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/modules/logger/logged_topics.cpp

@@ -71,6 +71,7 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic("follow_target_status", 400);
 	add_optional_topic("flaps_setpoint", 1000);
 	add_optional_topic("flight_phase_estimation", 1000);
+	add_optional_topic("fuel_tank_status", 10);
 	add_topic("gimbal_manager_set_attitude", 500);
 	add_optional_topic("generator_status");
 	add_optional_topic("gps_dump");

src/modules/mavlink/mavlink_main.cpp

@@ -1413,6 +1413,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("ESC_STATUS", 1.0f);
 		configure_stream_local("ESTIMATOR_STATUS", 0.5f);
 		configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
+		configure_stream_local("FUEL_STATUS", 1.0f);
 		configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f);
 		configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f);
 		configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
@@ -1482,6 +1483,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("EFI_STATUS", 2.0f);
 		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 5.0f);
+		configure_stream_local("FUEL_STATUS", 1.0f);
 		configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f);
 		configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f);
 		configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
@@ -1556,6 +1558,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("CURRENT_MODE", 0.5f);
 		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
+		configure_stream_local("FUEL_STATUS", 1.0f);
 		configure_stream_local("GLOBAL_POSITION_INT", 5.0f);
 		configure_stream_local("GPS2_RAW", 1.0f);
 		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
@@ -1642,6 +1645,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("ESC_STATUS", 10.0f);
 		configure_stream_local("ESTIMATOR_STATUS", 5.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 2.0f);
+		configure_stream_local("FUEL_STATUS", 2.0f);
 		configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
 		configure_stream_local("GPS2_RAW", unlimited_rate);
 		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
@@ -1738,6 +1742,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("CURRENT_MODE", 0.5f);
 		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
+		configure_stream_local("FUEL_STATUS", 1.0f);
 		configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
 		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
 		configure_stream_local("GPS2_RAW", unlimited_rate);

src/modules/mavlink/mavlink_messages.cpp

@@ -75,6 +75,7 @@
 #include "streams/ESC_STATUS.hpp"
 #include "streams/ESTIMATOR_STATUS.hpp"
 #include "streams/EXTENDED_SYS_STATE.hpp"
+#include "streams/FUEL_STATUS.hpp"
 #include "streams/FLIGHT_INFORMATION.hpp"
 #include "streams/GLOBAL_POSITION_INT.hpp"
 #include "streams/GPS_GLOBAL_ORIGIN.hpp"
@@ -469,6 +470,9 @@ static const StreamListItem streams_list[] = {
 #if defined(FLIGHT_INFORMATION_HPP)
 	create_stream_list_item<MavlinkStreamFlightInformation>(),
 #endif // FLIGHT_INFORMATION_HPP
+#if defined(FUEL_STATUS_HPP)
+	create_stream_list_item<MavlinkStreamFuelStatus>(),
+#endif // FUEL_STATUS_HPP
 #if defined(GPS_STATUS_HPP)
 	create_stream_list_item<MavlinkStreamGPSStatus>(),
 #endif // GPS_STATUS_HPP

src/modules/mavlink/streams/FUEL_STATUS.hpp

@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#ifndef FUEL_STATUS_HPP
+#define FUEL_STATUS_HPP
+
+#include <uORB/topics/fuel_tank_status.h>
+
+class MavlinkStreamFuelStatus : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamFuelStatus(mavlink); }
+
+	static constexpr const char *get_name_static() { return "FUEL_STATUS"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_FUEL_STATUS; }
+
+	const char *get_name() const override { return MavlinkStreamFuelStatus::get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _fuel_tank_status_sub.advertised() ? MAVLINK_MSG_ID_FUEL_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	explicit MavlinkStreamFuelStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _fuel_tank_status_sub{ORB_ID(fuel_tank_status)};
+
+	bool send() override
+	{
+		fuel_tank_status_s fuel_status;
+
+		if (_fuel_tank_status_sub.update(&fuel_status)) {
+			mavlink_fuel_status_t msg{};
+
+			msg.id = fuel_status.fuel_tank_id;
+			msg.maximum_fuel = fuel_status.maximum_fuel_capacity;
+			msg.consumed_fuel = fuel_status.consumed_fuel;
+			msg.remaining_fuel = fuel_status.remaining_fuel;
+			msg.percent_remaining = fuel_status.percent_remaining;
+			msg.flow_rate = fuel_status.fuel_consumption_rate;
+			msg.temperature = fuel_status.temperature;
+			msg.fuel_type = fuel_status.fuel_type;
+
+			mavlink_msg_fuel_status_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+
+};
+
+#endif // FUEL_STATUS_HPP