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AP_ICEngine: added option for throttle control while disarmed

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this uses the passed in base throttle when disarmed
This commit is contained in:
Andrew Tridgell 2022-07-08 09:53:29 +10:00
parent d38ac2b520
commit 798ab5d859
2 changed files with 19 additions and 5 deletions
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21
libraries/AP_ICEngine/AP_ICEngine.cpp
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@ -134,8 +134,8 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
// @Param: OPTIONS
// @DisplayName: ICE options
// @Description: Options for ICE control. The DisableIgnitionRCFailsafe option will cause the ignition to be set off on any R/C failsafe.
// @Bitmask: 0:DisableIgnitionRCFailsafe,1:DisableRedineGovernor
// @Description: Options for ICE control. The DisableIgnitionRCFailsafe option will cause the ignition to be set off on any R/C failsafe. If ThrottleWhileDisarmed is set then throttle control will be allowed while disarmed for planes when in MANUAL mode.
// @Bitmask: 0:DisableIgnitionRCFailsafe,1:DisableRedineGovernor,2:ThrottleWhileDisarmed
AP_GROUPINFO("OPTIONS", 15, AP_ICEngine, options, 0),
// @Param: STARTCHN_MIN
@ -297,7 +297,7 @@ void AP_ICEngine::update(void)
// reset initial height while disarmed
initial_height = -pos.z;
}
} else if (idle_percent <= 0) { // check if we should idle
} else if (idle_percent <= 0 && !option_set(Options::THROTTLE_WHILE_DISARMED)) {
// force ignition off when disarmed
state = ICE_OFF;
}
@ -357,8 +357,11 @@ void AP_ICEngine::update(void)
/*
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)
bool AP_ICEngine::throttle_override(float &percentage, const float base_throttle)
{
if (!enable) {
return false;
@ -370,6 +373,9 @@ bool AP_ICEngine::throttle_override(float &percentage)
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;
}
@ -405,6 +411,13 @@ bool AP_ICEngine::throttle_override(float &percentage)
return true;
}
// 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;
}

3
libraries/AP_ICEngine/AP_ICEngine.h
View File

@ -31,7 +31,7 @@ public:
void update(void);
// check for throttle override
bool throttle_override(float &percent);
bool throttle_override(float &percent, const float base_throttle);
enum ICE_State {
ICE_OFF=0,
@ -126,6 +126,7 @@ private:
enum class Options : uint16_t {
DISABLE_IGNITION_RC_FAILSAFE=(1U<<0),
DISABLE_REDLINE_GOVERNOR = (1U << 1),
THROTTLE_WHILE_DISARMED = (1U << 2),
};
AP_Int16 options;