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Add IC engine control module (#24055)
Internal combustion engine control module. New actuator functions and RPM based start/restart logic. Not enabled by default. --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Pernilla <pernilla@auterion.com>
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Silvan Fuhrer
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/****************************************************************************
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*
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* Copyright (c) 2025 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/internal_combustion_engine_control.h>
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#include <uORB/topics/internal_combustion_engine_status.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/rpm.h>
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#include <uORB/topics/actuator_motors.h>
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#include <lib/slew_rate/SlewRate.hpp>
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namespace internal_combustion_engine_control
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{
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class InternalCombustionEngineControl : public ModuleBase<InternalCombustionEngineControl>, public ModuleParams,
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public px4::ScheduledWorkItem
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{
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public:
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InternalCombustionEngineControl();
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~InternalCombustionEngineControl() override;
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[])
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{
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return print_usage("unknown command");
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}
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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void start();
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private:
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void Run() override;
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uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
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uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
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uORB::Subscription _rpm_sub{ORB_ID(rpm)};
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uORB::Subscription _actuator_motors{ORB_ID(actuator_motors)};
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uORB::Publication<internal_combustion_engine_control_s> _internal_combustion_engine_control_pub{ORB_ID(internal_combustion_engine_control)};
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uORB::Publication<internal_combustion_engine_status_s> _internal_combustion_engine_status_pub{ORB_ID(internal_combustion_engine_status)};
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// has to mirror internal_combustion_engine_status_s::State
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enum class State {
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Stopped,
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Starting,
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Running,
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Fault
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} _state{State::Stopped};
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enum class SubState {
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Run,
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Rest
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};
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enum class UserOnOffRequest {
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Off,
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On
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};
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enum class ICESource {
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ArmingState,
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Aux1,
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Aux2,
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};
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hrt_abstime _state_start_time{0};
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hrt_abstime _last_time_run{0};
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bool _ignition_on{false};
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float _choke_control{1.f};
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float _starter_engine_control{0.f};
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float _throttle_control{0.f};
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SlewRate<float> _throttle_control_slew_rate;
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bool isEngineRunning(const hrt_abstime now);
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void controlEngineRunning(float throttle_in);
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void controlEngineStop();
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void controlEngineStartup(const hrt_abstime now);
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void controlEngineFault();
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bool maximumAttemptsReached();
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void publishControl(const hrt_abstime now, const UserOnOffRequest user_request);
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// Starting state specifics
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static constexpr float DELAY_BEFORE_RESTARTING{1.f};
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int _starting_retry_cycle{0};
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hrt_abstime _starting_rest_time{0};
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SubState _starting_sub_state{SubState::Run};
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/**
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* @brief Currently the ICE starting state is permitted after resting
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* DELAY_BEFORE_RESTARTING s to reduce wear on the starter motor.
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* @param now current time
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* @return if true, otherwise false
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*/
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bool isStartingPermitted(const hrt_abstime now);
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::ICE_ON_SOURCE>) _param_ice_on_source,
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(ParamFloat<px4::params::ICE_CHOKE_ST_DUR>) _param_ice_choke_st_dur,
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(ParamFloat<px4::params::ICE_STRT_DUR>) _param_ice_strt_dur,
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(ParamFloat<px4::params::ICE_MIN_RUN_RPM>) _param_ice_min_run_rpm,
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(ParamInt<px4::params::ICE_STRT_ATTEMPT>) _param_ice_strt_attempts,
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(ParamInt<px4::params::ICE_RUN_FAULT_D>) _param_ice_running_fault_detection,
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(ParamFloat<px4::params::ICE_STRT_THR>) _param_ice_strt_thr,
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(ParamInt<px4::params::ICE_STOP_CHOKE>) _param_ice_stop_choke,
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(ParamFloat<px4::params::ICE_THR_SLEW>) _param_ice_thr_slew,
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(ParamFloat<px4::params::ICE_IGN_DELAY>) _param_ice_ign_delay
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)
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};
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} // namespace internal_combustion_engine_control
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