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ardupilot/libraries/AP_ICEngine/AP_ICEngine.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_ICEngine.h"
#if AP_ICENGINE_ENABLED
#include <SRV_Channel/SRV_Channel.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_Notify/AP_Notify.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_RPM/AP_RPM.h>
#include <AP_Parachute/AP_Parachute.h>
#include <AP_Relay/AP_Relay.h>
#include "AP_ICEngine.h"
extern const AP_HAL::HAL& hal;
#define AP_ICENGINE_START_CHAN_DEBOUNCE_MS 300
const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable ICEngine control
// @Description: This enables internal combustion engine control
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 0, AP_ICEngine, enable, 0, AP_PARAM_FLAG_ENABLE),
// @Param: START_CHAN
// @DisplayName: Input channel for engine start
// @Description: This is an RC input channel for requesting engine start. Engine will try to start when channel is at or above 1700. Engine will stop when channel is at or below 1300. Between 1301 and 1699 the engine will not change state unless a MAVLink command or mission item commands a state change, or the vehicle is disarmed. See ICE_STARTCHN_MIN parameter to change engine stop PWM value and/or to enable debouncing of the START_CH to avoid accidental engine kills due to noise on channel.
// @User: Standard
// @Values: 0:None,1:Chan1,2:Chan2,3:Chan3,4:Chan4,5:Chan5,6:Chan6,7:Chan7,8:Chan8,9:Chan9,10:Chan10,11:Chan11,12:Chan12,13:Chan13,14:Chan14,15:Chan15,16:Chan16
AP_GROUPINFO("START_CHAN", 1, AP_ICEngine, start_chan, 0),
// @Param: STARTER_TIME
// @DisplayName: Time to run starter
// @Description: This is the number of seconds to run the starter when trying to start the engine
// @User: Standard
// @Units: s
// @Range: 0.1 5
AP_GROUPINFO("STARTER_TIME", 2, AP_ICEngine, starter_time, 3),
// @Param: START_DELAY
// @DisplayName: Time to wait between starts
// @Description: Delay between start attempts
// @User: Standard
// @Units: s
// @Range: 1 10
AP_GROUPINFO("START_DELAY", 3, AP_ICEngine, starter_delay, 2),
#if AP_RPM_ENABLED
// @Param: RPM_THRESH
// @DisplayName: RPM threshold
// @Description: This is the measured RPM above which the engine is considered to be running
// @User: Standard
// @Range: 100 100000
AP_GROUPINFO("RPM_THRESH", 4, AP_ICEngine, rpm_threshold, 100),
#endif
// @Param: PWM_IGN_ON
// @DisplayName: PWM value for ignition on
// @Description: This is the value sent to the ignition channel when on
// @User: Standard
// @Range: 1000 2000
AP_GROUPINFO("PWM_IGN_ON", 5, AP_ICEngine, pwm_ignition_on, 2000),
// @Param: PWM_IGN_OFF
// @DisplayName: PWM value for ignition off
// @Description: This is the value sent to the ignition channel when off
// @User: Standard
// @Range: 1000 2000
AP_GROUPINFO("PWM_IGN_OFF", 6, AP_ICEngine, pwm_ignition_off, 1000),
// @Param: PWM_STRT_ON
// @DisplayName: PWM value for starter on
// @Description: This is the value sent to the starter channel when on
// @User: Standard
// @Range: 1000 2000
