From cec0d7c66b20b00fcd5f29e3c0f20680a980f471 Mon Sep 17 00:00:00 2001
From: Nuno Marques <n.marques21@hotmail.com>
Date: Mon, 10 Jun 2024 14:50:39 -0700
Subject: [PATCH] src: drivers: uavcan: allow to set the fuel type through a
 parameter

---
 .../uavcan/sensors/fuel_tank_status.cpp        |  6 ++++--
 .../uavcan/sensors/fuel_tank_status.hpp        |  3 +++
 src/drivers/uavcan/uavcan_params.c             | 18 ++++++++++++++++++
 3 files changed, 25 insertions(+), 2 deletions(-)

diff --git a/src/drivers/uavcan/sensors/fuel_tank_status.cpp b/src/drivers/uavcan/sensors/fuel_tank_status.cpp
index 998b85c5fc..3a8e743444 100644
--- a/src/drivers/uavcan/sensors/fuel_tank_status.cpp
+++ b/src/drivers/uavcan/sensors/fuel_tank_status.cpp
@@ -39,7 +39,6 @@
 #include "fuel_tank_status.hpp"
 
 #include <parameters/param.h>
-#include <uORB/topics/fuel_tank_status.h>
 
 const char *const UavcanFuelTankStatusBridge::NAME = "fuel_tank_status";
 
@@ -72,8 +71,11 @@ void UavcanFuelTankStatusBridge::fuel_tank_status_sub_cb(const
 
 	_max_fuel_capacity *= 1000.0f; // convert to ml
 	report.maximum_fuel_capacity = _max_fuel_capacity;
-	report.fuel_type = fuel_tank_status_s::MAV_FUEL_TYPE_LIQUID;
 
+	// Fetching fuel type
+	param_get(param_find("UAVCAN_ECU_FUELT"), &_fuel_type);
+
+	report.fuel_type = static_cast<uint8_t>(_fuel_type);
 	report.consumed_fuel = NAN; // only the remaining fuel is measured
 	report.fuel_consumption_rate = msg.fuel_consumption_rate_cm3pm / 60.0f; // convert to ml/s
 	report.percent_remaining = msg.available_fuel_volume_percent;
diff --git a/src/drivers/uavcan/sensors/fuel_tank_status.hpp b/src/drivers/uavcan/sensors/fuel_tank_status.hpp
index 49f43efb68..ca58666c3c 100644
--- a/src/drivers/uavcan/sensors/fuel_tank_status.hpp
+++ b/src/drivers/uavcan/sensors/fuel_tank_status.hpp
@@ -42,6 +42,8 @@
 #include "sensor_bridge.hpp"
 #include <uavcan/equipment/ice/FuelTankStatus.hpp>
 
+#include <uORB/topics/fuel_tank_status.h>
+
 class UavcanFuelTankStatusBridge : public UavcanSensorBridgeBase
 {
 public:
@@ -67,4 +69,5 @@ private:
 	uavcan::Subscriber<uavcan::equipment::ice::FuelTankStatus, FuelTankStatusCbBinder> _sub_fuel_tank_status_data;
 
 	float _max_fuel_capacity{0.0f};
+	int32_t _fuel_type{fuel_tank_status_s::MAV_FUEL_TYPE_UNKNOWN};
 };
diff --git a/src/drivers/uavcan/uavcan_params.c b/src/drivers/uavcan/uavcan_params.c
index 36afcfb332..ad8765470c 100644
--- a/src/drivers/uavcan/uavcan_params.c
+++ b/src/drivers/uavcan/uavcan_params.c
@@ -111,6 +111,24 @@ PARAM_DEFINE_FLOAT(UAVCAN_RNG_MAX, 200.0f);
  */
 PARAM_DEFINE_FLOAT(UAVCAN_ECU_MAXF, 15.0f);
 
+/**
+ * UAVCAN fuel tank fuel type
+ *
+ * This parameter defines the type of fuel used in the vehicle's fuel tank.
+ *
+ * 0: Unknown
+ * 1: Liquid (e.g., gasoline, diesel)
+ * 2: Gas (e.g., hydrogen, methane, propane)
+ *
+ * @min 0
+ * @max 2
+ * @value 0 Unknown
+ * @value 1 Liquid
+ * @value 2 Gas
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_ECU_FUELT, 1);
+
 /**
  * UAVCAN ANTI_COLLISION light operating mode
  *