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AP_ICEngine: fixed a bug engine control when running 

if you have a mission item for engine control with delayed start at
height and the engine is already running them it would put the ICE
subsystem into a state where it would no longer start the engine

It was actually 2 bugs:

 - an engine control to do a height delayed start should be ignored if
   the engine is already running. This prevents an engine control to
   start the engine from stopping the engine

 - a start_chan high should always try to start the engine
   immediately, even if in the wait state
This commit is contained in:
Andrew Tridgell 2023-05-09 16:04:02 +10:00
parent 6f216f7ca9
commit bdedda1446
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_ICEngine/AP_ICEngine.cpp
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@ -217,6 +217,12 @@ void AP_ICEngine::update(void)
start_chan_last_value = cvalue; start_chan_last_value = cvalue;
} }
if (state == ICE_START_HEIGHT_DELAY && start_chan_last_value >= RC_Channel::AUX_PWM_TRIGGER_HIGH) {
// user is overriding the height start delay and asking for
// immediate start. Put into ICE_OFF so that the logic below
// can start the engine now
state = ICE_OFF;
}
if (state == ICE_OFF && start_chan_last_value >= RC_Channel::AUX_PWM_TRIGGER_HIGH) { if (state == ICE_OFF && start_chan_last_value >= RC_Channel::AUX_PWM_TRIGGER_HIGH) {
should_run = true; should_run = true;
@ -434,6 +440,10 @@ bool AP_ICEngine::engine_control(float start_control, float cold_start, float he
state = ICE_OFF; state = ICE_OFF;
return true; return true;
} }
if (state == ICE_RUNNING || state == ICE_START_DELAY || state == ICE_STARTING) {
gcs().send_text(MAV_SEVERITY_INFO, "Engine: already running");
return false;
}
RC_Channel *c = rc().channel(start_chan-1); RC_Channel *c = rc().channel(start_chan-1);
if (c != nullptr && rc().has_valid_input()) { if (c != nullptr && rc().has_valid_input()) {
// get starter control channel // get starter control channel