Add fuel tank status report support

* Adds support to DroneCAN FuelTankStatus messages
* Adds fuel_tank_status uORB message
* Adds FUEL_STATUS MAVLink stream
* Adds parameter to define max fuel tank capacity

src/drivers/uavcan/CMakeLists.txt

@@ -168,6 +168,7 @@ px4_add_module(
 		sensors/battery.cpp
 		sensors/airspeed.cpp
 		sensors/flow.cpp
+		sensors/fuel_tank_status.cpp
 		sensors/gnss_relative.cpp
 		sensors/gnss.cpp
 		sensors/mag.cpp

src/drivers/uavcan/Kconfig

@@ -54,6 +54,10 @@ if DRIVERS_UAVCAN
         bool "Subscribe to Flow:                        com::hex::equipment::flow::Measurement"
         default y
 
+    config UAVCAN_SENSOR_FUEL_TANK_STATUS
+        bool "Subscribe to Fuel Tank Status:            uavcan::equipment::ice::FuelTankStatus"
+        default y
+
     config UAVCAN_SENSOR_GNSS
         bool "Subscribe to GPS:                         uavcan::equipment::gnss::Auxiliary | uavcan::equipment::gnss::Fix | uavcan::equipment::gnss::Fix2"
         default y

src/drivers/uavcan/sensors/fuel_tank_status.cpp

@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file fuel_tank_status.cpp
+ * @author Nuno Marques <n.marques21@hotmail.com>
+ */
+
+#include "fuel_tank_status.hpp"
+
+#include <parameters/param.h>
+#include <uORB/topics/fuel_tank_status.h>
+
+const char *const UavcanFuelTankStatusBridge::NAME = "fuel_tank_status";
+
+UavcanFuelTankStatusBridge::UavcanFuelTankStatusBridge(uavcan::INode &node) :
+	UavcanSensorBridgeBase("uavcan_fuel_tank_status", ORB_ID(fuel_tank_status)),
+	_sub_fuel_tank_status_data(node)
+{ }
+
+int UavcanFuelTankStatusBridge::init()
+{
+	int res = _sub_fuel_tank_status_data.start(FuelTankStatusCbBinder(this,
+			&UavcanFuelTankStatusBridge::fuel_tank_status_sub_cb));
+
+	if (res < 0) {
+		DEVICE_LOG("failed to start uavcan sub: %d", res);
+		return res;
+	}
+
+	return 0;
+}
+
+void UavcanFuelTankStatusBridge::fuel_tank_status_sub_cb(const
+		uavcan::ReceivedDataStructure<uavcan::equipment::ice::FuelTankStatus> &msg)
+{
+	auto report = ::fuel_tank_status_s();
+	report.timestamp = hrt_absolute_time();
+
+	// Fetching maximum fuel capacity (in liters) from a parameter
+	param_get(param_find("UAVCAN_ECU_MAXF"), &_max_fuel_capacity);
+
+	_max_fuel_capacity *= 1000.0f;
+	report.maximum_fuel_capacity = _max_fuel_capacity;
+	report.fuel_type = fuel_tank_status_s::MAV_FUEL_TYPE_LIQUID;
+
+	// Calculating consumed fuel based on available fuel
+	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.percent_remaining = msg.available_fuel_volume_percent;
+	report.remaining_fuel = msg.available_fuel_volume_cm3;
+	report.fuel_tank_id = msg.fuel_tank_id;
+
+	// Optional temperature field, in Kelvin, set to NaN if not provided.
+	report.temperature = !PX4_ISFINITE(msg.fuel_temperature) ? NAN : msg.fuel_temperature;
+
+	publish(msg.getSrcNodeID().get(), &report);
+}
+
+int UavcanFuelTankStatusBridge::init_driver(uavcan_bridge::Channel *channel)
+{
+	return PX4_OK;
+}

src/drivers/uavcan/sensors/fuel_tank_status.hpp

@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file fuel_tank_status.hpp
+ * @author Nuno Marques <n.marques21@hotmail.com>
+ * @brief UAVCAN bridge for Fuel Tank Status messages.
+ */
+
+#pragma once
+
+#include "sensor_bridge.hpp"
+#include <uavcan/equipment/ice/FuelTankStatus.hpp>
+
+class UavcanFuelTankStatusBridge : public UavcanSensorBridgeBase
+{
+public:
+	static const char *const NAME;
+
+	UavcanFuelTankStatusBridge(uavcan::INode &node);
+
+	const char *get_name() const override { return NAME; }
+
+	int init() override;
+
+private:
+
+	void fuel_tank_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ice::FuelTankStatus> &msg);
+
+	int init_driver(uavcan_bridge::Channel *channel) override;
+
+	typedef uavcan::MethodBinder<UavcanFuelTankStatusBridge *,
+		void (UavcanFuelTankStatusBridge::*)
+		(const uavcan::ReceivedDataStructure<uavcan::equipment::ice::FuelTankStatus> &)>
+		FuelTankStatusCbBinder;
+
+	uavcan::Subscriber<uavcan::equipment::ice::FuelTankStatus, FuelTankStatusCbBinder> _sub_fuel_tank_status_data;
+
+	float _max_fuel_capacity{0.0f};
+};

src/drivers/uavcan/sensors/sensor_bridge.cpp

@@ -57,6 +57,9 @@
 #if defined(CONFIG_UAVCAN_SENSOR_FLOW)
 #include "flow.hpp"
 #endif
+#if defined(CONFIG_UAVCAN_SENSOR_FUEL_TANK_STATUS)
+#include "fuel_tank_status.hpp"
+#endif
 #if defined(CONFIG_UAVCAN_SENSOR_GNSS)
 #include "gnss.hpp"
 #endif
@@ -137,6 +140,17 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 		list.add(new UavcanFlowBridge(node));
 	}
 
+#endif
+
+	// fuel tank
+#if defined(CONFIG_UAVCAN_SENSOR_FUEL_TANK_STATUS)
+	int32_t uavcan_sub_fuel_tank = 1;
+	param_get(param_find("UAVCAN_SUB_FUEL"), &uavcan_sub_fuel_tank);
+
+	if (uavcan_sub_fuel_tank != 0) {
+		list.add(new UavcanFuelTankStatusBridge(node));
+	}
+
 #endif
 
 	// GPS

src/drivers/uavcan/uavcan_params.c

@@ -97,6 +97,20 @@ PARAM_DEFINE_FLOAT(UAVCAN_RNG_MIN, 0.3f);
  */
 PARAM_DEFINE_FLOAT(UAVCAN_RNG_MAX, 200.0f);
 
+/**
+ * UAVCAN fuel tank maximum capacity
+ *
+ * This parameter defines the maximum fuel capacity of the vehicle's fuel tank.
+ *
+ * @min 0.0
+ * @max 100000.0
+ * @unit liters
+ * @decimal 1
+ * @increment 0.1
+ * @group UAVCAN
+ */
+PARAM_DEFINE_FLOAT(UAVCAN_ECU_MAXF, 15.0f);
+
 /**
  * UAVCAN ANTI_COLLISION light operating mode
  *
@@ -292,6 +306,17 @@ PARAM_DEFINE_INT32(UAVCAN_SUB_DPRES, 0);
  */
 PARAM_DEFINE_INT32(UAVCAN_SUB_FLOW, 0);
 
+/**
+ * subscription fuel tank
+ *
+ * Enable UAVCAN fuel tank status subscription.
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_FUEL, 0);
+
 /**
  * subscription GPS
  *