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Adding ThM (modified throttle send to engine) to EFIS log #27077

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merged 1 commit into from
Aug 18, 2024
Merged

Adding ThM (modified throttle send to engine) to EFIS log #27077

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57 changes: 22 additions & 35 deletions libraries/AP_EFI/AP_EFI_Serial_Hirth.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -205,6 +205,7 @@ void AP_EFI_Serial_Hirth::send_request()
bool AP_EFI_Serial_Hirth::send_target_values(uint16_t thr)
{
uint8_t computed_checksum = 0;
throttle_to_hirth = 0;

// clear buffer
memset(raw_data, 0, ARRAY_SIZE(raw_data));
Expand All @@ -214,15 +215,15 @@ bool AP_EFI_Serial_Hirth::send_target_values(uint16_t thr)
thr = linearise_throttle(thr);
#endif

const uint16_t throttle = thr * THROTTLE_POSITION_FACTOR;
throttle_to_hirth = thr * THROTTLE_POSITION_FACTOR;

uint8_t idx = 0;

// set Quantity + Code + "20 bytes of records to set" + Checksum
computed_checksum += raw_data[idx++] = QUANTITY_SET_VALUE;
computed_checksum += raw_data[idx++] = requested_code = CODE_SET_VALUE;
computed_checksum += raw_data[idx++] = throttle & 0xFF;
computed_checksum += raw_data[idx++] = (throttle >> 8) & 0xFF;
computed_checksum += raw_data[idx++] = throttle_to_hirth & 0xFF;
computed_checksum += raw_data[idx++] = (throttle_to_hirth >> 8) & 0xFF;

// checksum calculation
raw_data[QUANTITY_SET_VALUE - 1] = (256 - computed_checksum);
Expand Down Expand Up @@ -309,10 +310,7 @@ void AP_EFI_Serial_Hirth::decode_data()
// EFI3 log
internal_state.ignition_voltage = record1->battery_voltage * VOLTAGE_RESOLUTION;

engine_temperature_sensor_status = (record1->sensor_ok & 0x01) != 0;
air_temperature_sensor_status = (record1->sensor_ok & 0x02) != 0;
air_pressure_sensor_status = (record1->sensor_ok & 0x04) != 0;
throttle_sensor_status = (record1->sensor_ok & 0x08) != 0;
sensor_status = record1->sensor_ok;

// resusing mavlink variables as required for Hirth
// add in ADC voltage of MAP sensor > convert to MAP in kPa
Expand Down Expand Up @@ -344,10 +342,7 @@ void AP_EFI_Serial_Hirth::decode_data()
struct Record3 *record3 = (Record3*)raw_data;

// EFI3 Log
CHT_1_error_excess_temperature_status = (record3->error_excess_temperature_bitfield & 0x0007) != 0;
CHT_2_error_excess_temperature_status = (record3->error_excess_temperature_bitfield & 0x0038) != 0;
EGT_1_error_excess_temperature_status = (record3->error_excess_temperature_bitfield & 0x01C0) != 0;
EGT_2_error_excess_temperature_status = (record3->error_excess_temperature_bitfield & 0x0E00) != 0;
error_excess_temperature = record3->error_excess_temperature_bitfield;

