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scripting: Added generator cutoff for EFI Skypower #28889

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scripting: Added generator cutoff for EFI Skypower #28889

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6b38eef
Scripting: Updated Skypower EFI and generator driver
Georacer Dec 16, 2024
49a0fe4
Scripting: EFI_Skypower: Added max throttle cap
Georacer Jan 7, 2025
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142 changes: 133 additions & 9 deletions libraries/AP_Scripting/drivers/EFI_SkyPower.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,7 @@ end
local efi_backend = nil

-- Setup EFI Parameters
assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 15), 'could not add EFI_SP param table')
assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 20), 'could not add EFI_SP param table')

--[[
// @Param: EFI_SP_ENABLE
Expand Down Expand Up @@ -207,6 +207,61 @@ local EFI_SP_GEN_CTRL = bind_add_param('GEN_CRTL', 13, 1)
--]]
local EFI_SP_RST_TIME = bind_add_param('RST_TIME', 14, 2)

--[[
// @Param: EFI_SP_GEN_AUTO
// @DisplayName: Enable automatic EFI Generator on/off logic
// @Description: Enable automatic EFI Generator on/off logic.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
--]]
local EFI_SP_GEN_AUTO = bind_add_param('GEN_AUTO', 15, 0)

--[[
// @Param: EFI_SP_GEN_MIN
// @DisplayName: EFI Generator Min Load
// @Description: EFI Generator will switch ON if engine load is less than this parameter for EFI_SP_GEN_TIMER seconds. Applies when EFI_SP_GEN_AUTO=1.
// @Range: 20 50
// @User: Standard
--]]
local EFI_SP_GEN_MIN = bind_add_param('GEN_MIN', 16, 35)

--[[
// @Param: EFI_SP_GEN_MAX
// @DisplayName: EFI Generator Max Load
// @Description: EFI Generator will switch OFF if engine load is more than this parameter for EFI_SP_GEN_TIMER seconds. Applies when EFI_SP_GEN_AUTO=1.
// @Range: 40 80
// @User: Standard
--]]
local EFI_SP_GEN_MAX = bind_add_param('GEN_MAX', 17, 65)

--[[
// @Param: EFI_SP_GEN_TIMER
// @DisplayName: EFI Generator Switch Timer
// @Description: EFI Generator load has to be greater than EFI_SP_GEN_MAX or less than EFI_SP_GEN_MAX for this many seconds for a switch to happen. Applies when EFI_SP_GEN_AUTO=1.
// @Range: 0 10
// @User: Standard
--]]
local EFI_SP_GEN_TIMER = bind_add_param('GEN_TIMER', 18, 2)

--[[
// @Param: EFI_SP_GEN_TOUT
// @DisplayName: EFI Generator Switch Timeout
// @Description: EFI Generator will not be switched on/off if it was previously switched within this many seconds. Applies when EFI_SP_GEN_AUTO=1.
// @Range: 0 10
// @User: Standard
--]]
local EFI_SP_GEN_TOUT = bind_add_param('GEN_TOUT', 19, 5)

--[[
// @Param: EFI_SP_THR_MAX
// @DisplayName: SkyPower EFI max throttle
// @Description: SkyPower EFI maximum throttle command. Use this parameter to limit the maximum demanded throttle, in case your engine power curve drops off past a throttle value. It is recommended that you limit your autopilot throttle limit instead.
// @Range: 0 1
// @User: Standard
--]]
local EFI_SP_THR_MAX = bind_add_param('THR_MAX', 20, 1)


if EFI_SP_ENABLE:get() == 0 then
gcs:send_text(0, string.format("EFISP: disabled"))
return
Expand Down Expand Up @@ -270,7 +325,11 @@ local function engine_control(_driver)
local last_telem_update = get_time_sec()
local last_log_t = get_time_sec()
local last_stop_message_t = get_time_sec()
local lastSwitchTime_ms = uint32_t(0) -- Time (in ms) when the generator was last switched on or off.
local aboveThresholdTime_ms = 0 -- Time (in ms) engine load has remained above the threshold
local belowThresholdTime_ms = 0 -- Time (in ms) engine load has remained below the threshold
local engine_started = false
local generator_must_run = false
local generator_started = false
local engine_start_t = 0.0
local last_throttle = 0.0
Expand Down Expand Up @@ -438,6 +497,11 @@ local function engine_control(_driver)

--- send throttle command, thr is 0 to 1
function self.send_throttle(thr)
-- Constrain to set max throttle
local max_throttle = EFI_SP_THR_MAX:get()
if max_throttle then
thr = math.min(thr, max_throttle)
end
last_throttle = thr
local msg = CANFrame()
msg:id(FRM_500)
Expand Down Expand Up @@ -541,23 +605,83 @@ local function engine_control(_driver)
end
end

