Add internal combustion engine status uavcan bridge and mavlink EFI_STATUS stream

src/modules/logger/logged_topics.cpp

@@ -67,6 +67,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("home_position");
 	add_topic("hover_thrust_estimate", 100);
 	add_topic("input_rc", 500);
+	add_topic("internal_combustion_engine_status", 10);
 	add_topic("mag_worker_data");
 	add_topic("manual_control_setpoint", 200);
 	add_topic("manual_control_switches");

src/modules/mavlink/mavlink_main.cpp

@@ -1537,6 +1537,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
 		configure_stream_local("COLLISION", unlimited_rate);
 		configure_stream_local("DISTANCE_SENSOR", 0.5f);
+		configure_stream_local("EFI_STATUS", 2.0f);
 		configure_stream_local("ESC_INFO", 1.0f);
 		configure_stream_local("ESC_STATUS", 1.0f);
 		configure_stream_local("ESTIMATOR_STATUS", 0.5f);
@@ -1598,6 +1599,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("BATTERY_STATUS", 0.5f);
 		configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
 		configure_stream_local("COLLISION", unlimited_rate);
+		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("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f);
@@ -1739,6 +1741,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("BATTERY_STATUS", 0.5f);
 		configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
 		configure_stream_local("COLLISION", unlimited_rate);
+		configure_stream_local("EFI_STATUS", 10.0f);
 		configure_stream_local("ESC_INFO", 10.0f);
 		configure_stream_local("ESC_STATUS", 10.0f);
 		configure_stream_local("ESTIMATOR_STATUS", 5.0f);

src/modules/mavlink/mavlink_messages.cpp

@@ -70,6 +70,7 @@
 #include "streams/COMMAND_LONG.hpp"
 #include "streams/COMPONENT_INFORMATION.hpp"
 #include "streams/DISTANCE_SENSOR.hpp"
+#include "streams/EFI_STATUS.hpp"
 #include "streams/ESC_INFO.hpp"
 #include "streams/ESC_STATUS.hpp"
 #include "streams/ESTIMATOR_STATUS.hpp"
@@ -535,8 +536,11 @@ static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamComponentInformation>(),
 #endif // COMPONENT_INFORMATION_HPP
 #if defined(RAW_RPM_HPP)
-	create_stream_list_item<MavlinkStreamRawRpm>()
+	create_stream_list_item<MavlinkStreamRawRpm>(),
 #endif // RAW_RPM_HPP
+#if defined(EFI_STATUS_HPP)
+	create_stream_list_item<MavlinkStreamEfiStatus>()
+#endif // EFI_STATUS_HPP
 };
 
 const char *get_stream_name(const uint16_t msg_id)

src/modules/mavlink/streams/EFI_STATUS.hpp

@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 EFI_STATUS_HPP
+#define EFI_STATUS_HPP
+
+#include <uORB/topics/internal_combustion_engine_status.h>
+
+class MavlinkStreamEfiStatus : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamEfiStatus(mavlink); }
+
+	static constexpr const char *get_name_static() { return "EFI_STATUS"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_EFI_STATUS; }
+
+	const char *get_name() const override { return MavlinkStreamEfiStatus::get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _internal_combustion_engine_status_sub.advertised() ? MAVLINK_MSG_ID_EFI_STATUS + MAVLINK_NUM_NON_PAYLOAD_BYTES :
+		       0;
+	}
+
+private:
+	explicit MavlinkStreamEfiStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _internal_combustion_engine_status_sub{ORB_ID(internal_combustion_engine_status)};
+
+	bool send() override
+	{
+		internal_combustion_engine_status_s internal_combustion_engine_status;
+
+		if (_internal_combustion_engine_status_sub.update(&internal_combustion_engine_status)) {
+			mavlink_efi_status_t msg{};
+
+			msg.health = internal_combustion_engine_status.state;
+			msg.ecu_index = internal_combustion_engine_status.ecu_index;
+			msg.rpm = internal_combustion_engine_status.engine_speed_rpm;
+			msg.fuel_consumed = internal_combustion_engine_status.estimated_consumed_fuel_volume_cm3;
+			msg.fuel_flow = internal_combustion_engine_status.fuel_consumption_rate_cm3pm;
+			msg.engine_load = internal_combustion_engine_status.engine_load_percent;
+			msg.throttle_position = internal_combustion_engine_status.throttle_position_percent;
+			msg.spark_dwell_time = internal_combustion_engine_status.spark_dwell_time_ms;
+			msg.barometric_pressure = internal_combustion_engine_status.atmospheric_pressure_kpa;
+			msg.intake_manifold_pressure = internal_combustion_engine_status.intake_manifold_pressure_kpa;
+			msg.intake_manifold_temperature = internal_combustion_engine_status.intake_manifold_temperature;
+
+			msg.cylinder_head_temperature = internal_combustion_engine_status.cylinder_head_temperature;
+			msg.ignition_timing = internal_combustion_engine_status.ignition_timing_deg;
+			msg.injection_time = internal_combustion_engine_status.injection_time_ms;
+			msg.exhaust_gas_temperature = internal_combustion_engine_status.exhaust_gas_temperature;
+			msg.throttle_out = internal_combustion_engine_status.throttle_position_percent;
+			msg.pt_compensation = internal_combustion_engine_status.lambda_coefficient;
+
+			mavlink_msg_efi_status_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // EFI_STATUS_HPP