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AP_ICEngine: Change throttle_override to pass in current throttle value

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This commit is contained in:
TunaLobster 2022-05-19 20:41:14 -05:00 committed by Tom Pittenger
parent df0a75a0bb
commit 53a5043ac4
2 changed files with 11 additions and 12 deletions
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21
libraries/AP_ICEngine/AP_ICEngine.cpp
View File

@ -357,7 +357,7 @@ void AP_ICEngine::update(void)
check for throttle override. This allows the ICE controller to force check for throttle override. This allows the ICE controller to force
the correct starting throttle when starting the engine and maintain idle when disarmed the correct starting throttle when starting the engine and maintain idle when disarmed
*/ */
bool AP_ICEngine::throttle_override(uint8_t &percentage) bool AP_ICEngine::throttle_override(float &percentage)
{ {
if (!enable) { if (!enable) {
return false; return false;
@ -366,33 +366,32 @@ bool AP_ICEngine::throttle_override(uint8_t &percentage)
if (state == ICE_RUNNING && if (state == ICE_RUNNING &&
idle_percent > 0 && idle_percent > 0 &&
idle_percent < 100 && idle_percent < 100 &&
(int16_t)idle_percent > SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)) idle_percent > percentage)
{ {
percentage = (uint8_t)idle_percent; percentage = idle_percent;
return true; return true;
} }
if (state == ICE_STARTING || state == ICE_START_DELAY) { if (state == ICE_STARTING || state == ICE_START_DELAY) {
percentage = (uint8_t)start_percent.get(); percentage = start_percent.get();
return true; return true;
} }
if (redline.flag && !(options & uint16_t(Options::DISABLE_REDLINE_GOVERNOR))) { if (redline.flag && !(options & uint16_t(Options::DISABLE_REDLINE_GOVERNOR))) {
// limit the throttle from increasing above what the current output is // limit the throttle from increasing above what the current output is
const float incoming_throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
if (redline.throttle_percentage < 1.0f) { if (redline.throttle_percentage < 1.0f) {
redline.throttle_percentage = incoming_throttle; redline.throttle_percentage = percentage;
} }
if (incoming_throttle < redline.throttle_percentage - redline.governor_integrator) { if (percentage < redline.throttle_percentage - redline.governor_integrator) {
// the throttle before the override is much lower than what the integrator is at // the throttle before the override is much lower than what the integrator is at
// reset the integrator // reset the integrator
redline.governor_integrator = 0; redline.governor_integrator = 0;
redline.throttle_percentage = incoming_throttle; redline.throttle_percentage = percentage;
} else if (incoming_throttle < redline.throttle_percentage) { } else if (percentage < redline.throttle_percentage) {
// the throttle is below the integrator set point // the throttle is below the integrator set point
// remove the difference from the integrator // remove the difference from the integrator
redline.governor_integrator -= redline.throttle_percentage - incoming_throttle; redline.governor_integrator -= redline.throttle_percentage - percentage;
redline.throttle_percentage = incoming_throttle; redline.throttle_percentage = percentage;
} else if (filtered_rpm_value > redline_rpm) { } else if (filtered_rpm_value > redline_rpm) {
// reduce the throttle if still over the redline RPM // reduce the throttle if still over the redline RPM
const float redline_setpoint_step = idle_slew * AP::scheduler().get_loop_period_s(); const float redline_setpoint_step = idle_slew * AP::scheduler().get_loop_period_s();

2
libraries/AP_ICEngine/AP_ICEngine.h
View File

@ -31,7 +31,7 @@ public:
void update(void); void update(void);
// check for throttle override // check for throttle override
bool throttle_override(uint8_t &percent); bool throttle_override(float &percent);
enum ICE_State { enum ICE_State {
ICE_OFF=0, ICE_OFF=0,