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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_BattMonitor/AP_BattMonitor_EFI.cpp
Views: 1798
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/*

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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_config.h"

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#if AP_BATTERY_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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#include "AP_BattMonitor_EFI.h"

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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 // AP_BATTERY_EFI_ENABLED

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