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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
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GPG Key ID: B5690EEEBB952194
2 changed files with 19 additions and 16 deletions
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31
src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.cpp
View File

@ -108,26 +108,29 @@ void InternalCombustionEngineControl::Run()
const hrt_abstime now = hrt_absolute_time();
UserOnOffRequest user_request = UserOnOffRequest::Off;
switch (static_cast<ICESource>(_param_ice_on_source.get())) {
case ICESource::ArmingState: {
if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
user_request = UserOnOffRequest::On;
}
_user_request = vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED ? UserOnOffRequest::On :
UserOnOffRequest::Off;
}
break;
case ICESource::Aux1: {
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;
case ICESource::Aux2: {
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;
@ -137,7 +140,7 @@ void InternalCombustionEngineControl::Run()
case State::Stopped: {
controlEngineStop();
if (user_request == UserOnOffRequest::On && !maximumAttemptsReached()) {
if (_user_request == UserOnOffRequest::On && !maximumAttemptsReached()) {
_state = State::Starting;
_state_start_time = now;
@ -148,7 +151,7 @@ void InternalCombustionEngineControl::Run()
case State::Starting: {
if (user_request == UserOnOffRequest::Off) {
if (_user_request == UserOnOffRequest::Off) {
_state = State::Stopped;
_starting_retry_cycle = 0;
PX4_INFO("ICE: Stopped");
@ -196,7 +199,7 @@ void InternalCombustionEngineControl::Run()
case State::Running: {
controlEngineRunning(throttle_in);
if (user_request == UserOnOffRequest::Off) {
if (_user_request == UserOnOffRequest::Off) {
_state = State::Stopped;
_starting_retry_cycle = 0;
PX4_INFO("ICE: Stopped");
@ -217,7 +220,7 @@ void InternalCombustionEngineControl::Run()
case State::Fault: {
if (user_request == UserOnOffRequest::Off) {
if (_user_request == UserOnOffRequest::Off) {
_state = State::Stopped;
_starting_retry_cycle = 0;
PX4_INFO("ICE: Stopped");
@ -243,10 +246,10 @@ void InternalCombustionEngineControl::Run()
_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{};
ice_control.timestamp = now;
@ -254,7 +257,7 @@ void InternalCombustionEngineControl::publishControl(const hrt_abstime now, cons
ice_control.ignition_on = _ignition_on;
ice_control.starter_engine_control = _starter_engine_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_status_s ice_status;

4
src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.hpp
View File

@ -102,7 +102,7 @@ private:
enum class UserOnOffRequest {
Off,
On
};
} _user_request{UserOnOffRequest::Off};
enum class ICESource {
ArmingState,
@ -126,7 +126,7 @@ private:
void controlEngineStartup(const hrt_abstime now);
void controlEngineFault();
bool maximumAttemptsReached();
void publishControl(const hrt_abstime now, const UserOnOffRequest user_request);
void publishControl(const hrt_abstime now);
// Starting state specifics
static constexpr float DELAY_BEFORE_RESTARTING{1.f};