AP_RPM: added AP_Generator support

useful for notch filtering of generator vibration
This commit is contained in:
Andrew Tridgell 2022-08-29 19:34:58 +10:00
parent 86ed18716e
commit 13453f705e
5 changed files with 80 additions and 1 deletions

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@ -17,6 +17,7 @@
#include "RPM_Pin.h" #include "RPM_Pin.h"
#include "RPM_SITL.h" #include "RPM_SITL.h"
#include "RPM_EFI.h" #include "RPM_EFI.h"
#include "RPM_Generator.h"
#include "RPM_HarmonicNotch.h" #include "RPM_HarmonicNotch.h"
#include "RPM_ESC_Telem.h" #include "RPM_ESC_Telem.h"
@ -79,6 +80,11 @@ void AP_RPM::init(void)
case RPM_TYPE_EFI: case RPM_TYPE_EFI:
drivers[i] = new AP_RPM_EFI(*this, i, state[i]); drivers[i] = new AP_RPM_EFI(*this, i, state[i]);
break; break;
#endif
#if HAL_GENERATOR_ENABLED
case RPM_TYPE_GENERATOR:
drivers[i] = new AP_RPM_Generator(*this, i, state[i]);
break;
#endif #endif
// include harmonic notch last // include harmonic notch last
// this makes whatever process is driving the dynamic notch appear as an RPM value // this makes whatever process is driving the dynamic notch appear as an RPM value

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@ -42,6 +42,7 @@ public:
RPM_TYPE_EFI = 3, RPM_TYPE_EFI = 3,
RPM_TYPE_HNTCH = 4, RPM_TYPE_HNTCH = 4,
RPM_TYPE_ESC_TELEM = 5, RPM_TYPE_ESC_TELEM = 5,
RPM_TYPE_GENERATOR = 6,
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
RPM_TYPE_SITL = 10, RPM_TYPE_SITL = 10,
#endif #endif

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@ -20,7 +20,7 @@ const AP_Param::GroupInfo AP_RPM_Params::var_info[] = {
// @Param: TYPE // @Param: TYPE
// @DisplayName: RPM type // @DisplayName: RPM type
// @Description: What type of RPM sensor is connected // @Description: What type of RPM sensor is connected
// @Values: 0:None,1:Not Used,2:GPIO,3:EFI,4:Harmonic Notch,5:ESC Telemetry Motors Bitmask // @Values: 0:None,1:Not Used,2:GPIO,3:EFI,4:Harmonic Notch,5:ESC Telemetry Motors Bitmask,6:Generator
// @User: Standard // @User: Standard
AP_GROUPINFO_FLAGS("TYPE", 1, AP_RPM_Params, type, 0, AP_PARAM_FLAG_ENABLE), AP_GROUPINFO_FLAGS("TYPE", 1, AP_RPM_Params, type, 0, AP_PARAM_FLAG_ENABLE),
// Note, 1 was previously for type = PWM. This has been removed from docs to make setup less confusing for users. // Note, 1 was previously for type = PWM. This has been removed from docs to make setup less confusing for users.

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@ -0,0 +1,38 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#include "RPM_Generator.h"
#if HAL_GENERATOR_ENABLED
extern const AP_HAL::HAL& hal;
void AP_RPM_Generator::update(void)
{
const auto *generator = AP::generator();
if (generator == nullptr) {
return;
}
if (generator->healthy()) {
state.rate_rpm = generator->get_rpm();
state.rate_rpm *= ap_rpm._params[state.instance].scaling;
state.signal_quality = 0.5;
} else {
state.signal_quality = 0;
}
}
#endif // HAL_GENERATOR_ENABLED

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@ -0,0 +1,34 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_RPM.h"
#include "RPM_Backend.h"
#include <AP_Generator/AP_Generator.h>
#if HAL_GENERATOR_ENABLED
class AP_RPM_Generator : public AP_RPM_Backend
{
public:
// constructor
using AP_RPM_Backend::AP_RPM_Backend;
// update state
void update(void) override;
};
#endif // HAL_GENERATOR_ENABLED