mirror of https://github.com/ArduPilot/ardupilot
Plane: Add EFI Support
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00e3344321
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@ -106,6 +106,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
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#if LANDING_GEAR_ENABLED == ENABLED
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SCHED_TASK(landing_gear_update, 5, 50),
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#endif
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#if EFI_ENABLED
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SCHED_TASK(efi_update, 10, 200)
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#endif
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};
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constexpr int8_t Plane::_failsafe_priorities[7];
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@ -305,6 +308,13 @@ void Plane::compass_save()
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}
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}
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void Plane::efi_update(void)
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{
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#if EFI_ENABLED
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g2.efi.update();
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#endif
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}
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/*
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once a second update the airspeed calibration ratio
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*/
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@ -588,6 +588,7 @@ static const ap_message STREAM_EXTRA1_msgs[] = {
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MSG_PID_TUNING,
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MSG_LANDING,
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MSG_ESC_TELEMETRY,
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MSG_EFI_STATUS,
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};
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static const ap_message STREAM_EXTRA2_msgs[] = {
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MSG_VFR_HUD
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@ -1239,6 +1239,12 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
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// @User: Advanced
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AP_GROUPINFO("DSPOILER_AILMTCH", 21, ParametersG2, crow_flap_aileron_matching, 100),
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#if EFI_ENABLED
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// @Group: EFI_
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// @Path: ../libraries/AP_EFI/AP_EFI.cpp
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AP_SUBGROUPINFO(efi, "EFI", 22, ParametersG2, AP_EFI),
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#endif
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AP_GROUPEND
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};
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@ -564,6 +564,11 @@ public:
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AP_Int8 crow_flap_weight_inner;
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AP_Int8 crow_flap_options;
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AP_Int8 crow_flap_aileron_matching;
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#if EFI_ENABLED
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// EFI Engine Monitor
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AP_EFI efi;
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#endif
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};
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extern const AP_Param::Info var_info[];
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@ -81,6 +81,7 @@
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#include <AP_Parachute/AP_Parachute.h>
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#include <AP_ADSB/AP_ADSB.h>
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#include <AP_ICEngine/AP_ICEngine.h>
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#include <AP_EFI/AP_EFI.h>
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#include <AP_Gripper/AP_Gripper.h>
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#include <AP_Landing/AP_Landing.h>
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#include <AP_LandingGear/AP_LandingGear.h> // Landing Gear library
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@ -903,6 +904,7 @@ private:
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void read_rangefinder(void);
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void read_airspeed(void);
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void rpm_update(void);
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void efi_update(void);
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void init_ardupilot();
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void startup_ground(void);
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bool set_mode(Mode& new_mode, const ModeReason reason);
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@ -378,8 +378,6 @@ void Plane::throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle)
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}
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}
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/*
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setup output channels all non-manual modes
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*/
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@ -394,6 +392,9 @@ void Plane::set_servos_controlled(void)
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int8_t min_throttle = aparm.throttle_min.get();
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int8_t max_throttle = aparm.throttle_max.get();
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// apply idle governor
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g2.ice_control.update_idle_governor(min_throttle);
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if (min_throttle < 0 && !allow_reverse_thrust()) {
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// reverse thrust is available but inhibited.
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min_throttle = 0;
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@ -118,6 +118,11 @@ void Plane::init_ardupilot()
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}
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#endif
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// init EFI monitoring
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#if EFI_ENABLED
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g2.efi.init();
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#endif
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// give AHRS the airspeed sensor
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ahrs.set_airspeed(&airspeed);
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@ -784,6 +784,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
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{ MAVLINK_MSG_ID_DEEPSTALL, MSG_LANDING},
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{ MAVLINK_MSG_ID_EXTENDED_SYS_STATE, MSG_EXTENDED_SYS_STATE},
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{ MAVLINK_MSG_ID_AUTOPILOT_VERSION, MSG_AUTOPILOT_VERSION},
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{ MAVLINK_MSG_ID_EFI_STATUS, MSG_EFI_STATUS},
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};
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for (uint8_t i=0; i<ARRAY_SIZE(map); i++) {
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