Scripting: Updated Skypower EFI and generator driver

- Documented existing parameters
- Implemented logic to turn off the generator under high engine demand

libraries/AP_Scripting/drivers/EFI_SkyPower.lua

@@ -74,7 +74,7 @@ end
 local efi_backend = nil
 
 -- Setup EFI Parameters
-assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 16), 'could not add EFI_SP param table')
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 19), 'could not add EFI_SP param table')
 
 --[[
   // @Param: EFI_SP_ENABLE
@@ -208,14 +208,50 @@ 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_LOAD_LIM
-  // @DisplayName: SkyPower EFI generator cutoff engine load
-  // @Description: SkyPower EFI generator cutoff engine load. If the engine target load is above this limit, the generator will be turned off, to alleviate the engine load. To disable this feature set this value to zero.
-  // @Range: 0 100
+  // @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
-  // @Units: %
 --]]
-local EFI_SP_LOAD_LIM  = bind_add_param('LOAD_LIM', 15, 0)
+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)
+
 
 if EFI_SP_ENABLE:get() == 0 then
    gcs:send_text(0, string.format("EFISP: disabled"))
@@ -280,7 +316,11 @@ 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
@@ -551,30 +591,83 @@ 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())
-       -- Stop the generator if the engine is working at high load.
-       local load_limit = EFI_SP_LOAD_LIM:get()
-       if load_limit >0 then
-         if target_load > load_limit then
-            gen_state = 0
-         end
-       end
-       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()

libraries/AP_Scripting/drivers/EFI_SkyPower.md

@@ -60,11 +60,58 @@ 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_LOAD_LIM
-This is a threshold on the target engine load. Past this limit, the generator
-will be stopped, in order to reduce the engine load and route more power to
-the thruster.
-To disable this feature set this value to zero.
+## 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_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