mirror of https://github.com/ArduPilot/ardupilot
161 lines
3.9 KiB
C++
161 lines
3.9 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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control of internal combustion engines (starter, ignition and choke)
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*/
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#pragma once
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#include "AP_ICEngine_config.h"
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#if AP_ICENGINE_ENABLED
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#include <AP_Param/AP_Param.h>
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#include <Filter/LowPassFilter.h>
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class AP_ICEngine {
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public:
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// constructor
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AP_ICEngine(const class AP_RPM &_rpm);
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static const struct AP_Param::GroupInfo var_info[];
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// update engine state. Should be called at 10Hz or more
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void update(void);
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// check for throttle override
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bool throttle_override(float &percent, const float base_throttle);
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enum ICE_State {
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ICE_OFF=0,
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ICE_START_HEIGHT_DELAY=1,
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ICE_START_DELAY=2,
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ICE_STARTING=3,
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ICE_RUNNING=4
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};
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// get current engine control state
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ICE_State get_state(void) const { return state; }
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// handle DO_ENGINE_CONTROL messages via MAVLink or mission
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bool engine_control(float start_control, float cold_start, float height_delay);
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// update min throttle for idle governor
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void update_idle_governor(int8_t &min_throttle);
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static AP_ICEngine *get_singleton() { return _singleton; }
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private:
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static AP_ICEngine *_singleton;
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const class AP_RPM &rpm;
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enum ICE_State state;
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// filter for RPM value
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LowPassFilterFloat _rpm_filter;
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float filtered_rpm_value;
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// enable library
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AP_Int8 enable;
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// channel for pilot to command engine start, 0 for none
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AP_Int8 start_chan;
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// min pwm on start channel for engine stop
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AP_Int16 start_chan_min_pwm;
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// which RPM instance to use
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AP_Int8 rpm_instance;
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// time to run starter for (seconds)
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AP_Float starter_time;
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// delay between start attempts (seconds)
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AP_Float starter_delay;
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// pwm values
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AP_Int16 pwm_ignition_on;
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AP_Int16 pwm_ignition_off;
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AP_Int16 pwm_starter_on;
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AP_Int16 pwm_starter_off;
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// RPM above which engine is considered to be running
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AP_Int32 rpm_threshold;
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// time when we started the starter
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uint32_t starter_start_time_ms;
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// time when we last ran the starter
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uint32_t starter_last_run_ms;
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// throttle percentage for engine start
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AP_Int8 start_percent;
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// throttle percentage for engine idle
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AP_Int8 idle_percent;
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// Idle Controller RPM setpoint
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AP_Int16 idle_rpm;
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// Idle Controller RPM deadband
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AP_Int16 idle_db;
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// Idle Controller Slew Rate
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AP_Float idle_slew;
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// height when we enter ICE_START_HEIGHT_DELAY
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float initial_height;
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// height change required to start engine
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float height_required;
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// we are waiting for valid height data
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bool height_pending:1;
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// idle governor
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float idle_governor_integrator;
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enum class Options : uint16_t {
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DISABLE_IGNITION_RC_FAILSAFE=(1U<<0),
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DISABLE_REDLINE_GOVERNOR = (1U << 1),
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THROTTLE_WHILE_DISARMED = (1U << 2),
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};
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AP_Int16 options;
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bool option_set(Options option) const {
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return (options & uint16_t(option)) != 0;
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}
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// start_chan debounce
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uint16_t start_chan_last_value = 1500;
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uint32_t start_chan_last_ms;
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// redline rpm
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AP_Int32 redline_rpm;
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struct {
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bool flag;
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float governor_integrator;
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float throttle_percentage;
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} redline;
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};
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namespace AP {
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AP_ICEngine *ice();
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};
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#endif // AP_ICENGINE_ENABLED
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