mirror of https://github.com/ArduPilot/ardupilot
Scripting: Updated Skypower EFI and generator driver
- Documented existing parameters - Implemented logic to turn off the generator under high engine demand
This commit is contained in:
George Zogopoulos
parent
aec7cc24d1
commit
6b38eeff29
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@ -74,7 +74,7 @@ end
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local efi_backend = nil
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-- Setup EFI Parameters
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assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 15), 'could not add EFI_SP param table')
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assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 19), 'could not add EFI_SP param table')
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--[[
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// @Param: EFI_SP_ENABLE
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@ -207,6 +207,52 @@ local EFI_SP_GEN_CTRL = bind_add_param('GEN_CRTL', 13, 1)
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--]]
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local EFI_SP_RST_TIME = bind_add_param('RST_TIME', 14, 2)
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--[[
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// @Param: EFI_SP_GEN_AUTO
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// @DisplayName: Enable automatic EFI Generator on/off logic
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// @Description: Enable automatic EFI Generator on/off logic.
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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--]]
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local EFI_SP_GEN_AUTO = bind_add_param('GEN_AUTO', 15, 0)
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--[[
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// @Param: EFI_SP_GEN_MIN
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// @DisplayName: EFI Generator Min Load
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// @Description: EFI Generator will switch ON if engine load is less than this parameter for EFI_SP_GEN_TIMER seconds. Applies when EFI_SP_GEN_AUTO=1.
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// @Range: 20 50
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// @User: Standard
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--]]
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local EFI_SP_GEN_MIN = bind_add_param('GEN_MIN', 16, 35)
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--[[
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// @Param: EFI_SP_GEN_MAX
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// @DisplayName: EFI Generator Max Load
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// @Description: EFI Generator will switch OFF if engine load is more than this parameter for EFI_SP_GEN_TIMER seconds. Applies when EFI_SP_GEN_AUTO=1.
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// @Range: 40 80
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// @User: Standard
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--]]
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local EFI_SP_GEN_MAX = bind_add_param('GEN_MAX', 17, 65)
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--[[
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// @Param: EFI_SP_GEN_TIMER
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// @DisplayName: EFI Generator Switch Timer
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// @Description: EFI Generator load has to be greater than EFI_SP_GEN_MAX or less than EFI_SP_GEN_MAX for this many seconds for a switch to happen. Applies when EFI_SP_GEN_AUTO=1.
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// @Range: 0 10
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// @User: Standard
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--]]
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local EFI_SP_GEN_TIMER = bind_add_param('GEN_TIMER', 18, 2)
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--[[
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// @Param: EFI_SP_GEN_TOUT
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// @DisplayName: EFI Generator Switch Timeout
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// @Description: EFI Generator will not be switched on/off if it was previously switched within this many seconds. Applies when EFI_SP_GEN_AUTO=1.
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// @Range: 0 10
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// @User: Standard
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--]]
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local EFI_SP_GEN_TOUT = bind_add_param('GEN_TOUT', 19, 5)
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if EFI_SP_ENABLE:get() == 0 then
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gcs:send_text(0, string.format("EFISP: disabled"))
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return
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@ -270,7 +316,11 @@ local function engine_control(_driver)
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local last_telem_update = get_time_sec()
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local last_log_t = get_time_sec()
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local last_stop_message_t = get_time_sec()
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local lastSwitchTime_ms = uint32_t(0) -- Time (in ms) when the generator was last switched on or off.
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local aboveThresholdTime_ms = 0 -- Time (in ms) engine load has remained above the threshold
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local belowThresholdTime_ms = 0 -- Time (in ms) engine load has remained below the threshold
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local engine_started = false
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local generator_must_run = false
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local generator_started = false
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local engine_start_t = 0.0
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local last_throttle = 0.0
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@ -541,23 +591,83 @@ local function engine_control(_driver)
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end
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end
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-- Function to check the EFI engine load
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function self.checkEngineLoad()
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local update_rate_ms = 1000 / EFI_SP_UPDATE_HZ:get()
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local loadPercent = efi_state:engine_load_percent()
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if loadPercent >= EFI_SP_GEN_MAX:get() then
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aboveThresholdTime_ms = aboveThresholdTime_ms + update_rate_ms
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belowThresholdTime_ms = 0
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elseif loadPercent <= EFI_SP_GEN_MIN:get() then
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belowThresholdTime_ms = belowThresholdTime_ms + update_rate_ms
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aboveThresholdTime_ms = 0
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else
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aboveThresholdTime_ms = 0
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belowThresholdTime_ms = 0
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end
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if self.enoughSwitchTimePassed() then
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if aboveThresholdTime_ms >= EFI_SP_GEN_TIMER:get()*1000 then
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generator_must_run = false -- Switch off the generator
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elseif belowThresholdTime_ms >= EFI_SP_GEN_TIMER:get()*1000 then
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generator_must_run = true -- Switch on the generator
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end
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end
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end
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-- Function to check if enough time has passed since the last switch
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function self.enoughSwitchTimePassed()
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local elapsedTime = millis() - lastSwitchTime_ms
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return elapsedTime >= EFI_SP_GEN_TOUT:get()*1000
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end
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-- Apply autoswitch logic to the target generator state.
