Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

AP_Generator: Intelligent Energy: add support for new protocol version #25616

Merged
merged 9 commits into from
Nov 28, 2023
Merged

AP_Generator: Intelligent Energy: add support for new protocol version #25616

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
9 commits
Select commit Hold shift + click to select a range
2497b44
AP_Generator: Add support for IE V2 protocol
IamPete1 Sep 20, 2023
0c82b21
AP_Gernerator: IE_2400: lengthen message buffer and print error num
IamPete1 Sep 26, 2023
2c43b34
AP_Generator: IE 2400: only return custom msg if error is critial or …
IamPete1 Oct 9, 2023
b9da4a4
AP_Generator: IE 2400: fix V2 low and critical errors and add warnings
IamPete1 Oct 13, 2023
df5a3cd
SITL: Add V2 telemetry protocol to IE24 fuel cell
MattKear Oct 13, 2023
47b681f
autotest: Test both telemetry protocols for IE24 fuel cell
MattKear Oct 13, 2023
2af75a5
AP_Generator: IE_2400: update low and critial error ranges for V2 pro…
IamPete1 Oct 22, 2023
b7c6995
AP_Gernerator: FuelCell: rework error check to give error cleared msg
IamPete1 Oct 22, 2023
b66d81b
SITL: SIM IntelligentEnergy24: add error string to V2 protocol
IamPete1 Oct 25, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
22 changes: 14 additions & 8 deletions Tools/autotest/arducopter.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7678,6 +7678,12 @@ def RichenPower(self):
raise NotAchievedException("Did not find expected GEN message")

def IE24(self):
'''Test IntelligentEnergy 2.4kWh generator with V1 and V2 telemetry protocols'''
protocol_ver = (1, 2)
for ver in protocol_ver:
self.run_IE24(ver)

def run_IE24(self, proto_ver):
'''Test IntelligentEnergy 2.4kWh generator'''
elec_battery_instance = 2
fuel_battery_instance = 1
Expand All @@ -7687,14 +7693,14 @@ def IE24(self):
"GEN_TYPE": 2,
"BATT%u_MONITOR" % (fuel_battery_instance + 1): 18, # fuel-based generator
"BATT%u_MONITOR" % (elec_battery_instance + 1): 17,
"SIM_IE24_ENABLE": 1,
"SIM_IE24_ENABLE": proto_ver,
"LOG_DISARMED": 1,
})

self.customise_SITL_commandline(["--uartF=sim:ie24"])

self.start_subtest("ensure that BATTERY_STATUS for electrical generator message looks right")
self.start_subsubtest("Checking original voltage (electrical)")
self.start_subtest("Protocol %i: ensure that BATTERY_STATUS for electrical generator message looks right" % proto_ver)
self.start_subsubtest("Protocol %i: Checking original voltage (electrical)" % proto_ver)
# ArduPilot spits out essentially uninitialised battery
# messages until we read things fromthe battery:
self.delay_sim_time(30)
Expand All @@ -7712,13 +7718,13 @@ def IE24(self):
"battery_remaining": original_elec_m.battery_remaining - 1,
}, instance=elec_battery_instance)

self.start_subtest("ensure that BATTERY_STATUS for fuel generator message looks right")
self.start_subsubtest("Checking original voltage (fuel)")
self.start_subtest("Protocol %i: ensure that BATTERY_STATUS for fuel generator message looks right" % proto_ver)
self.start_subsubtest("Protocol %i: Checking original voltage (fuel)" % proto_ver)
# ArduPilot spits out essentially uninitialised battery
# messages until we read things fromthe battery:
if original_fuel_m.battery_remaining <= 90:
raise NotAchievedException("Bad original percentage (want=>%f got %f" % (90, original_fuel_m.battery_remaining))
self.start_subsubtest("Ensure percentage is counting down")
self.start_subsubtest("Protocol %i: Ensure percentage is counting down" % proto_ver)
self.wait_message_field_values('BATTERY_STATUS', {
"battery_remaining": original_fuel_m.battery_remaining - 1,
}, instance=fuel_battery_instance)
Expand All @@ -7728,15 +7734,15 @@ def IE24(self):
self.disarm_vehicle()

# Test for pre-arm check fail when state is not running
self.start_subtest("If you haven't taken off generator error should cause instant failsafe and disarm")
self.start_subtest("Protocol %i: Without takeoff generator error should cause failsafe and disarm" % proto_ver)
self.set_parameter("SIM_IE24_STATE", 8)
self.wait_statustext("Status not running", timeout=40)
self.try_arm(result=False,
expect_msg="Status not running")
self.set_parameter("SIM_IE24_STATE", 2) # Explicitly set state to running

# Test that error code does result in failsafe
self.start_subtest("If you haven't taken off generator error should cause instant failsafe and disarm")
self.start_subtest("Protocol %i: Without taken off generator error should cause failsafe and disarm" % proto_ver)
self.change_mode("STABILIZE")
self.set_parameter("DISARM_DELAY", 0)
self.arm_vehicle()
Expand Down
Loading