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AP_ICEngine: allow for ICE with no RPM support

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This commit is contained in:
Andrew Tridgell 2023-05-13 08:37:41 +10:00
parent 6429295869
commit 383994c466
2 changed files with 38 additions and 11 deletions
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32
libraries/AP_ICEngine/AP_ICEngine.cpp
View File

@ -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) :
rpm(_rpm)
AP_ICEngine::AP_ICEngine()
{
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) {
@ -396,6 +410,7 @@ bool AP_ICEngine::throttle_override(float &percentage, const float base_throttle
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
}

15
libraries/AP_ICEngine/AP_ICEngine.h
View File

@ -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
};