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ICE: switch of engine if aux is negative instead of zero (#25923)

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Pernilla
2025-11-14 16:44:05 +01:00
committed by GitHub
parent 7b05a00db1
commit 82d8813987
2 changed files with 19 additions and 16 deletions
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src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.cpp
+17 -14
View File
@@ -108,26 +108,29 @@ void InternalCombustionEngineControl::Run()
const hrt_abstime now = hrt_absolute_time(); const hrt_abstime now = hrt_absolute_time();
UserOnOffRequest user_request = UserOnOffRequest::Off;
switch (static_cast<ICESource>(_param_ice_on_source.get())) { switch (static_cast<ICESource>(_param_ice_on_source.get())) {
case ICESource::ArmingState: { case ICESource::ArmingState: {
if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { _user_request = vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED ? UserOnOffRequest::On :
user_request = UserOnOffRequest::On; UserOnOffRequest::Off;
}
} }
break; break;
case ICESource::Aux1: { case ICESource::Aux1: {
if (manual_control_setpoint.aux1 > 0.5f) { if (manual_control_setpoint.aux1 > 0.5f) {
user_request = UserOnOffRequest::On; _user_request = UserOnOffRequest::On;
} else if (manual_control_setpoint.aux1 < -0.5f) {
_user_request = UserOnOffRequest::Off;
} }
} }
break; break;
case ICESource::Aux2: { case ICESource::Aux2: {
if (manual_control_setpoint.aux2 > 0.5f) { if (manual_control_setpoint.aux2 > 0.5f) {
user_request = UserOnOffRequest::On; _user_request = UserOnOffRequest::On;
} else if (manual_control_setpoint.aux2 < -0.5f) {
_user_request = UserOnOffRequest::Off;
} }
} }
break; break;
@@ -137,7 +140,7 @@ void InternalCombustionEngineControl::Run()
case State::Stopped: { case State::Stopped: {
controlEngineStop(); controlEngineStop();
if (user_request == UserOnOffRequest::On && !maximumAttemptsReached()) { if (_user_request == UserOnOffRequest::On && !maximumAttemptsReached()) {
_state = State::Starting; _state = State::Starting;
_state_start_time = now; _state_start_time = now;
@@ -148,7 +151,7 @@ void InternalCombustionEngineControl::Run()
case State::Starting: { case State::Starting: {
if (user_request == UserOnOffRequest::Off) { if (_user_request == UserOnOffRequest::Off) {
_state = State::Stopped; _state = State::Stopped;
_starting_retry_cycle = 0; _starting_retry_cycle = 0;
PX4_INFO("ICE: Stopped"); PX4_INFO("ICE: Stopped");
@@ -196,7 +199,7 @@ void InternalCombustionEngineControl::Run()
case State::Running: { case State::Running: {
controlEngineRunning(throttle_in); controlEngineRunning(throttle_in);
if (user_request == UserOnOffRequest::Off) { if (_user_request == UserOnOffRequest::Off) {
_state = State::Stopped; _state = State::Stopped;
_starting_retry_cycle = 0; _starting_retry_cycle = 0;
PX4_INFO("ICE: Stopped"); PX4_INFO("ICE: Stopped");
@@ -217,7 +220,7 @@ void InternalCombustionEngineControl::Run()
case State::Fault: { case State::Fault: {
if (user_request == UserOnOffRequest::Off) { if (_user_request == UserOnOffRequest::Off) {
_state = State::Stopped; _state = State::Stopped;
_starting_retry_cycle = 0; _starting_retry_cycle = 0;
PX4_INFO("ICE: Stopped"); PX4_INFO("ICE: Stopped");
@@ -243,10 +246,10 @@ void InternalCombustionEngineControl::Run()
_throttle_control_slew_rate.setForcedValue(0.f); _throttle_control_slew_rate.setForcedValue(0.f);
} }
publishControl(now, user_request); publishControl(now);
} }
void InternalCombustionEngineControl::publishControl(const hrt_abstime now, const UserOnOffRequest user_request) void InternalCombustionEngineControl::publishControl(const hrt_abstime now)
{ {
internal_combustion_engine_control_s ice_control{}; internal_combustion_engine_control_s ice_control{};
ice_control.timestamp = now; ice_control.timestamp = now;
@@ -254,7 +257,7 @@ void InternalCombustionEngineControl::publishControl(const hrt_abstime now, cons
ice_control.ignition_on = _ignition_on; ice_control.ignition_on = _ignition_on;
ice_control.starter_engine_control = _starter_engine_control; ice_control.starter_engine_control = _starter_engine_control;
ice_control.throttle_control = _throttle_control; ice_control.throttle_control = _throttle_control;
ice_control.user_request = static_cast<uint8_t>(user_request); ice_control.user_request = static_cast<uint8_t>(_user_request);
_internal_combustion_engine_control_pub.publish(ice_control); _internal_combustion_engine_control_pub.publish(ice_control);
internal_combustion_engine_status_s ice_status; internal_combustion_engine_status_s ice_status;
src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.hpp
+2 -2
View File
@@ -102,7 +102,7 @@ private:
enum class UserOnOffRequest { enum class UserOnOffRequest {
Off, Off,
On On
}; } _user_request{UserOnOffRequest::Off};
enum class ICESource { enum class ICESource {
ArmingState, ArmingState,
@@ -126,7 +126,7 @@ private:
void controlEngineStartup(const hrt_abstime now); void controlEngineStartup(const hrt_abstime now);
void controlEngineFault(); void controlEngineFault();
bool maximumAttemptsReached(); bool maximumAttemptsReached();
void publishControl(const hrt_abstime now, const UserOnOffRequest user_request); void publishControl(const hrt_abstime now);
// Starting state specifics // Starting state specifics
static constexpr float DELAY_BEFORE_RESTARTING{1.f}; static constexpr float DELAY_BEFORE_RESTARTING{1.f};