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SITL: correct simulation of RichenPower generator

This commit is contained in:
Peter Barker 2020-07-12 15:48:44 +10:00 committed by Randy Mackay
parent c8a368d896
commit 68b6b77a22
2 changed files with 18 additions and 6 deletions
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12
libraries/SITL/SIM_RichenPower.cpp
View File

@ -216,11 +216,19 @@ void RichenPower::update_send()
RUN = 1,
CHARGE = 2,
BALANCE = 3,
OFF = 4,
};
if (_state == State::STOP) {
switch (_state) {
case State::STOP:
u.packet.mode = (uint8_t)Mode::OFF;
break;
case State::STOPPING:
case State::IDLE:
u.packet.mode = (uint8_t)Mode::IDLE;
} else {
break;
case State::RUN:
u.packet.mode = (uint8_t)Mode::RUN;
break;
}
u.update_checksum();

12
libraries/SITL/SIM_RichenPower.h
View File

@ -15,7 +15,7 @@
/*
Simulator for the RichenPower Hybrid generators
./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:richenpower --speedup=1
./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:richenpower --speedup=1 --console
param set SERIAL5_PROTOCOL 30
param set SERIAL5_BAUD 9600
@ -27,6 +27,10 @@ param set RC9_OPTION 85
reboot
graph SERVO_OUTPUT_RAW.servo8_raw
graph RC_CHANNELS.chan9_raw
module load generator
arm throttle (denied because generator not running)
./Tools/autotest/autotest.py --gdb --debug build.ArduCopter fly.ArduCopter.RichenPower
@ -61,7 +65,7 @@ private:
// with no load
const float base_supply_voltage = 50.0f;
const float max_current = 50.0f;
const uint32_t original_seconds_until_maintenance = 5*60; // 5 minutes
const uint32_t original_seconds_until_maintenance = 20*60; // 20 minutes
// They have been... we know that the voltage drops to mid 46v
// typically if gennie stops
@ -104,8 +108,8 @@ private:
uint8_t magic2;
uint8_t version_minor;
uint8_t version_major;
uint8_t runtime_seconds;
uint8_t runtime_minutes;
uint8_t runtime_seconds;
uint16_t runtime_hours;
uint32_t seconds_until_maintenance;
uint16_t errors;
@ -115,8 +119,8 @@ private:
uint16_t output_voltage;
uint16_t output_current;
uint16_t dynamo_current;
uint8_t mode;
uint8_t unknown1;
uint8_t mode;
uint8_t unknown6[38]; // "data"?!
uint16_t checksum;
uint8_t footermagic1;