AP_ICEngine: allow for ICE with no RPM support

libraries/AP_ICEngine/AP_ICEngine.cpp

@@ -61,12 +61,14 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
     // @Range: 1 10
     AP_GROUPINFO("START_DELAY", 3, AP_ICEngine, starter_delay, 2),
 
+#if AP_RPM_ENABLED
     // @Param: RPM_THRESH
     // @DisplayName: RPM threshold
     // @Description: This is the measured RPM above which the engine is considered to be running
     // @User: Standard
     // @Range: 100 100000
     AP_GROUPINFO("RPM_THRESH", 4, AP_ICEngine, rpm_threshold, 100),
+#endif
 
     // @Param: PWM_IGN_ON
     // @DisplayName: PWM value for ignition on
@@ -96,12 +98,14 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
     // @Range: 1000 2000
     AP_GROUPINFO("PWM_STRT_OFF", 8, AP_ICEngine, pwm_starter_off, 1000),
 
+#if AP_RPM_ENABLED
     // @Param: RPM_CHAN
     // @DisplayName: RPM instance channel to use
     // @Description: This is which of the RPM instances to use for detecting the RPM of the engine
     // @User: Standard
     // @Values: 0:None,1:RPM1,2:RPM2
     AP_GROUPINFO("RPM_CHAN",  9, AP_ICEngine, rpm_instance, 0),
+#endif
 
     // @Param: START_PCT
     // @DisplayName: Throttle percentage for engine start
@@ -117,6 +121,7 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
     // @Range: 0 100
     AP_GROUPINFO("IDLE_PCT", 11, AP_ICEngine, idle_percent, 0),
 
+#if AP_RPM_ENABLED
     // @Param: IDLE_RPM
     // @DisplayName: RPM Setpoint for Idle Governor
     // @Description: This configures the RPM that will be commanded by the idle governor. Set to -1 to disable
@@ -132,6 +137,7 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
     // @DisplayName: Slew Rate for idle control
     // @Description: This configures the slewrate used to adjust the idle setpoint in percentage points per second
     AP_GROUPINFO("IDLE_SLEW", 14, AP_ICEngine, idle_slew, 1),
+#endif
 
     // @Param: OPTIONS
     // @DisplayName: ICE options
@@ -146,6 +152,7 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
     // @Range: 0 1300
     AP_GROUPINFO("STARTCHN_MIN", 16, AP_ICEngine, start_chan_min_pwm, 0),
 
+#if AP_RPM_ENABLED
     // @Param: REDLINE_RPM
     // @DisplayName: RPM of the redline limit for the engine
     // @Description: Maximum RPM for the engine provided by the manufacturer. A value of 0 disables this feature. See ICE_OPTIONS to enable or disable the governor.
@@ -153,14 +160,14 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
     // @Range: 0 2000000
     // @Units: RPM
     AP_GROUPINFO("REDLINE_RPM", 17, AP_ICEngine, redline_rpm, 0),
+#endif
 
     AP_GROUPEND
 };
 
 
 // constructor
-AP_ICEngine::AP_ICEngine(const AP_RPM &_rpm) :
+AP_ICEngine::AP_ICEngine()
-    rpm(_rpm)
 {
     AP_Param::setup_object_defaults(this, var_info);
 
@@ -169,8 +176,10 @@ AP_ICEngine::AP_ICEngine(const AP_RPM &_rpm) :
     }
     _singleton = this;
 
+#if AP_RPM_ENABLED
     // ICEngine runs at 10Hz
     _rpm_filter.set_cutoff_frequency(10, 0.5f);
+#endif
 }
 
 /*
@@ -237,8 +246,6 @@ void AP_ICEngine::update(void)
         should_run = false;
     }
 
-    float rpm_value;
-
     // switch on current state to work out new state
     switch (state) {
     case ICE_OFF:
@@ -286,15 +293,19 @@ void AP_ICEngine::update(void)
         if (!should_run) {
             state = ICE_OFF;
             gcs().send_text(MAV_SEVERITY_INFO, "Stopped engine");
-        } else if (rpm_instance > 0) {
+        }
+#if AP_RPM_ENABLED
+        else if (rpm_instance > 0) {
             // check RPM to see if still running
-            if (!rpm.get_rpm(rpm_instance-1, rpm_value) ||
+            float rpm_value;
+            if (!AP::rpm()->get_rpm(rpm_instance-1, rpm_value) ||
                 rpm_value < rpm_threshold) {
                 // engine has stopped when it should be running
                 state = ICE_START_DELAY;
                 gcs().send_text(MAV_SEVERITY_INFO, "Uncommanded engine stop");
             }
         }
+#endif
         break;
     }
 
