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AP_ICEngine: added ICE_STARTCHN_MIN 

this gives a min PWM value to trigger an engine stop. It makes RC
glitches leading to engine stop much less likely
This commit is contained in:
Andrew Tridgell 2020-08-12 11:32:44 +10:00
parent 54c827a792
commit 890fc96d20
2 changed files with 17 additions and 2 deletions
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14
libraries/AP_ICEngine/AP_ICEngine.cpp
View File

@ -135,6 +135,13 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
// @Bitmask: 0:DisableIgnitionRCFailsafe
AP_GROUPINFO("OPTIONS", 15, AP_ICEngine, options, 0),
// @Param: STARTCHN_MIN
// @DisplayName: Input channel for engine start minimum PWM
// @Description: This is a minimum PWM value for engine start channel for an engine stop to be commanded. Setting this value will avoid RC input glitches with low PWM values from causing an unwanted engine stop. A value of zero means any PWM below 1300 triggers an engine stop.
// @User: Standard
// @Range: 0 1300
AP_GROUPINFO("STARTCHN_MIN", 16, AP_ICEngine, start_chan_min_pwm, 0),
AP_GROUPEND
};
@ -166,6 +173,10 @@ void AP_ICEngine::update(void)
// get starter control channel
cvalue = c->get_radio_in();
if (cvalue < start_chan_min_pwm) {
cvalue = start_chan_last_value;
}
// snap the input to either 1000, 1500, or 2000
// this is useful to compare a debounce changed value
// while ignoring tiny noise
@ -348,7 +359,8 @@ bool AP_ICEngine::engine_control(float start_control, float cold_start, float he
RC_Channel *c = rc().channel(start_chan-1);
if (c != nullptr) {
// get starter control channel
if (c->get_radio_in() <= 1300) {
uint16_t cvalue = c->get_radio_in();
if (cvalue >= start_chan_min_pwm && cvalue <= 1300) {
gcs().send_text(MAV_SEVERITY_INFO, "Engine: start control disabled");
return false;
}

3
libraries/AP_ICEngine/AP_ICEngine.h
View File

@ -66,6 +66,9 @@ private:
// channel for pilot to command engine start, 0 for none
AP_Int8 start_chan;
// min pwm on start channel for engine stop
AP_Int16 start_chan_min_pwm;
// which RPM instance to use
AP_Int8 rpm_instance;