mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.5 KiB
C++
56 lines
1.5 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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#include "AP_BattMonitor_EFI.h"
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#if HAL_EFI_ENABLED
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_EFI/AP_EFI.h>
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extern const AP_HAL::HAL& hal;
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// update state
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void AP_BattMonitor_EFI::read()
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{
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AP_EFI *efi = AP::EFI();
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if (efi == nullptr) {
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return;
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}
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if (!efi->is_healthy()) {
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_state.healthy = false;
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return;
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}
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struct EFI_State efi_state;
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/*
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a simple mapping of 1 Amp == 1 litre/hour and 1Ah = 1Litre
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*/
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efi->get_state(efi_state);
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_state.current_amps = efi_state.fuel_consumption_rate_cm3pm*0.001*60; // litres/hour
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// use arbitrary 1.0 Volts
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_state.voltage = 1.0;
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_state.consumed_mah = efi_state.estimated_consumed_fuel_volume_cm3; // millilitres
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_state.consumed_wh = 0.001 * _state.consumed_mah;
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_state.healthy = true;
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_state.last_time_micros = AP_HAL::micros();
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}
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#endif // HAL_EFI_ENABLED
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