Plane: Allow a ICE start even if disable while disarmed is set

ArduPlane/GCS_Mavlink.cpp

@@ -977,7 +977,7 @@ 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, (uint32_t)packet.param4)) {
             return MAV_RESULT_FAILED;
         }
         return MAV_RESULT_ACCEPTED;

ArduPlane/commands_logic.cpp

@@ -199,7 +199,8 @@ 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
 

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
         }

ArduPlane/quadplane.cpp

@@ -3610,7 +3610,7 @@ 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");

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;
     }
@@ -247,9 +252,16 @@ void AP_ICEngine::update(void)
         should_run = false;
     }
 
-    if (option_set(Options::NO_RUNNING_WHILE_DISARMED) && !hal.util->get_soft_armed()) {
-        // disable the engine if disarmed
-        should_run = false;
+    if (option_set(Options::NO_RUNNING_WHILE_DISARMED)) {
+        if (hal.util->get_soft_armed()) {
+            // clear the disarmed start flag, as we are now armed, if we disarm again we expect the engine to stop
+            allow_single_start_while_disarmed = false;
+        } else {
+            // check if we are blocking disarmed starts
+            if (!allow_single_start_while_disarmed) {
+                should_run = false;
+            }
+        }
     }
 
 #if HAL_PARACHUTE_ENABLED
@@ -464,15 +476,18 @@ bool AP_ICEngine::throttle_override(float &percentage, const float base_throttle
     return false;
 }
 
-
 /*
   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, uint32_t flags)
 {
     if (!enable) {
         return false;
     }
+
+    // always update the start while disarmed flag
+    allow_single_start_while_disarmed = (flags & ENGINE_CONTROL_OPTIONS_ALLOW_START_WHILE_DISARMED) != 0;
+
     if (start_control <= 0) {
         state = ICE_OFF;
         return true;
@@ -576,7 +591,6 @@ 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 {

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, uint32_t flags);
 
     // 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;
 

libraries/AP_Mission/AP_Mission.cpp

@@ -1247,6 +1247,7 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
         cmd.content.do_engine_control.start_control = (packet.param1>0);
         cmd.content.do_engine_control.cold_start = (packet.param2>0);
         cmd.content.do_engine_control.height_delay_cm = packet.param3*100;
+        cmd.content.do_engine_control.allow_disarmed_start = (((uint32_t)packet.param4) & ENGINE_CONTROL_OPTIONS_ALLOW_START_WHILE_DISARMED) != 0;
         break;
 
     case MAV_CMD_NAV_PAYLOAD_PLACE:
@@ -1751,6 +1752,9 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
         packet.param1 = cmd.content.do_engine_control.start_control?1:0;
         packet.param2 = cmd.content.do_engine_control.cold_start?1:0;
         packet.param3 = cmd.content.do_engine_control.height_delay_cm*0.01f;
+        if (cmd.content.do_engine_control.allow_disarmed_start) {
+            packet.param4 = ENGINE_CONTROL_OPTIONS_ALLOW_START_WHILE_DISARMED;
+        }
         break;
 
     case MAV_CMD_NAV_PAYLOAD_PLACE:

libraries/AP_Mission/AP_Mission.h

@@ -203,6 +203,7 @@ class AP_Mission
         bool start_control; // start or stop engine
         bool cold_start; // use cold start procedure
         uint16_t height_delay_cm; // height delay for start
+        bool allow_disarmed_start; // allow starting the engine while disarmed
     };
 
     // NAV_SET_YAW_SPEED support