AP_GROUPINFO("PWM_STRT_ON", 7, AP_ICEngine, pwm_starter_on, 2000),
// @Param: PWM_STRT_OFF
// @DisplayName: PWM value for starter off
// @Description: This is the value sent to the starter channel when off
// @User: Standard
// @Range: 1000 2000
AP_GROUPINFO("PWM_STRT_OFF", 8, AP_ICEngine, pwm_starter_off, 1000),
#if AP_RPM_ENABLED
// @Param: RPM_CHAN
// @DisplayName: RPM instance channel to use
// @Description: This is which of the RPM instances to use for detecting the RPM of the engine
// @User: Standard
// @Values: 0:None,1:RPM1,2:RPM2
AP_GROUPINFO("RPM_CHAN", 9, AP_ICEngine, rpm_instance, 0),
#endif
// @Param: START_PCT
// @DisplayName: Throttle percentage for engine start
// @Description: This is the percentage throttle output for engine start
// @User: Standard
// @Range: 0 100
AP_GROUPINFO("START_PCT", 10, AP_ICEngine, start_percent, 5),
// @Param: IDLE_PCT
// @DisplayName: Throttle percentage for engine idle
// @Description: This is the minimum percentage throttle output while running, this includes being disarmed, but not safe
// @User: Standard
// @Range: 0 100
AP_GROUPINFO("IDLE_PCT", 11, AP_ICEngine, idle_percent, 0),
#if AP_RPM_ENABLED
// @Param: IDLE_RPM
// @DisplayName: RPM Setpoint for Idle Governor
// @Description: This configures the RPM that will be commanded by the idle governor. Set to -1 to disable
// @User: Advanced
AP_GROUPINFO("IDLE_RPM", 12, AP_ICEngine, idle_rpm, -1),
// @Param: IDLE_DB
// @DisplayName: Deadband for Idle Governor
// @Description: This configures the deadband that is tolerated before adjusting the idle setpoint
AP_GROUPINFO("IDLE_DB", 13, AP_ICEngine, idle_db, 50),
// @Param: IDLE_SLEW
// @DisplayName: Slew Rate for idle control
// @Description: This configures the slewrate used to adjust the idle setpoint in percentage points per second
AP_GROUPINFO("IDLE_SLEW", 14, AP_ICEngine, idle_slew, 1),
#endif
// @Param: OPTIONS
// @DisplayName: ICE options
// @Description: Options for ICE control. The Disable ignition in RC failsafe option will cause the ignition to be set off on any R/C failsafe. If Throttle while disarmed is set then throttle control will be allowed while disarmed for planes when in MANUAL mode. If disable while disarmed is set the engine will not start while the vehicle is disarmed unless overriden by the MAVLink DO_ENGINE_CONTROL command.
// @Bitmask: 0:Disable ignition in RC failsafe,1:Disable redline governor,2:Throttle while disarmed,3:Disable while disarmed
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 above 800 and below 1300 triggers an engine stop. To stop the engine start channel must above the larger of this value and 800 and below 1300.
// @User: Standard
// @Range: 0 1300
AP_GROUPINFO("STARTCHN_MIN", 16, AP_ICEngine, start_chan_min_pwm, 0),
#if AP_RPM_ENABLED
// @Param: REDLINE_RPM
// @DisplayName: RPM of the redline limit for the engine
// @Description: Maximum RPM for the engine provided by the manufacturer. A value of 0 disables this feature. See ICE_OPTIONS to enable or disable the governor.
