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AP_ICEngine: added option for throttle control while disarmed 

this uses the passed in base throttle when disarmed
This commit is contained in:
Andrew Tridgell 2022-07-10 16:10:41 +10:00 committed by Randy Mackay
parent a889d1d0e5
commit 431fbacb2c
2 changed files with 18 additions and 5 deletions
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20
libraries/AP_ICEngine/AP_ICEngine.cpp
View File

@ -132,7 +132,7 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
// @Param: OPTIONS
// @DisplayName: ICE options
// @Description: Options for ICE control
// @Bitmask: 0:DisableIgnitionRCFailsafe
// @Bitmask: 0:DisableIgnitionRCFailsafe,2:ThrottleWhileDisarmed
AP_GROUPINFO("OPTIONS", 15, AP_ICEngine, options, 0),
// @Param: STARTCHN_MIN
@ -282,7 +282,7 @@ void AP_ICEngine::update(void)
// reset initial height while disarmed
initial_height = -pos.z;
}
} else if (idle_percent <= 0) { // check if we should idle
} else if (idle_percent <= 0 && !option_set(Options::THROTTLE_WHILE_DISARMED)) {
// force ignition off when disarmed
state = ICE_OFF;
}
@ -323,8 +323,11 @@ void AP_ICEngine::update(void)
/*
check for throttle override. This allows the ICE controller to force
the correct starting throttle when starting the engine and maintain idle when disarmed
base_throttle is the throttle before the disarmed override
check. This allows for throttle control while disarmed
*/
bool AP_ICEngine::throttle_override(uint8_t &percentage)
bool AP_ICEngine::throttle_override(float &percentage, const float base_throttle)
{
if (!enable) {
return false;
@ -335,7 +338,10 @@ bool AP_ICEngine::throttle_override(uint8_t &percentage)
idle_percent < 100 &&
(int16_t)idle_percent > SRV_Channels::get_output_scaled(SRV_Channel::k_throttle))
{
percentage = (uint8_t)idle_percent;
percentage = idle_percent;
if (option_set(Options::THROTTLE_WHILE_DISARMED)) {
percentage = MAX(percentage, base_throttle);
}
return true;
}
@ -347,6 +353,12 @@ bool AP_ICEngine::throttle_override(uint8_t &percentage)
return true;
}
// 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) && base_throttle > percentage) {
percentage = base_throttle;
return true;
}
return false;
}

3
libraries/AP_ICEngine/AP_ICEngine.h
View File

@ -32,7 +32,7 @@ public:
void update(void);
// check for throttle override
bool throttle_override(uint8_t &percent);
bool throttle_override(float &percent, const float base_throttle);
enum ICE_State {
ICE_OFF=0,
@ -122,6 +122,7 @@ private:
enum class Options : uint16_t {
DISABLE_IGNITION_RC_FAILSAFE=(1U<<0),
THROTTLE_WHILE_DISARMED = (1U << 2),
};
AP_Int16 options;