// ECYL log
internal_state.cylinder_status.cylinder_head_temperature = C_TO_KELVIN(record3->excess_temperature_1);
Expand All @@ -369,36 +364,28 @@ void AP_EFI_Serial_Hirth::log_status(void)
// @LoggerMessage: EFIS
// @Description: Electronic Fuel Injection data - Hirth specific Status information
// @Field: TimeUS: Time since system startup
// @Field: ETS1: Status of EGT1 excess temperature error
// @Field: ETS2: Status of EGT2 excess temperature error
// @Field: CTS1: Status of CHT1 excess temperature error
// @Field: CTS2: Status of CHT2 excess temperature error
// @Field: ETSS: Status of Engine temperature sensor
// @Field: ATSS: Status of Air temperature sensor
// @Field: APSS: Status of Air pressure sensor
// @Field: TSS: Status of Temperature sensor
// @Field: CRCF: CRC failure count
// @Field: AckF: ACK failure count
// @Field: EET: Error Excess Temperature Bitfield
// @FieldBitmaskEnum: EET: AP_EFI_Serial_Hirth:::Error_Excess_Temp_Bitfield
// @Field: FLAG: Sensor Status Bitfield
// @FieldBitmaskEnum: FLAG: AP_EFI_Serial_Hirth:::Sensor_Status_Bitfield
// @Field: CRF: CRC failure count
// @Field: AKF: ACK failure count
// @Field: Up: Uptime between 2 messages
// @Field: ThrO: Throttle output as received by the engine
// @Field: ThO: Throttle output as received by the engine
// @Field: ThM: Modified throttle_to_hirth output sent to the engine
AP::logger().WriteStreaming("EFIS",
"TimeUS,ETS1,ETS2,CTS1,CTS2,ETSS,ATSS,APSS,TSS,CRCF,AckF,Up,ThrO",
"s------------",
"F------------",
"QBBBBBBBBIIIf",
"TimeUS,EET,FLAG,CRF,AKF,Up,ThO,ThM",
"s-------",
"F-------",
"QHBIIIfH",
AP_HAL::micros64(),
uint8_t(EGT_1_error_excess_temperature_status),
uint8_t(EGT_2_error_excess_temperature_status),
uint8_t(CHT_1_error_excess_temperature_status),
uint8_t(CHT_2_error_excess_temperature_status),
uint8_t(engine_temperature_sensor_status),
uint8_t(air_temperature_sensor_status),
uint8_t(air_pressure_sensor_status),
uint8_t(throttle_sensor_status),
uint16_t(error_excess_temperature),
uint8_t(sensor_status),
uint32_t(crc_fail_cnt),
uint32_t(ack_fail_cnt),
uint32_t(uptime),
float(internal_state.throttle_out));
float(internal_state.throttle_out),
uint16_t(throttle_to_hirth));
}
#endif // HAL_LOGGING_ENABLED

Expand Down
37 changes: 27 additions & 10 deletions libraries/AP_EFI/AP_EFI_Serial_Hirth.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,28 @@ class AP_EFI_Serial_Hirth: public AP_EFI_Backend {

void update() override;

enum class Error_Excess_Temp_Bitfield : uint16_t {
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CHT_1_LOW = 1U<<0, // true if CHT1 is too low
CHT_1_HIGH = 1U<<1, // true if CHT1 is too high
CHT_1_ENRC_ACTIVE = 1U<<2, // true if CHT1 Enrichment is active
CHT_2_LOW = 1U<<3, // true if CHT2 is too low
CHT_2_HIGH = 1U<<4, // true if CHT2 is too high
CHT_2_ENRC_ACTIVE = 1U<<5, // true if CHT2 Enrichment is active
EGT_1_LOW = 1U<<6, // true if EGT1 is too low
EGT_1_HIGH = 1U<<7, // true if EGT1 is too high
EGT_1_ENRC_ACTIVE = 1U<<8, // true if EGT1 Enrichment is active
EGT_2_LOW = 1U<<9, // true if EGT2 is too low
EGT_2_HIGH = 1U<<10, // true if EGT2 is too high
EGT_2_ENRC_ACTIVE = 1U<<11, // true if EGT2 Enrichment is active
};

enum class Sensor_Status_Bitfield : uint8_t {
ENGINE_TEMP_SENSOR_OK = 1U<<0, // true if engine temperature sensor is OK
AIR_TEMP_SENSOR_OK = 1U<<1, // true if air temperature sensor is OK
AIR_PRESSURE_SENSOR_OK = 1U<<2, // true if intake air pressure sensor is OK
THROTTLE_SENSOR_OK = 1U<<3, // true if throttle sensor is OK
};

private:
// serial port instance
AP_HAL::UARTDriver *port;
Expand Down Expand Up @@ -61,20 +83,15 @@ class AP_EFI_Serial_Hirth: public AP_EFI_Backend {
uint8_t expected_bytes;

// Throttle values
uint16_t last_throttle;
uint16_t last_throttle;
uint16_t throttle_to_hirth;

uint32_t last_fuel_integration_ms;

// custom status for Hirth
bool engine_temperature_sensor_status;
bool air_temperature_sensor_status;
bool air_pressure_sensor_status;
bool throttle_sensor_status;

bool CHT_1_error_excess_temperature_status;
bool CHT_2_error_excess_temperature_status;
bool EGT_1_error_excess_temperature_status;
bool EGT_2_error_excess_temperature_status;
uint16_t sensor_status;

uint16_t error_excess_temperature;
uint32_t crc_fail_cnt;
uint32_t uptime;
uint32_t ack_fail_cnt;
Expand Down
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