-- Function to check the EFI engine load
function self.checkEngineLoad()
local update_rate_ms = 1000 / EFI_SP_UPDATE_HZ:get()
local loadPercent = efi_state:engine_load_percent()

if loadPercent >= EFI_SP_GEN_MAX:get() then
aboveThresholdTime_ms = aboveThresholdTime_ms + update_rate_ms
belowThresholdTime_ms = 0
elseif loadPercent <= EFI_SP_GEN_MIN:get() then
belowThresholdTime_ms = belowThresholdTime_ms + update_rate_ms
aboveThresholdTime_ms = 0
else
aboveThresholdTime_ms = 0
belowThresholdTime_ms = 0
end

if self.enoughSwitchTimePassed() then
if aboveThresholdTime_ms >= EFI_SP_GEN_TIMER:get()*1000 then
generator_must_run = false -- Switch off the generator
elseif belowThresholdTime_ms >= EFI_SP_GEN_TIMER:get()*1000 then
generator_must_run = true -- Switch on the generator
end
end
end

-- Function to check if enough time has passed since the last switch
function self.enoughSwitchTimePassed()
local elapsedTime = millis() - lastSwitchTime_ms
return elapsedTime >= EFI_SP_GEN_TOUT:get()*1000
end

-- Apply autoswitch logic to the target generator state.
function self.generator_autoswitch()

if not efi_state:engine_load_percent() then
return
end
if efi_state:engine_load_percent() == 0 or millis() - efi_state:last_updated_ms() > 200 then
-- Probably no data
return
end

self.checkEngineLoad()
end

-- update generator control
function self.update_generator()
if EFI_SP_GEN_CTRL:get() == 0 then
return
end
local gen_state = rc:get_aux_cached(EFI_SP_GEN_FN:get())
if gen_state == 0 and generator_started then
if EFI_SP_GEN_CTRL:get() == 0 then
return
end

local gen_state = rc:get_aux_cached(EFI_SP_GEN_FN:get())
if gen_state == 0 then
generator_must_run = false
elseif gen_state == 2 then
generator_must_run = true
end

-- Apply automatic generator switching logic.
if EFI_SP_GEN_AUTO:get() == 1 then
self.generator_autoswitch()
end

if not generator_must_run and generator_started then
generator_started = false
gcs:send_text(0, string.format("EFISP: stopping generator"))
self.send_generator_stop()
end
if gen_state == 2 and not generator_started then
lastSwitchTime_ms = millis()
end
if generator_must_run and not generator_started then
generator_started = true
gcs:send_text(0, string.format("EFISP: starting generator"))
self.send_generator_start()
end
lastSwitchTime_ms = millis()
end
end


-- update throttle output
function self.update_throttle()
Expand Down
57 changes: 57 additions & 0 deletions libraries/AP_Scripting/drivers/EFI_SkyPower.md
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,63 @@ driver will monitor engine RPM when the engine is started and if it
drops below this value then an engine start will be sent to restart
the engine.

## EFI_SP_TLM_RT

Telemetry rate. This is the rate at which extra telemetry values
are sent to the GCS.

## EFI_SP_LOG_RT

Log rate. This is the rate at which extra logging of the SkyPower EFI is
performed.

## EFI_SP_ST_DISARM

This controls if starting the engine while disarmed is allowed. 0:Disabled,1:Enabled.

## EFI_SP_MODEL

SkyPower EFI ECU model. 0:SRE_180, 1:SP_275.

## EFI_SP_GEN_CTRL

Enable generator control. 0:Disabled,1:Enabled

## EFI_SP_RST_TIME

SkyPower EFI restart time. If engine should be running and it has stopped for
this amount of time then auto-restart. To disable this feature set this value to zero.

## EFI_SP_THR_MAX

SkyPower EFI maximum throttle command. Use this parameter to limit the maximum demanded throttle, in case your engine power curve drops off past a throttle value. It is recommended that you limit your autopilot throttle limit instead.

## EFI_SP_GEN_AUTO

Enable automatic EFI Generator on/off logic. This will automatically switch
the generator on or off, depending on the engine load.

## EFI_SP_GEN_MIN

EFI Generator will switch ON if engine load is less than this parameter for
`EFI_SP_GEN_TIMER` seconds. Applies when `EFI_SP_GEN_AUTO`=1.

## EFI_SP_GEN_MAX

EFI Generator will switch OFF if engine load is more than this parameter for
`EFI_SP_GEN_TIMER` seconds. Applies when `EFI_SP_GEN_AUTO`=1.

## EFI_SP_GEN_TIMER

EFI Generator load has to be greater than `EFI_SP_GEN_MAX` or less than
`EFI_SP_GEN_MAX` for this many seconds for a switch to happen. Applies when
`EFI_SP_GEN_AUTO`=1.

## EFI_SP_GEN_TOUT

EFI Generator will not be switched on/off if it was previously switched within
this many seconds. Applies when `EFI_SP_GEN_AUTO`=1.

# Operation

This driver should be loaded by placing the lua script in the
Expand Down
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