mirror of https://github.com/ArduPilot/ardupilot
129 lines
3.9 KiB
C++
129 lines
3.9 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
Simulator for the IntelligentEnergy 2.4kWh FuelCell generator
|
|
*/
|
|
|
|
#include <AP_Math/AP_Math.h>
|
|
|
|
#include "SIM_IntelligentEnergy24.h"
|
|
#include "SITL.h"
|
|
|
|
#include <errno.h>
|
|
|
|
#include <GCS_MAVLink/GCS.h>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
using namespace SITL;
|
|
|
|
// table of user settable parameters
|
|
const AP_Param::GroupInfo IntelligentEnergy24::var_info[] = {
|
|
|
|
// @Param: ENABLE
|
|
// @DisplayName: IntelligentEnergy 2.4kWh FuelCell sim enable/disable
|
|
// @Description: Allows you to enable (1) or disable (0) the FuelCell simulator
|
|
// @Values: 0:Disabled,1:Enabled
|
|
// @User: Advanced
|
|
AP_GROUPINFO("ENABLE", 1, IntelligentEnergy24, enabled, 0),
|
|
|
|
// @Param: STATE
|
|
// @DisplayName: Explicitly set state
|
|
// @Description: Explicity specify a state for the generator to be in
|
|
// @User: Advanced
|
|
AP_GROUPINFO("STATE", 2, IntelligentEnergy24, set_state, -1),
|
|
|
|
// @Param: ERROR
|
|
// @DisplayName: Explicitly set error code
|
|
// @Description: Explicity specify an error code to send to the generator
|
|
// @User: Advanced
|
|
AP_GROUPINFO("ERROR", 3, IntelligentEnergy24, err_code, 0),
|
|
|
|
AP_GROUPEND
|
|
};
|
|
|
|
IntelligentEnergy24::IntelligentEnergy24() : IntelligentEnergy::IntelligentEnergy()
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
}
|
|
|
|
void IntelligentEnergy24::update(const struct sitl_input &input)
|
|
{
|
|
if (!enabled.get()) {
|
|
return;
|
|
}
|
|
// gcs().send_text(MAV_SEVERITY_INFO, "fuelcell update");
|
|
update_send();
|
|
}
|
|
|
|
void IntelligentEnergy24::update_send()
|
|
{
|
|
// just send a chunk of data at 1Hz:
|
|
const uint32_t now = AP_HAL::millis();
|
|
if (now - last_sent_ms < 500) {
|
|
return;
|
|
}
|
|
|
|
// Simulate constant current charge/discharge of the battery
|
|
float amps = discharge ? -20.0f : 20.0f;
|
|
|
|
// Simulate constant tank pressure. This isn't true in reality, but is good enough
|
|
const int16_t tank_bar = 250;
|
|
|
|
// Update pack capacity remaining
|
|
bat_capacity_mAh += amps*(now - last_sent_ms)/3600.0f;
|
|
|
|
// From capacity remaining approximate voltage by linear interpolation
|
|
const float min_bat_vol = 42.0f;
|
|
const float max_bat_vol = 50.4f;
|
|
const float max_bat_capactiy_mAh = 3300;
|
|
|
|
battery_voltage = bat_capacity_mAh / max_bat_capactiy_mAh * (max_bat_vol - min_bat_vol) + min_bat_vol;
|
|
|
|
// Decide if we need to charge or discharge the battery
|
|
if (battery_voltage <= min_bat_vol) {
|
|
discharge = false;
|
|
} else if (battery_voltage >= max_bat_vol) {
|
|
discharge = true;
|
|
}
|
|
|
|
int32_t battery_pwr = battery_voltage * amps; // Watts
|
|
|
|
// These are non-physical values
|
|
const int32_t pwr_out = float_to_int32(battery_pwr*1.4f);
|
|
const uint32_t spm_pwr = float_to_uint32(battery_pwr*0.3f);
|
|
|
|
uint32_t state = set_state;
|
|
if (set_state == -1) {
|
|
state = 2; // Running
|
|
}
|
|
|
|
last_sent_ms = now;
|
|
|
|
char message[128];
|
|
hal.util->snprintf(message, ARRAY_SIZE(message), "<%i,%.1f,%i,%u,%i,%u,%u>\n",
|
|
tank_bar,
|
|
battery_voltage,
|
|
(signed)pwr_out,
|
|
(unsigned)spm_pwr,
|
|
(signed)battery_pwr,
|
|
(unsigned)state,
|
|
(unsigned)err_code);
|
|
|
|
if ((unsigned)write_to_autopilot(message, strlen(message)) != strlen(message)) {
|
|
AP_HAL::panic("Failed to write to autopilot: %s", strerror(errno));
|
|
}
|
|
}
|