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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
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@ -357,7 +357,7 @@ 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
*/
bool AP_ICEngine::throttle_override(uint8_t &percentage)
bool AP_ICEngine::throttle_override(float &percentage)
{
if (!enable) {
return false;
@ -366,33 +366,32 @@ bool AP_ICEngine::throttle_override(uint8_t &percentage)
if (state == ICE_RUNNING &&
idle_percent > 0 &&
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;
}
if (state == ICE_STARTING || state == ICE_START_DELAY) {
percentage = (uint8_t)start_percent.get();
percentage = start_percent.get();
return true;
}
if (redline.flag && !(options & uint16_t(Options::DISABLE_REDLINE_GOVERNOR))) {
// 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) {
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
// reset the integrator
redline.governor_integrator = 0;
redline.throttle_percentage = incoming_throttle;
} else if (incoming_throttle < redline.throttle_percentage) {
redline.throttle_percentage = percentage;
} else if (percentage < redline.throttle_percentage) {
// the throttle is below the integrator set point
// remove the difference from the integrator
redline.governor_integrator -= redline.throttle_percentage - incoming_throttle;
redline.throttle_percentage = incoming_throttle;
redline.governor_integrator -= redline.throttle_percentage - percentage;
redline.throttle_percentage = percentage;
} else if (filtered_rpm_value > redline_rpm) {
// reduce the throttle if still over the redline RPM
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);
// check for throttle override
bool throttle_override(uint8_t &percent);
bool throttle_override(float &percent);
enum ICE_State {
ICE_OFF=0,