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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_EFI/AP_EFI_MAV.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_EFI_config.h"

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#if AP_EFI_MAV_ENABLED

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#include "AP_EFI_MAV.h"

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#include <AP_Math/AP_Math.h>

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//Called from frontend to update with the readings received by handler

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void AP_EFI_MAV::update()

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{

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    if (receivedNewData) {

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    	copy_to_frontend();

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    	receivedNewData = false;

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    }

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}

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//Decode MavLink message

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void AP_EFI_MAV::handle_EFI_message(const mavlink_message_t &msg)

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{

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    mavlink_efi_status_t state;

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    mavlink_msg_efi_status_decode(&msg, &state);

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    internal_state.ecu_index = state.ecu_index;

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    internal_state.engine_speed_rpm = state.rpm;

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    internal_state.estimated_consumed_fuel_volume_cm3 = state.fuel_consumed;

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    internal_state.fuel_consumption_rate_cm3pm = state.fuel_flow;

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    internal_state.engine_load_percent = state.engine_load;

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    internal_state.throttle_position_percent = state.throttle_position;

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    internal_state.spark_dwell_time_ms = state.spark_dwell_time;

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    internal_state.atmospheric_pressure_kpa = state.barometric_pressure;

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    internal_state.intake_manifold_pressure_kpa = state.intake_manifold_pressure;

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    internal_state.intake_manifold_temperature = C_TO_KELVIN(state.intake_manifold_temperature);

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    internal_state.cylinder_status.cylinder_head_temperature = C_TO_KELVIN(state.cylinder_head_temperature);

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    internal_state.cylinder_status.ignition_timing_deg = state.ignition_timing;

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    internal_state.cylinder_status.injection_time_ms = state.injection_time;

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    internal_state.cylinder_status.exhaust_gas_temperature = C_TO_KELVIN(state.exhaust_gas_temperature);

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    internal_state.throttle_out = state.throttle_out;

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    internal_state.pt_compensation = state.pt_compensation;

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    //internal_state.??? = state.health;

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    internal_state.ignition_voltage = state.ignition_voltage;

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    receivedNewData = true;

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}

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#endif  // AP_EFI_MAV_ENABLED

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