AP_ICEngine: Add a flag to allow starting the engine while disarmed

ArduPilot · Sep 28, 2023 · 88e1286 · 88e1286
1 parent 4a181ed
commit 88e1286
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Showing 2 changed files with 17 additions and 5 deletions.
diff --git a/libraries/AP_ICEngine/AP_ICEngine.cpp b/libraries/AP_ICEngine/AP_ICEngine.cpp
@@ -238,6 +238,11 @@ void AP_ICEngine::update(void)
         should_run = true;
     } else if (start_chan_last_value <= RC_Channel::AUX_PWM_TRIGGER_LOW) {
         should_run = false;
+
+        // clear the single start flag now that we will be stopping the engine
+        if (state != ICE_OFF) {
+            allow_single_start_while_disarmed = false;
+        }
     } else if (state != ICE_OFF) {
         should_run = true;
     }
@@ -248,8 +253,10 @@ void AP_ICEngine::update(void)
     }
 
     if (option_set(Options::NO_RUNNING_WHILE_DISARMED) && !hal.util->get_soft_armed()) {
-        // disable the engine if disarmed
-        should_run = false;
+        if (!allow_single_start_while_disarmed) {
+            // no starting while disarmed
+            should_run = false;
+        }
     }
 
 #if HAL_PARACHUTE_ENABLED
@@ -468,11 +475,15 @@ bool AP_ICEngine::throttle_override(float &percentage, const float base_throttle
 /*
   handle DO_ENGINE_CONTROL messages via MAVLink or mission
 */
-bool AP_ICEngine::engine_control(float start_control, float cold_start, float height_delay)
+bool AP_ICEngine::engine_control(float start_control, float cold_start, float height_delay, float allow_disarmed)
 {
     if (!enable) {
         return false;
     }
+
+    // always update the start while disarmed flag
+    allow_single_start_while_disarmed = is_equal(allow_disarmed, 1.0f);
+
     if (start_control <= 0) {
         state = ICE_OFF;
         return true;
@@ -576,7 +587,6 @@ void AP_ICEngine::update_idle_governor(int8_t &min_throttle)
 #endif // AP_RPM_ENABLED
 }
 
-
 // singleton instance. Should only ever be set in the constructor.
 AP_ICEngine *AP_ICEngine::_singleton;
 namespace AP {

diff --git a/libraries/AP_ICEngine/AP_ICEngine.h b/libraries/AP_ICEngine/AP_ICEngine.h
@@ -52,7 +52,7 @@ class AP_ICEngine {
     ICE_State get_state(void) const { return !enable?ICE_DISABLED:state; }
 
     // handle DO_ENGINE_CONTROL messages via MAVLink or mission
-    bool engine_control(float start_control, float cold_start, float height_delay);
+    bool engine_control(float start_control, float cold_start, float height_delay, float allow_disarmed);
 
     // update min throttle for idle governor
     void update_idle_governor(int8_t &min_throttle);
@@ -138,6 +138,8 @@ class AP_ICEngine {
     // we are waiting for valid height data
     bool height_pending:1;
 
+    bool allow_single_start_while_disarmed;
+
     // idle governor
     float idle_governor_integrator;