the generator
      69             :     // control switch is in the "don't run" position.
      70        3705 :     if (isnan(pkt.throttle)) {
      71             :         // this is an integer field in internal_state
      72           0 :         internal_state.throttle_out = 0;
      73             :     } else {
      74        3705 :         internal_state.throttle_out = pkt.throttle;
      75             :     }
      76             :     // pkt.efi_batt is used in battery monitoring
      77        3705 :     if (isnan(pkt.efi_rpm)) {
      78             :         // this is an integer field in internal_state
      79           0 :         internal_state.engine_speed_rpm = 0;
      80             :     } else {
      81        3705 :         internal_state.engine_speed_rpm = pkt.efi_rpm;
      82             :     }
      83        3705 :     internal_state.cylinder_status.injection_time_ms = pkt.efi_pw;
      84             :     // we convert to cubic-cm-per-minute here from litres/second here:
      85        3705 :     internal_state.fuel_consumption_rate_cm3pm = pkt.efi_fuel_flow*(1000/60.0);
      86        3705 :     internal_state.estimated_consumed_fuel_volume_cm3 = backend->fuel_consumed() * 1000;;
      87        3705 :     internal_state.intake_manifold_pressure_kpa = pkt.efi_baro;
      88        3705 :     internal_state.intake_manifold_temperature = C_TO_KELVIN(pkt.efi_mat);
      89        3705 :     internal_state.cylinder_status.cylinder_head_temperature = C_TO_KELVIN(pkt.efi_clt);
      90        3705 :     internal_state.cylinder_status.exhaust_gas_temperature = C_TO_KELVIN(pkt.efi_exhaust_gas_temperature);
      91        3705 :     if (isnan(pkt.efi_tps)) {
      92             :         // this is an integer field in internal_state
      93         501 :         internal_state.throttle_position_percent = 0;
      94             :     } else {
      95        3204 :         internal_state.throttle_position_percent = pkt.efi_tps;
      96             :     }
      97        3705 :     internal_state.ignition_voltage = pkt.efi_batt;
      98             : 
      99        3705 :     internal_state.last_updated_ms = backend->last_packet_received_ms;
     100             : 
     101             :     // copy the data to the front end
     102        3705 :     copy_to_frontend();
     103             : }
     104             : 
     105             : #endif // AP_EFI_LOWEHEISER_ENABLED