AP_ICEngine: add max retrial of cranking

Added Param MAX_RETRY which If set 0 or less, then there is no limit to retrials. If set to a value greater than 0 then the engine will retry starting the engine this many times before giving up.
ArduPilot · Sep 3, 2024 · 1bb4a94 · 1bb4a94
1 parent 7a93063
commit 1bb4a94
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Showing 2 changed files with 23 additions and 5 deletions.
diff --git a/libraries/AP_ICEngine/AP_ICEngine.cpp b/libraries/AP_ICEngine/AP_ICEngine.cpp
@@ -176,6 +176,13 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
     // This allows one time conversion while allowing user to flash between versions with and without converted params
     AP_GROUPINFO_FLAGS("FMT_VER", 19, AP_ICEngine, param_format_version, 0, AP_PARAM_FLAG_HIDDEN),
 
+    // @Param: STRT_MX_RTRY
+    // @DisplayName: Maximum number of retries
+    // @Description: If set 0 then there is no limit to retrials. If set to a value greater than 0 then the engine will retry starting the engine this many times before giving up.
+    // @User: Standard
+    // @Range: 0 127
+    AP_GROUPINFO("STRT_MX_RTRY", 20, AP_ICEngine, max_crank_retry, 0),
+
     AP_GROUPEND
 };
 
@@ -374,6 +381,7 @@ void AP_ICEngine::update(void)
         if (should_run) {
             state = ICE_START_DELAY;
         }
+        crank_retry_ct = 0;
         break;
 
     case ICE_START_HEIGHT_DELAY: {
@@ -397,8 +405,14 @@ void AP_ICEngine::update(void)
         if (!should_run) {
             state = ICE_OFF;
         } else if (now - starter_last_run_ms >= starter_delay*1000) {
-            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Starting engine");
-            state = ICE_STARTING;
+            // check if we should retry starting the engine
+            if (max_crank_retry >= 0 && (max_crank_retry == 0 || crank_retry_ct < max_crank_retry)) {
+                GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Starting engine");
+                state = ICE_STARTING;
+                crank_retry_ct++;
+            } else {                    
+                GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Engine Max Crank Retry reached");
+            }
         }
         break;
 
@@ -422,9 +436,9 @@ void AP_ICEngine::update(void)
             float rpm_value;
             if (!AP::rpm()->get_rpm(rpm_instance-1, rpm_value) ||
                 rpm_value < rpm_threshold) {
-                // engine has stopped when it should be running
-                state = ICE_START_DELAY;
-                GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Uncommanded engine stop");
+                    // engine has stopped when it should be running
+                    state = ICE_START_DELAY;
+                    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Uncommanded engine stop");
             }
         }
 #endif

diff --git a/libraries/AP_ICEngine/AP_ICEngine.h b/libraries/AP_ICEngine/AP_ICEngine.h
@@ -107,6 +107,10 @@ class AP_ICEngine {
     // delay between start attempts (seconds)
     AP_Float starter_delay;
 
+    // max crank retry
+    AP_Int8 max_crank_retry;
+    int8_t crank_retry_ct;
+
 #if AP_RPM_ENABLED
     // RPM above which engine is considered to be running
     AP_Int32 rpm_threshold;