mirror of https://github.com/ArduPilot/ardupilot
129 lines
3.9 KiB
C++
129 lines
3.9 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Simulator for the IntelligentEnergy 2.4kWh FuelCell generator
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*/
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#include <AP_Math/AP_Math.h>
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#include "SIM_IntelligentEnergy24.h"
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#include "SITL.h"
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#include <errno.h>
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#include <GCS_MAVLink/GCS.h>
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extern const AP_HAL::HAL& hal;
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using namespace SITL;
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// table of user settable parameters
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const AP_Param::GroupInfo IntelligentEnergy24::var_info[] = {
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// @Param: ENABLE
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// @DisplayName: IntelligentEnergy 2.4kWh FuelCell sim enable/disable
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// @Description: Allows you to enable (1) or disable (0) the FuelCell simulator
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// @Values: 0:Disabled,1:Enabled
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// @User: Advanced
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AP_GROUPINFO("ENABLE", 1, IntelligentEnergy24, enabled, 0),
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// @Param: STATE
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// @DisplayName: Explicitly set state
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// @Description: Explicity specify a state for the generator to be in
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// @User: Advanced
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AP_GROUPINFO("STATE", 2, IntelligentEnergy24, set_state, -1),
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// @Param: ERROR
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// @DisplayName: Explicitly set error code
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// @Description: Explicity specify an error code to send to the generator
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// @User: Advanced
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AP_GROUPINFO("ERROR", 3, IntelligentEnergy24, err_code, 0),
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AP_GROUPEND
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};
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IntelligentEnergy24::IntelligentEnergy24() : IntelligentEnergy::IntelligentEnergy()
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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void IntelligentEnergy24::update(const struct sitl_input &input)
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{
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if (!enabled.get()) {
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return;
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}
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// gcs().send_text(MAV_SEVERITY_INFO, "fuelcell update");
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update_send();
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}
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void IntelligentEnergy24::update_send()
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{
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// just send a chunk of data at 1Hz:
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const uint32_t now = AP_HAL::millis();
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if (now - last_sent_ms < 500) {
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return;
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}
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// Simulate constant current charge/discharge of the battery
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float amps = discharge ? -20.0f : 20.0f;
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// Simulate constant tank pressure. This isn't true in reality, but is good enough
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const int16_t tank_bar = 250;
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// Update pack capacity remaining
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bat_capacity_mAh += amps*(now - last_sent_ms)/3600.0f;
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// From capacity remaining approximate voltage by linear interpolation
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const float min_bat_vol = 42.0f;
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const float max_bat_vol = 50.4f;
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const float max_bat_capactiy_mAh = 3300;
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battery_voltage = bat_capacity_mAh / max_bat_capactiy_mAh * (max_bat_vol - min_bat_vol) + min_bat_vol;
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// Decide if we need to charge or discharge the battery
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if (battery_voltage <= min_bat_vol) {
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discharge = false;
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} else if (battery_voltage >= max_bat_vol) {
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discharge = true;
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}
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int32_t battery_pwr = battery_voltage * amps; // Watts
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// These are non-physical values
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const int32_t pwr_out = battery_pwr*1.4f;
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const uint32_t spm_pwr = battery_pwr*0.3f;
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uint32_t state = set_state;
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if (set_state == -1) {
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state = 2; // Running
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}
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last_sent_ms = now;
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char message[128];
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hal.util->snprintf(message, ARRAY_SIZE(message), "<%i,%.1f,%i,%u,%i,%u,%u>\n",
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tank_bar,
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battery_voltage,
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(signed)pwr_out,
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(unsigned)spm_pwr,
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(signed)battery_pwr,
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(unsigned)state,
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(unsigned)err_code);
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if ((unsigned)write_to_autopilot(message, strlen(message)) != strlen(message)) {
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AP_HAL::panic("Failed to write to autopilot: %s", strerror(errno));
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}
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}
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