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function self.generator_autoswitch()
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if not efi_state:engine_load_percent() then
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return
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end
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if efi_state:engine_load_percent() == 0 or millis() - efi_state:last_updated_ms() > 200 then
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-- Probably no data
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return
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end
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self.checkEngineLoad()
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end
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-- update generator control
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function self.update_generator()
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if EFI_SP_GEN_CTRL:get() == 0 then
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return
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end
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local gen_state = rc:get_aux_cached(EFI_SP_GEN_FN:get())
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if gen_state == 0 and generator_started then
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if EFI_SP_GEN_CTRL:get() == 0 then
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return
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end
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local gen_state = rc:get_aux_cached(EFI_SP_GEN_FN:get())
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if gen_state == 0 then
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generator_must_run = false
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elseif gen_state == 2 then
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generator_must_run = true
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end
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-- Apply automatic generator switching logic.
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if EFI_SP_GEN_AUTO:get() == 1 then
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self.generator_autoswitch()
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end
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if not generator_must_run and generator_started then
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generator_started = false
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gcs:send_text(0, string.format("EFISP: stopping generator"))
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self.send_generator_stop()
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end
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if gen_state == 2 and not generator_started then
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lastSwitchTime_ms = millis()
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end
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if generator_must_run and not generator_started then
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generator_started = true
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gcs:send_text(0, string.format("EFISP: starting generator"))
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self.send_generator_start()
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end
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lastSwitchTime_ms = millis()
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end
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end
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-- update throttle output
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function self.update_throttle()
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@ -60,6 +60,59 @@ driver will monitor engine RPM when the engine is started and if it
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drops below this value then an engine start will be sent to restart
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the engine.
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## EFI_SP_TLM_RT
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Telemetry rate. This is the rate at which extra telemetry values
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are sent to the GCS.
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## EFI_SP_LOG_RT
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Log rate. This is the rate at which extra logging of the SkyPower EFI is
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performed.
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## EFI_SP_ST_DISARM
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This controls if starting the engine while disarmed is allowed. 0:Disabled,1:Enabled.
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## EFI_SP_MODEL
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SkyPower EFI ECU model. 0:SRE_180, 1:SP_275.
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## EFI_SP_GEN_CTRL
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Enable generator control. 0:Disabled,1:Enabled
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## EFI_SP_RST_TIME
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SkyPower EFI restart time. If engine should be running and it has stopped for
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this amount of time then auto-restart. To disable this feature set this value to zero.
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## EFI_SP_GEN_AUTO
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Enable automatic EFI Generator on/off logic. This will automatically switch
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the generator on or off, depending on the engine load.
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## EFI_SP_GEN_MIN
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EFI Generator will switch ON if engine load is less than this parameter for
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`EFI_SP_GEN_TIMER` seconds. Applies when `EFI_SP_GEN_AUTO`=1.
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## EFI_SP_GEN_MAX
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EFI Generator will switch OFF if engine load is more than this parameter for
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`EFI_SP_GEN_TIMER` seconds. Applies when `EFI_SP_GEN_AUTO`=1.
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## EFI_SP_GEN_TIMER
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EFI Generator load has to be greater than `EFI_SP_GEN_MAX` or less than
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`EFI_SP_GEN_MAX` for this many seconds for a switch to happen. Applies when
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`EFI_SP_GEN_AUTO`=1.
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## EFI_SP_GEN_TOUT
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EFI Generator will not be switched on/off if it was previously switched within
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this many seconds. Applies when `EFI_SP_GEN_AUTO`=1.
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# Operation
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This driver should be loaded by placing the lua script in the
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