@@ -312,8 +323,10 @@ void AP_ICEngine::update(void)
         }
     }
 
+#if AP_RPM_ENABLED
     // check against redline RPM
-    if (rpm_instance > 0 && redline_rpm > 0 && rpm.get_rpm(rpm_instance-1, rpm_value)) {
+    float rpm_value;
+    if (rpm_instance > 0 && redline_rpm > 0 && AP::rpm()->get_rpm(rpm_instance-1, rpm_value)) {
         // update the filtered RPM value
         filtered_rpm_value =  _rpm_filter.apply(rpm_value);
         if (!redline.flag && filtered_rpm_value > redline_rpm) {
@@ -330,6 +343,7 @@ void AP_ICEngine::update(void)
     } else {
         redline.flag = false;
     }
+#endif // AP_RPM_ENABLED
 
     /* now set output channels */
     switch (state) {
@@ -395,7 +409,8 @@ bool AP_ICEngine::throttle_override(float &percentage, const float base_throttle
         percentage = 0;
         return true;
     }
-    
+
+#if AP_RPM_ENABLED
     if (redline.flag && !option_set(Options::DISABLE_REDLINE_GOVERNOR)) {
         // limit the throttle from increasing above what the current output is
         if (redline.throttle_percentage < 1.0f) {
@@ -419,6 +434,7 @@ bool AP_ICEngine::throttle_override(float &percentage, const float base_throttle
         percentage = redline.throttle_percentage - redline.governor_integrator;
         return true;
     }
+#endif // AP_RPM_ENABLED
 
     // if THROTTLE_WHILE_DISARMED is set then we use the base_throttle, allowing the pilot to control throttle while disarmed
     if (option_set(Options::THROTTLE_WHILE_DISARMED) && !hal.util->get_soft_armed() &&
@@ -474,6 +490,7 @@ void AP_ICEngine::update_idle_governor(int8_t &min_throttle)
     if (!enable) {
         return;
     }
+#if AP_RPM_ENABLED
     const int8_t min_throttle_base = min_throttle;
 
     // Initialize idle point to min_throttle on the first run
@@ -535,6 +552,7 @@ void AP_ICEngine::update_idle_governor(int8_t &min_throttle)
     idle_governor_integrator = constrain_float(idle_governor_integrator, min_throttle_base, 40.0f);
 
     min_throttle = roundf(idle_governor_integrator);
+#endif // AP_RPM_ENABLED
 }
 
 

libraries/AP_ICEngine/AP_ICEngine.h

@@ -24,11 +24,12 @@
 
 #include <AP_Param/AP_Param.h>
 #include <Filter/LowPassFilter.h>
+#include <AP_RPM/AP_RPM_config.h>
 
 class AP_ICEngine {
 public:
     // constructor
-    AP_ICEngine(const class AP_RPM &_rpm);
+    AP_ICEngine();
 
     static const struct AP_Param::GroupInfo var_info[];
 
@@ -65,13 +66,13 @@ public:
 private:
     static AP_ICEngine *_singleton;
 
-    const class AP_RPM &rpm;
-
     enum ICE_State state;
 
+#if AP_RPM_ENABLED
     // filter for RPM value
     LowPassFilterFloat _rpm_filter;
     float filtered_rpm_value;
+#endif
 
     // enable library
     AP_Int8 enable;
@@ -82,8 +83,10 @@ private:
     // min pwm on start channel for engine stop
     AP_Int16 start_chan_min_pwm;
     
+#if AP_RPM_ENABLED
     // which RPM instance to use
     AP_Int8 rpm_instance;
+#endif
     
     // time to run starter for (seconds)
     AP_Float starter_time;
@@ -97,8 +100,10 @@ private:
     AP_Int16 pwm_starter_on;
     AP_Int16 pwm_starter_off;
     
+#if AP_RPM_ENABLED
     // RPM above which engine is considered to be running
     AP_Int32 rpm_threshold;
+#endif
 
     // time when we started the starter
     uint32_t starter_start_time_ms;
@@ -112,6 +117,7 @@ private:
     // throttle percentage for engine idle
     AP_Int8 idle_percent;
 
+#if AP_RPM_ENABLED
     // Idle Controller RPM setpoint
     AP_Int16 idle_rpm;
 
@@ -120,6 +126,7 @@ private:
 
     // Idle Controller Slew Rate
     AP_Float idle_slew;
+#endif
     
     // height when we enter ICE_START_HEIGHT_DELAY
     float initial_height;
@@ -148,6 +155,7 @@ private:
     uint16_t start_chan_last_value = 1500;
     uint32_t start_chan_last_ms;
 
+#if AP_RPM_ENABLED
     // redline rpm
     AP_Int32 redline_rpm;
     struct {
@@ -155,6 +163,7 @@ private:
         float governor_integrator;
         float throttle_percentage;
     } redline;
+#endif
 };