diff --git a/libraries/AP_Scripting/drivers/EFI_SkyPower.lua b/libraries/AP_Scripting/drivers/EFI_SkyPower.lua index ba75519a99..569295ff1b 100644 --- a/libraries/AP_Scripting/drivers/EFI_SkyPower.lua +++ b/libraries/AP_Scripting/drivers/EFI_SkyPower.lua @@ -11,7 +11,6 @@ CAN_P1_DRIVER 1 (First driver) CAN_D1_BITRATE 500000 (500 kbit/s) --]] --- luacheck: only 0 -- Check Script uses a miniumum firmware version local SCRIPT_AP_VERSION = 4.3 @@ -27,6 +26,9 @@ local MAV_SEVERITY_ERROR = 3 local K_THROTTLE = 70 local K_HELIRSC = 31 +local MODEL_DEFAULT = 0 +local MODEL_SP_275 = 1 + PARAM_TABLE_KEY = 36 PARAM_TABLE_PREFIX = "EFI_SP_" @@ -62,10 +64,6 @@ function constrain(v, vmin, vmax) return v end ----- GLOBAL VARIABLES -local GKWH_TO_LBS_HP_HR = 0.0016439868 -local LITRES_TO_LBS = 1.6095 -- 6.1 lbs of fuel per gallon -> 1.6095 - local efi_backend = nil -- Setup EFI Parameters @@ -174,6 +172,34 @@ local EFI_SP_LOG_RT = bind_add_param('LOG_RT', 10, 10) -- rate for logg --]] local EFI_SP_ST_DISARM = bind_add_param('ST_DISARM', 11, 0) -- allow start when disarmed +--[[ + // @Param: EFI_SP_MODEL + // @DisplayName: SkyPower EFI ECU model + // @Description: SkyPower EFI ECU model + // @Values: 0:Default,1:SP_275 + // @User: Standard +--]] +local EFI_SP_MODEL = bind_add_param('MODEL', 12, MODEL_DEFAULT) + +--[[ + // @Param: EFI_SP_GEN_CTRL + // @DisplayName: SkyPower EFI enable generator control + // @Description: SkyPower EFI enable generator control + // @Values: 0:Disabled,1:Enabled + // @User: Standard +--]] +local EFI_SP_GEN_CTRL = bind_add_param('GEN_CRTL', 13, 1) + +--[[ + // @Param: EFI_SP_RST_TIME + // @DisplayName: SkyPower EFI restart time + // @Description: SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero. + // @Range: 0 10 + // @User: Standard + // @Units: s +--]] +local EFI_SP_RST_TIME = bind_add_param('RST_TIME', 14, 2) + if EFI_SP_ENABLE:get() == 0 then gcs:send_text(0, string.format("EFISP: disabled")) return @@ -211,7 +237,7 @@ end --[[ EFI Engine Object --]] -local function engine_control(_driver, _idx) +local function engine_control(_driver) local self = {} -- Build up the EFI_State that is passed into the EFI Scripting backend @@ -221,21 +247,16 @@ local function engine_control(_driver, _idx) -- private fields as locals local rpm = 0 local air_pressure = 0 - local inj_ang = 0 local inj_time = 0 local target_load = 0 local current_load = 0 local throttle_angle = 0 local ignition_angle = 0 - local sfc = 0 - local sfc_icao = 0 - local last_sfc_t = 0 local supply_voltage = 0 local fuel_consumption_lph = 0 local fuel_total_l = 0 local last_fuel_s = 0 local driver = _driver - local idx = _idx local last_rpm_t = get_time_sec() local last_state_update_t = get_time_sec() local last_thr_update = get_time_sec() @@ -246,6 +267,9 @@ local function engine_control(_driver, _idx) local generator_started = false local engine_start_t = 0.0 local last_throttle = 0.0 + local sensor_error_flags = 0 + local thermal_limit_flags = 0 + local starter_rpm = 0 -- frames for sending commands local FRM_500 = uint32_t(0x500) @@ -264,6 +288,10 @@ local function engine_control(_driver, _idx) temps.cht = 0.0 -- Cylinder Head Temperature temps.imt = 0.0 -- intake manifold temperature temps.oilt = 0.0 -- oil temperature + temps.cht2 = 0.0 + temps.egt2 = 0.0 + temps.imt2 = 0.0 + temps.oil2 = 0.0 -- read telemetry packets function self.update_telemetry() @@ -276,9 +304,9 @@ local function engine_control(_driver, _idx) break end - -- All Frame IDs for this EFI Engine are extended - if frame:isExtended() then - self.handle_EFI_packet(frame, _idx) + -- All Frame IDs for this EFI Engine are not extended + if not frame:isExtended() then + self.handle_EFI_packet(frame) end end if last_rpm_t > last_state_update_t then @@ -289,36 +317,79 @@ local function engine_control(_driver, _idx) end -- handle an EFI packet - function self.handle_EFI_packet(frame, idx) + function self.handle_EFI_packet(frame) local id = frame:id_signed() - if id == 0x100 then - rpm = get_uint16(frame, 0) - ignition_angle = get_uint16(frame, 2) * 0.1 - throttle_angle = get_uint16(frame, 4) * 0.1 - last_rpm_t = get_time_sec() - elseif id == 0x101 then - current_load = get_uint16(frame, 0) * 0.1 - target_load = get_uint16(frame, 2) * 0.1 - inj_time = get_uint16(frame, 4) - inj_ang = get_uint16(frame, 6) * 0.1 - elseif id == 0x102 then - -- unused fields - elseif id == 0x104 then - supply_voltage = get_uint16(frame, 0) * 0.1 - ecu_temp = get_uint16(frame, 2) * 0.1 - air_pressure = get_uint16(frame, 4) - fuel_consumption_lph = get_uint16(frame,6)*0.001 - if last_fuel_s > 0 then - local dt = now_s - last_fuel_s - local fuel_lps = fuel_consumption_lph / 3600.0 - fuel_total_l = fuel_total_l + fuel_lps * dt + if EFI_SP_MODEL:get() == MODEL_SP_275 then + -- updated telemetry for SP-275 ECU + if id == 0x100 then + rpm = get_uint16(frame, 0) + ignition_angle = get_uint16(frame, 2) * 0.1 + throttle_angle = get_uint16(frame, 4) * 0.1 + last_rpm_t = get_time_sec() + elseif id == 0x101 then + air_pressure = get_uint16(frame, 4) + elseif id == 0x102 then + inj_time = get_uint16(frame, 4) + -- inj_ang = get_uint16(frame, 2) * 0.1 + elseif id == 0x104 then + supply_voltage = get_uint16(frame, 0) * 0.1 + elseif id == 0x105 then + temps.cht = get_uint16(frame, 0) * 0.1 + temps.imt = get_uint16(frame, 2) * 0.1 + temps.egt = get_uint16(frame, 4) * 0.1 + temps.oilt = get_uint16(frame, 6) * 0.1 + elseif id == 0x107 then + sensor_error_flags = get_uint16(frame, 0) + thermal_limit_flags = get_uint16(frame, 2) + elseif id == 0x107 then + target_load = get_uint16(frame, 6) * 0.1 + elseif id == 0x10C then + temps.cht2 = get_uint16(frame, 4) * 0.1 + temps.egt2 = get_uint16(frame, 6) * 0.1 + elseif id == 0x10D then + current_load = get_uint16(frame, 2) * 0.1 + elseif id == 0x113 then + gen.amps = get_uint16(frame, 2) + elseif id == 0x2E0 then + starter_rpm = get_uint16(frame, 4) + elseif id == 0x10B then + fuel_consumption_lph = get_uint16(frame,6)*0.001 + if last_fuel_s > 0 then + local dt = now_s - last_fuel_s + local fuel_lps = fuel_consumption_lph / 3600.0 + fuel_total_l = fuel_total_l + fuel_lps * dt + end + last_fuel_s = now_s + end + else + -- original SkyPower driver + if id == 0x100 then + rpm = get_uint16(frame, 0) + ignition_angle = get_uint16(frame, 2) * 0.1 + throttle_angle = get_uint16(frame, 4) * 0.1 + last_rpm_t = get_time_sec() + elseif id == 0x101 then + current_load = get_uint16(frame, 0) * 0.1 + target_load = get_uint16(frame, 2) * 0.1 + inj_time = get_uint16(frame, 