// @User: Advanced
// @Range: 0 2000000
// @Units: RPM
AP_GROUPINFO("REDLINE_RPM", 17, AP_ICEngine, redline_rpm, 0),
#endif
// 18 was IGNITION_RLY
AP_GROUPEND
};
// constructor
AP_ICEngine::AP_ICEngine()
{
AP_Param::setup_object_defaults(this, var_info);
if (_singleton != nullptr) {
AP_HAL::panic("AP_ICEngine must be singleton");
}
_singleton = this;
#if AP_RPM_ENABLED
// ICEngine runs at 10Hz
_rpm_filter.set_cutoff_frequency(10, 0.5f);
#endif
}
/*
update engine state
*/
void AP_ICEngine::update(void)
{
if (!enable) {
return;
}
uint16_t cvalue = 1500;
RC_Channel *c = rc().channel(start_chan-1);
if (c != nullptr && rc().has_valid_input()) {
// 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
if (cvalue >= RC_Channel::AUX_PWM_TRIGGER_HIGH) {
cvalue = 2000;
} else if ((cvalue > 800) && (cvalue <= RC_Channel::AUX_PWM_TRIGGER_LOW)) {
cvalue = 1300;
} else {
cvalue = 1500;
}
}
bool should_run = false;
uint32_t now = AP_HAL::millis();
// debounce timer to protect from spurious changes on start_chan rc input
// If the cached value is the same, reset timer
if (start_chan_last_value == cvalue) {
start_chan_last_ms = now;
} else if (now - start_chan_last_ms >= AP_ICENGINE_START_CHAN_DEBOUNCE_MS) {
// if it has changed, and stayed changed for the duration, then use that new value
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) {
should_run = true;
} else if (start_chan_last_value <= RC_Channel::AUX_PWM_TRIGGER_LOW) {
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) {
should_run = true;
}
if (option_set(Options::DISABLE_IGNITION_RC_FAILSAFE) && AP_Notify::flags.failsafe_radio) {
// user has requested ignition kill on RC failsafe
should_run = false;
}
if (option_set(Options::NO_RUNNING_WHILE_DISARMED)) {
if (hal.util->get_soft_armed()) {
// 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
// Stop on parachute deployment
AP_Parachute *parachute = AP::parachute();
if ((parachute != nullptr) && parachute->release_initiated()) {
should_run = false;
}
#endif
// Stop on emergency stop
if (SRV_Channels::get_emergency_stop()) {
// Throttle is already forced to 0 in this case, ignition should also be stopped.
// Starter should not run.
should_run = false;
}
// switch on current state to work out new state
switch (state) {
case ICE_DISABLED:
return;
case ICE_OFF:
if (should_run) {
state = ICE_START_DELAY;
}
break;
case ICE_START_HEIGHT_DELAY: {
Vector3f pos;
if (!should_run) {
state = ICE_OFF;
} else if (AP::ahrs().get_relative_position_NED_origin(pos)) {
if (height_pending) {
height_pending = false;
initial_height = -pos.z;
} else if ((-pos.z) >= initial_height + height_required) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Starting height reached %.1f",
(double)(-pos.z - initial_height));
state = ICE_STARTING;
}
}
break;
}
case ICE_START_DELAY:
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;
}
break;
case ICE_STARTING:
if (!should_run) {
state = ICE_OFF;
} else if (now - starter_start_time_ms >= starter_time*1000) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Engine running");
state = ICE_RUNNING;
}
break;
case ICE_RUNNING:
if (!should_run) {
state = ICE_OFF;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Stopped engine");
}
#if AP_RPM_ENABLED
else if (rpm_instance > 0) {
// check RPM to see if still running
float rpm_value;
if (!AP::rpm()->get_rpm(rpm_instance-1, rpm_value) ||
rpm_value < rpm_threshold) {
// engine has stopped when it should be running
state = ICE_START_DELAY;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Uncommanded engine stop");
}
}
#endif
break;
}
if (!hal.util->get_soft_armed()) {
if (state == ICE_START_HEIGHT_DELAY) {
// when disarmed we can be waiting for takeoff
Vector3f pos;
if (AP::ahrs().get_relative_position_NED_origin(pos)) {
// reset initial height while disarmed
