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AP_ICEngine: add max retrial of cranking 

Added Param MAX_RETRY which If set 0 or less, then there is no limit to retrials. If set to a value greater than 0 then the engine will retry starting the engine this many times before giving up.
This commit is contained in:
Loki077 2024-09-03 15:59:27 +10:00 committed by Peter Barker
parent 389a1abc87
commit 772cd1dae7
2 changed files with 35 additions and 2 deletions
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30
libraries/AP_ICEngine/AP_ICEngine.cpp
View File

@ -181,6 +181,13 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
// This allows one time conversion while allowing user to flash between versions with and without converted params
AP_GROUPINFO_FLAGS("FMT_VER", 19, AP_ICEngine, param_format_version, 0, AP_PARAM_FLAG_HIDDEN),
// @Param: STRT_MX_RTRY
// @DisplayName: Maximum number of retries
// @Description: If set 0 then there is no limit to retrials. If set to a value greater than 0 then the engine will retry starting the engine this many times before giving up.
// @User: Standard
// @Range: 0 127
AP_GROUPINFO("STRT_MX_RTRY", 20, AP_ICEngine, max_crank_retry, 0),
AP_GROUPEND
};
@ -379,6 +386,10 @@ void AP_ICEngine::update(void)
if (should_run) {
state = ICE_START_DELAY;
}
crank_retry_ct = 0;
// clear the last uncommanded stop time, we only care about tracking
// the last one since the engine was started
last_uncommanded_stop_ms = 0;
break;
case ICE_START_HEIGHT_DELAY: {
@ -402,8 +413,16 @@ void AP_ICEngine::update(void)
if (!should_run) {
state = ICE_OFF;
} else if (now - starter_last_run_ms >= starter_delay*1000) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Starting engine");
state = ICE_STARTING;
// check if we should retry starting the engine
if (max_crank_retry <= 0 || crank_retry_ct < max_crank_retry) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Starting engine");
state = ICE_STARTING;
crank_retry_ct++;
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Engine max crank attempts reached");
// Mark the last run now so we don't send this message every loop
starter_last_run_ms = now;
}
}
break;
@ -430,6 +449,13 @@ void AP_ICEngine::update(void)
// engine has stopped when it should be running
state = ICE_START_DELAY;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Uncommanded engine stop");
if (last_uncommanded_stop_ms != 0 &&
now - last_uncommanded_stop_ms > 3*(starter_time + starter_delay)*1000) {
// if it has been a long enough time since the last uncommanded stop
// (3 times the time between start attempts) then reset the retry count
crank_retry_ct = 0;
}
last_uncommanded_stop_ms = now;
}
}
#endif

7
libraries/AP_ICEngine/AP_ICEngine.h
View File

@ -107,6 +107,10 @@ private:
// delay between start attempts (seconds)
AP_Float starter_delay;
// max crank retry
AP_Int8 max_crank_retry;
int8_t crank_retry_ct;
#if AP_RPM_ENABLED
// RPM above which engine is considered to be running
AP_Int32 rpm_threshold;
@ -118,6 +122,9 @@ private:
// time when we last ran the starter
uint32_t starter_last_run_ms;
// time when we last had an uncommanded engine stop
uint32_t last_uncommanded_stop_ms;
// throttle percentage for engine start
AP_Int8 start_percent;