4) + -- inj_ang = get_uint16(frame, 6) * 0.1 + elseif id == 0x104 then + supply_voltage = get_uint16(frame, 0) * 0.1 + ecu_temp = get_uint16(frame, 2) * 0.1 + air_pressure = get_uint16(frame, 4) + fuel_consumption_lph = get_uint16(frame,6)*0.001 + if last_fuel_s > 0 then + local dt = now_s - last_fuel_s + local fuel_lps = fuel_consumption_lph / 3600.0 + fuel_total_l = fuel_total_l + fuel_lps * dt + end + last_fuel_s = now_s + elseif id == 0x105 then + temps.cht = get_uint16(frame, 0) * 0.1 + temps.imt = get_uint16(frame, 2) * 0.1 + temps.egt = get_uint16(frame, 4) * 0.1 + temps.oilt = get_uint16(frame, 6) * 0.1 end - last_fuel_s = now_s - elseif id == 0x105 then - temps.cht = get_uint16(frame, 0) * 0.1 - temps.imt = get_uint16(frame, 2) * 0.1 - temps.egt = get_uint16(frame, 4) * 0.1 - temps.oilt = get_uint16(frame, 6) * 0.1 end end @@ -344,7 +415,7 @@ local function engine_control(_driver, _idx) -- copy cylinder_state to efi_state efi_state:cylinder_status(cylinder_state) - last_efi_state_time = millis() + local last_efi_state_time = millis() efi_state:last_updated_ms(last_efi_state_time) @@ -368,6 +439,10 @@ local function engine_control(_driver, _idx) -- send an engine start command function self.send_engine_start() + if EFI_SP_MODEL:get() == MODEL_SP_275 then + -- the SP-275 needs a stop before a start will work + self.send_engine_stop() + end local msg = CANFrame() msg:id(FRM_505) msg:data(0,10) @@ -437,7 +512,7 @@ local function engine_control(_driver, _idx) if min_rpm > 0 and engine_started and rpm < min_rpm and allow_run_engine() then local now = get_time_sec() local dt = now - engine_start_t - if dt > 2.0 then + if EFI_SP_RST_TIME:get() > 0 and dt > EFI_SP_RST_TIME:get() then gcs:send_text(0, string.format("EFISP: re-starting engine")) self.send_engine_start() engine_start_t = get_time_sec() @@ -455,6 +530,9 @@ local function engine_control(_driver, _idx) -- update generator control function self.update_generator() + if EFI_SP_GEN_CTRL:get() == 0 then + return + end local gen_state = rc:get_aux_cached(EFI_SP_GEN_FN:get()) if gen_state == 0 and generator_started then generator_started = false @@ -504,6 +582,9 @@ local function engine_control(_driver, _idx) gcs:send_named_float('EFI_OILTMP', temps.oilt) gcs:send_named_float('EFI_TRLOAD', target_load) gcs:send_named_float('EFI_VOLTS', supply_voltage) + gcs:send_named_float('EFI_GEN_AMPS', gen.amps) + gcs:send_named_float('EFI_CHT2', temps.cht2) + gcs:send_named_float('EFI_STARTRPM', starter_rpm) end -- update custom logging @@ -517,18 +598,18 @@ local function engine_control(_driver, _idx) return end last_log_t = now - logger.write('EFSP','Thr,CLoad,TLoad,OilT,RPM,gRPM,gAmp,gCur', 'ffffffff', + logger.write('EFSP','Thr,CLoad,TLoad,OilT,RPM,gRPM,gAmp,gCur,SErr,TLim,STRPM', 'ffffffffHHH', last_throttle, current_load, target_load, temps.oilt, rpm, - gen.rpm, gen.amps, gen.batt_current) + gen.rpm, gen.amps, gen.batt_current, + sensor_error_flags, thermal_limit_flags, + starter_rpm) end -- return the instance return self -end -- end function engine_control(_driver, _idx) +end -- end function engine_control -local engine1 = engine_control(driver1, 1) - -local last_efi_state_time = 0.0 +local engine1 = engine_control(driver1) function update() now_s = get_time_sec()