initial_height = -pos.z;
}
} else if (idle_percent <= 0 && !option_set(Options::THROTTLE_WHILE_DISARMED)) {
// force ignition off when disarmed
state = ICE_OFF;
}
}
#if AP_RPM_ENABLED
// check against redline RPM
float rpm_value;
if (rpm_instance > 0 && redline_rpm > 0 && AP::rpm()->get_rpm(rpm_instance-1, rpm_value)) {
// update the filtered RPM value
filtered_rpm_value = _rpm_filter.apply(rpm_value);
if (!redline.flag && filtered_rpm_value > redline_rpm) {
// redline governor is off. rpm is too high. enable the governor
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Engine: Above redline RPM");
redline.flag = true;
} else if (redline.flag && filtered_rpm_value < redline_rpm * 0.9f) {
// redline governor is on. rpm is safely below. disable the governor
redline.flag = false;
// reset redline governor
redline.throttle_percentage = 0.0f;
redline.governor_integrator = 0.0f;
}
} else {
redline.flag = false;
}
#endif // AP_RPM_ENABLED
/* now set output channels */
switch (state) {
case ICE_DISABLED:
return;
case ICE_OFF:
set_ignition(false);
set_starter(false);
starter_start_time_ms = 0;
break;
case ICE_START_HEIGHT_DELAY:
case ICE_START_DELAY:
set_ignition(true);
set_starter(false);
break;
case ICE_STARTING:
set_ignition(true);
set_starter(true);
if (starter_start_time_ms == 0) {
starter_start_time_ms = now;
}
starter_last_run_ms = now;
break;
case ICE_RUNNING:
set_ignition(true);
set_starter(false);
starter_start_time_ms = 0;
break;
}
}
/*
check for throttle override. This allows the ICE controller to force
the correct starting throttle when starting the engine and maintain idle when disarmed
base_throttle is the throttle before the disarmed override
check. This allows for throttle control while disarmed
*/
bool AP_ICEngine::throttle_override(float &percentage, const float base_throttle)
{
if (!enable) {
return false;
}
if (state == ICE_RUNNING &&
idle_percent > 0 &&
idle_percent < 100 &&
idle_percent > percentage)
{
percentage = idle_percent;
if (option_set(Options::THROTTLE_WHILE_DISARMED) && !hal.util->get_soft_armed()) {
percentage = MAX(percentage, base_throttle);
}
return true;
}
if (state == ICE_STARTING || state == ICE_START_DELAY) {
percentage = start_percent.get();
return true;
} else if (state != ICE_RUNNING && hal.util->get_soft_armed()) {
percentage = 0;
return true;
}
#if AP_RPM_ENABLED
if (redline.flag && !option_set(Options::DISABLE_REDLINE_GOVERNOR)) {
// limit the throttle from increasing above what the current output is
if (redline.throttle_percentage < 1.0f) {
redline.throttle_percentage = percentage;
}
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 = 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 - 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();
redline.governor_integrator += redline_setpoint_step;
}
percentage = redline.throttle_percentage - redline.governor_integrator;
return true;
}
#endif // AP_RPM_ENABLED
// if THROTTLE_WHILE_DISARMED is set then we use the base_throttle, allowing the pilot to control throttle while disarmed
if (option_set(Options::THROTTLE_WHILE_DISARMED) && !hal.util->get_soft_armed() &&
base_throttle > percentage) {
percentage = base_throttle;
return true;
}
return false;
}
/*
handle DO_ENGINE_CONTROL messages via MAVLink or mission
*/
bool AP_ICEngine::engine_control(float start_control, float cold_start, float height_delay, uint32_t flags)
{
if (!enable) {
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) {
state = ICE_OFF;
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);
if (c != nullptr && rc().has_valid_input()) {
// get starter control channel
uint16_t cvalue = c->get_radio_in();
if (cvalue >= start_chan_min_pwm && cvalue <= RC_Channel::AUX_PWM_TRIGGER_LOW) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Engine: start control disabled");
