ArduPlane: Pass the 4th parameter to ICE for engine start

ArduPilot · Sep 28, 2023 · 545e44c · 545e44c
1 parent 88e1286
commit 545e44c
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Showing 4 changed files with 5 additions and 4 deletions.
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
@@ -980,7 +980,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
 
 #if AP_ICENGINE_ENABLED
     case MAV_CMD_DO_ENGINE_CONTROL:
-        if (!plane.g2.ice_control.engine_control(packet.param1, packet.param2, packet.param3)) {
+        if (!plane.g2.ice_control.engine_control(packet.param1, packet.param2, packet.param3, packet.param4)) {
             return MAV_RESULT_FAILED;
         }
         return MAV_RESULT_ACCEPTED;

diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
@@ -195,7 +195,8 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
     case MAV_CMD_DO_ENGINE_CONTROL:
         plane.g2.ice_control.engine_control(cmd.content.do_engine_control.start_control,
                                             cmd.content.do_engine_control.cold_start,
-                                            cmd.content.do_engine_control.height_delay_cm*0.01f);
+                                            cmd.content.do_engine_control.height_delay_cm*0.01f,
+                                            cmd.content.do_engine_control.allow_disarmed_start);
         break;
 #endif
 

diff --git a/ArduPlane/mode_qloiter.cpp b/ArduPlane/mode_qloiter.cpp
@@ -104,7 +104,7 @@ void ModeQLoiter::run()
 #if AP_ICENGINE_ENABLED
             // cut IC engine if enabled
             if (quadplane.land_icengine_cut != 0) {
-                plane.g2.ice_control.engine_control(0, 0, 0);
+                plane.g2.ice_control.engine_control(0, 0, 0, false);
             }
 #endif  // AP_ICENGINE_ENABLED
         }

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
@@ -3609,7 +3609,7 @@ bool QuadPlane::verify_vtol_land(void)
 #if AP_ICENGINE_ENABLED
         // cut IC engine if enabled
         if (land_icengine_cut != 0) {
-            plane.g2.ice_control.engine_control(0, 0, 0);
+            plane.g2.ice_control.engine_control(0, 0, 0, false);
         }
 #endif  // AP_ICENGINE_ENABLED
         gcs().send_text(MAV_SEVERITY_INFO,"Land final started");