Plane: Add EFI Support

ArduPlane/ArduPlane.cpp

@@ -106,6 +106,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #if LANDING_GEAR_ENABLED == ENABLED
     SCHED_TASK(landing_gear_update, 5, 50),
 #endif
+#if EFI_ENABLED
+    SCHED_TASK(efi_update,             10,    200)
+#endif
 };
 
 constexpr int8_t Plane::_failsafe_priorities[7];
@@ -305,6 +308,13 @@ void Plane::compass_save()
     }
 }
 
+void Plane::efi_update(void)
+{
+#if EFI_ENABLED
+    g2.efi.update();
+#endif
+}
+
 /*
   once a second update the airspeed calibration ratio
  */

ArduPlane/GCS_Mavlink.cpp

@@ -588,6 +588,7 @@ static const ap_message STREAM_EXTRA1_msgs[] = {
     MSG_PID_TUNING,
     MSG_LANDING,
     MSG_ESC_TELEMETRY,
+    MSG_EFI_STATUS,
 };
 static const ap_message STREAM_EXTRA2_msgs[] = {
     MSG_VFR_HUD

ArduPlane/Parameters.cpp

@@ -1239,6 +1239,12 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("DSPOILER_AILMTCH", 21, ParametersG2, crow_flap_aileron_matching, 100),
 
+#if EFI_ENABLED
+    // @Group: EFI_
+    // @Path: ../libraries/AP_EFI/AP_EFI.cpp
+    AP_SUBGROUPINFO(efi, "EFI", 22, ParametersG2, AP_EFI),
+#endif
+
     AP_GROUPEND
 };
 

ArduPlane/Parameters.h

@@ -564,6 +564,11 @@ public:
     AP_Int8 crow_flap_weight_inner;
     AP_Int8 crow_flap_options;
     AP_Int8 crow_flap_aileron_matching;
+
+#if EFI_ENABLED
+    // EFI Engine Monitor
+    AP_EFI efi;
+#endif  
 };
 
 extern const AP_Param::Info var_info[];

ArduPlane/Plane.h

@@ -81,6 +81,7 @@
 #include <AP_Parachute/AP_Parachute.h>
 #include <AP_ADSB/AP_ADSB.h>
 #include <AP_ICEngine/AP_ICEngine.h>
+#include <AP_EFI/AP_EFI.h>
 #include <AP_Gripper/AP_Gripper.h>
 #include <AP_Landing/AP_Landing.h>
 #include <AP_LandingGear/AP_LandingGear.h>     // Landing Gear library
@@ -903,6 +904,7 @@ private:
     void read_rangefinder(void);
     void read_airspeed(void);
     void rpm_update(void);
+    void efi_update(void);
     void init_ardupilot();
     void startup_ground(void);
     bool set_mode(Mode& new_mode, const ModeReason reason);

ArduPlane/servos.cpp

@@ -378,8 +378,6 @@ void Plane::throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle)
     }
 }
     
-
-
 /*
   setup output channels all non-manual modes
  */
@@ -393,6 +391,9 @@ void Plane::set_servos_controlled(void)
     // convert 0 to 100% (or -100 to +100) into PWM
     int8_t min_throttle = aparm.throttle_min.get();
     int8_t max_throttle = aparm.throttle_max.get();
+
+    // apply idle governor
+    g2.ice_control.update_idle_governor(min_throttle);
     
     if (min_throttle < 0 && !allow_reverse_thrust()) {
         // reverse thrust is available but inhibited.

ArduPlane/system.cpp

@@ -118,6 +118,11 @@ void Plane::init_ardupilot()
     }
 #endif
 
+// init EFI monitoring
+#if EFI_ENABLED
+    g2.efi.init();
+#endif
+
     // give AHRS the airspeed sensor
     ahrs.set_airspeed(&airspeed);
 

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -784,6 +784,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_DEEPSTALL,             MSG_LANDING},
         { MAVLINK_MSG_ID_EXTENDED_SYS_STATE,    MSG_EXTENDED_SYS_STATE},
         { MAVLINK_MSG_ID_AUTOPILOT_VERSION,     MSG_AUTOPILOT_VERSION},
+        { MAVLINK_MSG_ID_EFI_STATUS,            MSG_EFI_STATUS},
             };
 
     for (uint8_t i=0; i<ARRAY_SIZE(map); i++) {