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AP_ICEngine: Add a flag to allow starting the engine while disarmed

This commit is contained in:
Michael du Breuil 2021-07-19 16:53:50 -07:00 committed by WickedShell
parent a190dfe24a
commit 9486bf2b9c
2 changed files with 23 additions and 7 deletions
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26
libraries/AP_ICEngine/AP_ICEngine.cpp
View File

@ -238,6 +238,11 @@ void AP_ICEngine::update(void)
should_run = true; should_run = true;
} else if (start_chan_last_value <= RC_Channel::AUX_PWM_TRIGGER_LOW) { } else if (start_chan_last_value <= RC_Channel::AUX_PWM_TRIGGER_LOW) {
should_run = false; should_run = false;
// clear the single start flag now that we will be stopping the engine
if (state != ICE_OFF) {
allow_single_start_while_disarmed = false;
}
} else if (state != ICE_OFF) { } else if (state != ICE_OFF) {
should_run = true; should_run = true;
} }
@ -247,9 +252,16 @@ void AP_ICEngine::update(void)
should_run = false; should_run = false;
} }
if (option_set(Options::NO_RUNNING_WHILE_DISARMED) && !hal.util->get_soft_armed()) { if (option_set(Options::NO_RUNNING_WHILE_DISARMED)) {
// disable the engine if disarmed if (hal.util->get_soft_armed()) {
should_run = false; // clear the disarmed start flag, as we are now armed, if we disarm again we expect the engine to stop
allow_single_start_while_disarmed = false;
} else {
// check if we are blocking disarmed starts
if (!allow_single_start_while_disarmed) {
should_run = false;
}
}
} }
#if HAL_PARACHUTE_ENABLED #if HAL_PARACHUTE_ENABLED
@ -464,15 +476,18 @@ bool AP_ICEngine::throttle_override(float &percentage, const float base_throttle
return false; return false;
} }
/* /*
handle DO_ENGINE_CONTROL messages via MAVLink or mission handle DO_ENGINE_CONTROL messages via MAVLink or mission
*/ */
bool AP_ICEngine::engine_control(float start_control, float cold_start, float height_delay) bool AP_ICEngine::engine_control(float start_control, float cold_start, float height_delay, uint32_t flags)
{ {
if (!enable) { if (!enable) {
return false; return false;
} }
// always update the start while disarmed flag
allow_single_start_while_disarmed = (flags & ENGINE_CONTROL_OPTIONS_ALLOW_START_WHILE_DISARMED) != 0;
if (start_control <= 0) { if (start_control <= 0) {
state = ICE_OFF; state = ICE_OFF;
return true; return true;
@ -576,7 +591,6 @@ void AP_ICEngine::update_idle_governor(int8_t &min_throttle)
#endif // AP_RPM_ENABLED #endif // AP_RPM_ENABLED
} }
// singleton instance. Should only ever be set in the constructor. // singleton instance. Should only ever be set in the constructor.
AP_ICEngine *AP_ICEngine::_singleton; AP_ICEngine *AP_ICEngine::_singleton;
namespace AP { namespace AP {

4
libraries/AP_ICEngine/AP_ICEngine.h
View File

@ -52,7 +52,7 @@ public:
ICE_State get_state(void) const { return !enable?ICE_DISABLED:state; } ICE_State get_state(void) const { return !enable?ICE_DISABLED:state; }
// handle DO_ENGINE_CONTROL messages via MAVLink or mission // handle DO_ENGINE_CONTROL messages via MAVLink or mission
bool engine_control(float start_control, float cold_start, float height_delay); bool engine_control(float start_control, float cold_start, float height_delay, uint32_t flags);
// update min throttle for idle governor // update min throttle for idle governor
void update_idle_governor(int8_t &min_throttle); void update_idle_governor(int8_t &min_throttle);
@ -138,6 +138,8 @@ private:
// we are waiting for valid height data // we are waiting for valid height data
bool height_pending:1; bool height_pending:1;
bool allow_single_start_while_disarmed;
// idle governor // idle governor
float idle_governor_integrator; float idle_governor_integrator;