Plane: added internal combustion engine support

this allows for automatic engine start and restart

ArduPlane/ArduPlane.cpp

@@ -60,6 +60,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(barometer_accumulate,   50,    150),
     SCHED_TASK(update_notify,          50,    300),
     SCHED_TASK(read_rangefinder,       50,    100),
+    SCHED_TASK(ice_update,             10,    100),
     SCHED_TASK(compass_cal_update,     50,    50),
     SCHED_TASK(accel_cal_update,       10,    50),
 #if OPTFLOW == ENABLED

ArduPlane/Attitude.cpp

@@ -1256,6 +1256,13 @@ void Plane::set_servos(void)
         }
     }
 
+    uint8_t override_pct;
+    if (g2.ice_control.throttle_override(override_pct)) {
+        // the ICE controller wants to override the throttle for starting
+        channel_throttle->set_servo_out(override_pct);
+        channel_throttle->calc_pwm();
+    }
+    
     // send values to the PWM timers for output
     // ----------------------------------------
     if (g.rudder_only == 0) {

ArduPlane/GCS_Mavlink.cpp

@@ -1677,6 +1677,14 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
                 result = MAV_RESULT_ACCEPTED;
             }
             break;
+
+        case MAV_CMD_DO_ENGINE_CONTROL:
+            if (!plane.g2.ice_control.engine_control(packet.param1, packet.param2, packet.param3)) {
+                result = MAV_RESULT_FAILED;
+            } else {
+                result = MAV_RESULT_ACCEPTED;
+            }
+            break;
             
         default:
             break;

ArduPlane/Parameters.cpp

@@ -1373,9 +1373,19 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/AP_Button/AP_Button.cpp
     AP_SUBGROUPINFO(button, "BTN_", 1, ParametersG2, AP_Button),
 
+    // @Group: ICE_
+    // @Path: ../libraries/AP_ICEngine/AP_ICEngine.cpp
+    AP_SUBGROUPINFO(ice_control, "ICE_", 2, ParametersG2, AP_ICEngine),
+    
     AP_GROUPEND
 };
 
+ParametersG2::ParametersG2(void) :
+    ice_control(plane.rpm_sensor, plane.ahrs)
+{
+    AP_Param::setup_object_defaults(this, var_info);
+}
+
 /*
   This is a conversion table from old parameter values to new
   parameter names. The startup code looks for saved values of the old

ArduPlane/Parameters.h

@@ -574,13 +574,16 @@ public:
  */
 class ParametersG2 {
 public:
-    ParametersG2(void) { AP_Param::setup_object_defaults(this, var_info); }
+    ParametersG2(void);
 
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
     // button reporting library
     AP_Button button;
+
+    // internal combustion engine control
+    AP_ICEngine ice_control;
 };
 
 extern const AP_Param::Info var_info[];

ArduPlane/Plane.h

@@ -89,6 +89,7 @@
 #include <AP_Parachute/AP_Parachute.h>
 #include <AP_ADSB/AP_ADSB.h>
 #include <AP_Button/AP_Button.h>
+#include <AP_ICEngine/AP_ICEngine.h>
 
 #include "GCS_Mavlink.h"
 #include "quadplane.h"
@@ -132,6 +133,7 @@ class Plane : public AP_HAL::HAL::Callbacks {
 public:
     friend class GCS_MAVLINK_Plane;
     friend class Parameters;
+    friend class ParametersG2;
     friend class AP_Arming_Plane;
     friend class QuadPlane;
     friend class AP_Tuning_Plane;
@@ -956,6 +958,7 @@ private:
     void read_receiver_rssi(void);
     void rpm_update(void);
     void button_update(void);
+    void ice_update(void);
     void report_radio();
     void report_ins();
     void report_compass();

ArduPlane/commands_logic.cpp

@@ -225,6 +225,12 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
     case MAV_CMD_DO_VTOL_TRANSITION:
         plane.quadplane.handle_do_vtol_transition((enum MAV_VTOL_STATE)cmd.content.do_vtol_transition.target_state);
         break;
+
+    case MAV_CMD_DO_ENGINE_CONTROL:
+        plane.ice_control.engine_control(cmd.content.do_engine_control.start_control,
+                                         cmd.content.do_engine_control.cold_start,
+                                         cmd.content.do_engine_control.height_delay_cm*0.01f);
+        break;
     }
 
     return true;

ArduPlane/sensors.cpp

@@ -164,3 +164,11 @@ void Plane::button_update(void)
 {
     g2.button.update();
 }
+
+/*
+  update AP_ICEngine
+ */
+void Plane::ice_update(void)
+{
+    g2.ice_control.update();
+}