mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.3 KiB
C++
54 lines
1.3 KiB
C++
#pragma once
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#include "AP_Generator.h"
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#if HAL_GENERATOR_ENABLED
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class AP_Generator_Backend
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{
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public:
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// Constructor
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AP_Generator_Backend(AP_Generator& frontend);
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// Declare a virtual destructor in case Generator drivers want to override
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virtual ~AP_Generator_Backend() {};
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virtual void init(void) = 0;
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virtual void update(void) = 0;
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// Set default to not fail arming checks
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virtual bool pre_arm_check(char *failmsg, uint8_t failmsg_len) const { return true; }
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// Set default to not fail failsafes
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virtual AP_BattMonitor::Failsafe update_failsafes(void) const {
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return AP_BattMonitor::Failsafe::None;
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}
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virtual bool healthy(void) const = 0;
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// Generator controls must return true if present in generator type
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virtual bool stop(void) { return false; }
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virtual bool idle(void) { return false; }
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virtual bool run(void) { return false; }
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// Use generator mavlink message
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virtual void send_generator_status(const GCS_MAVLINK &channel) {}
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protected:
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// Update frontend
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void update_frontend(void);
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// Measurements readings to write to front end
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float _voltage;
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float _current;
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float _fuel_remaining; // Decimal from 0 to 1
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float _consumed_mah;
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uint16_t _rpm;
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AP_Generator& _frontend;
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};
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#endif
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