return false;
}
}
if (height_delay > 0) {
height_pending = true;
initial_height = 0;
height_required = height_delay;
state = ICE_START_HEIGHT_DELAY;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Takeoff height set to %.1fm", (double)height_delay);
return true;
}
state = ICE_STARTING;
return true;
}
/*
Update low throttle limit to ensure steady idle for IC Engines
return a new min_throttle value
*/
void AP_ICEngine::update_idle_governor(int8_t &min_throttle)
{
if (!enable) {
return;
}
#if AP_RPM_ENABLED
const int8_t min_throttle_base = min_throttle;
// Initialize idle point to min_throttle on the first run
static bool idle_point_initialized = false;
if (!idle_point_initialized) {
idle_governor_integrator = min_throttle;
idle_point_initialized = true;
}
AP_RPM *ap_rpm = AP::rpm();
if (!ap_rpm || rpm_instance == 0 || !ap_rpm->healthy(rpm_instance-1)) {
return;
}
// Check to make sure we have an enabled IC Engine, EFI Instance and that the idle governor is enabled
if (get_state() != AP_ICEngine::ICE_RUNNING || idle_rpm < 0) {
return;
}
// get current RPM feedback
float rpmv;
// Double Check to make sure engine is really running
if (!ap_rpm->get_rpm(rpm_instance-1, rpmv) || rpmv < 1) {
// Reset idle point to the default value when the engine is stopped
idle_governor_integrator = min_throttle;
return;
}
// Override
min_throttle = roundf(idle_governor_integrator);
// Calculate Error in system
int32_t error = idle_rpm - rpmv;
bool underspeed = error > 0;
// Don't adjust idle point when we're within the deadband
if (abs(error) < idle_db) {
return;
}
// Don't adjust idle point if the commanded throttle is above the
// current idle throttle setpoint and the RPM is above the idle
// RPM setpoint (Normal flight)
if (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) > min_throttle && !underspeed) {
return;
}
// Calculate the change per loop to achieve the desired slew rate of 1 percent per second
static const float idle_setpoint_step = idle_slew * AP::scheduler().get_loop_period_s();
// Update Integrator
if (underspeed) {
idle_governor_integrator += idle_setpoint_step;
} else {
idle_governor_integrator -= idle_setpoint_step;
}
idle_governor_integrator = constrain_float(idle_governor_integrator, min_throttle_base, 40.0f);
min_throttle = roundf(idle_governor_integrator);
#endif // AP_RPM_ENABLED
}
/*
set ignition state
*/
void AP_ICEngine::set_ignition(bool on)
{
SRV_Channels::set_output_pwm(SRV_Channel::k_ignition, on? pwm_ignition_on : pwm_ignition_off);
#if AP_RELAY_ENABLED
AP_Relay *relay = AP::relay();
if (relay != nullptr) {
relay->set(AP_Relay_Params::FUNCTION::IGNITION, on);
}
#endif // AP_RELAY_ENABLED
}
/*
set starter state
*/
void AP_ICEngine::set_starter(bool on)
{
SRV_Channels::set_output_pwm(SRV_Channel::k_starter, on? pwm_starter_on : pwm_starter_off);
#if AP_ICENGINE_TCA9554_STARTER_ENABLED
tca9554_starter.set_starter(on);
#endif
#if AP_RELAY_ENABLED
AP_Relay *relay = AP::relay();
if (relay != nullptr) {
relay->set(AP_Relay_Params::FUNCTION::ICE_STARTER, on);
}
#endif // AP_RELAY_ENABLED
}
bool AP_ICEngine::allow_throttle_while_disarmed() const
{
return option_set(Options::THROTTLE_WHILE_DISARMED) &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED;
}
#if AP_RELAY_ENABLED
bool AP_ICEngine::get_legacy_ignition_relay_index(int8_t &num)
{
// PARAMETER_CONVERSION - Added: Dec-2023
if (!enable || !AP_Param::get_param_by_index(this, 18, AP_PARAM_INT8, &num)) {
return false;
}
// convert to zero indexed
num -= 1;
return true;
}
#endif
// singleton instance. Should only ever be set in the constructor.
AP_ICEngine *AP_ICEngine::_singleton;
namespace AP {
AP_ICEngine *ice() {
return AP_ICEngine::get_singleton();
}
}
#endif // AP_ICENGINE_ENABLED
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