Add internal combustion engine status uavcan bridge and mavlink EFI_STATUS stream

2026-10-21 23:13:34 +08:00 · 2021-07-30 22:31:43 -04:00
parent 7764183f89
commit d08d0443bc
11 changed files with 339 additions and 1 deletions
@@ -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