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ICE: allow throttle setpoint to be set to NAN to stop motor without disarming

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2025-05-19 13:23:45 +02:00
parent ed15258abb
commit cff5ecfd88
3 changed files with 6 additions and 2 deletions
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src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.cpp
+4 -1
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@@ -291,7 +291,7 @@ void InternalCombustionEngineControl::controlEngineStop()
_ignition_on = false;
_choke_control = _param_ice_stop_choke.get() ? 1.f : 0.f;
_starter_engine_control = 0.f;
_throttle_control = 0.f;
_throttle_control = NAN; // this will set it to the DISARMED value
}
void InternalCombustionEngineControl::controlEngineFault()
@@ -393,6 +393,9 @@ The state machine:
- Allows for user inputs from:
- Manual control AUX
- Arming state in [VehicleStatus.msg](../msg_docs/VehicleStatus.md)
- In the state "Stopped" the throttle is set to NAN, which by definition will set the
throttle output to the disarmed value configured for the specific output.
The module publishes [InternalCombustionEngineControl.msg](../msg_docs/InternalCombustionEngineControl.md).