diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py index 8cd4bc8082..bb066e97fc 100644 --- a/Tools/autotest/quadplane.py +++ b/Tools/autotest/quadplane.py @@ -1080,6 +1080,53 @@ def ICEngine(self): self.change_mode('FBWA') self.wait_servo_channel_value(3, 2000) + self.start_subtest("Testing automatic restart") + # Limit start attempts to 4 + max_tries = 4 + self.set_parameter("ICE_STRT_MX_RTRY", max_tries) + # Make the engine unable to run (by messing up the RPM sensor) + rpm_chan = self.get_parameter("ICE_RPM_CHAN") + self.set_parameter("ICE_RPM_CHAN", 120) # Set to a non-existent sensor + self.set_rc(rc_engine_start_chan, 2000) + self.wait_statustext("Uncommanded engine stop") + self.wait_statustext("Starting engine") + # Restore the engine + self.set_parameter("ICE_RPM_CHAN", rpm_chan) + # Make sure the engine continues to run for the next 30 seconds + try: + self.wait_statustext("Uncommanded engine stop", timeout=30) + # The desired result is for the wait_statustext raise AutoTestTimeoutException + raise NotAchievedException("Engine stopped unexpectedly") + except AutoTestTimeoutException: + pass + self.context_stop_collecting("STATUSTEXT") + + self.start_subtest("Testing automatic starter attempt limit") + # Try this test twice. + # For the first run, since the engine has been running successfully in + # the previous test for 30 seconds, the limit should reset. For the + # second run, after commanding an engine stop, the limit should reset. + for i in range(2): + self.context_collect("STATUSTEXT") + self.set_parameter("ICE_RPM_CHAN", 120) # Set to a non-existent sensor + self.set_rc(rc_engine_start_chan, 2000) + self.wait_statustext("Engine max crank attempts reached", check_context=True, timeout=30) + self.delay_sim_time(30) # wait for another 30 seconds to make sure the engine doesn't restart + messages = self.context_get().collections["STATUSTEXT"] + self.context_stop_collecting("STATUSTEXT") + # check for the exact number of starter attempts + attempts = 0 + for m in messages: + if "Starting engine" == m.text: + attempts += 1 + if attempts != max_tries: + raise NotAchievedException(f"Run {i+1}: Expected {max_tries} attempts, got {attempts}") + # Command an engine stop + self.context_collect("STATUSTEXT") + self.set_rc(rc_engine_start_chan, 1000) + self.wait_statustext("ignition:0", check_context=True) + self.context_stop_collecting("STATUSTEXT") + def ICEngineMission(self): '''Test ICE Engine Mission support''' rc_engine_start_chan = 11 diff --git a/libraries/AP_ICEngine/AP_ICEngine.cpp b/libraries/AP_ICEngine/AP_ICEngine.cpp index f9148d933b..7863037460 100644 --- a/libraries/AP_ICEngine/AP_ICEngine.cpp +++ b/libraries/AP_ICEngine/AP_ICEngine.cpp @@ -175,6 +175,13 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = { // @Values: 0:Forward,1:Reverse AP_GROUPINFO("CRANK_DIR", 19, AP_ICEngine, crank_direction, 0), + // @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 }; @@ -291,6 +298,10 @@ void AP_ICEngine::update(void) if (should_run) { state = ICE_START_DELAY; } + crank_retry_ct = 0; + // clear the last uncommanded stop time, we only care about tracking + // the last one since the engine was started + last_uncommanded_stop_ms = 0; break; case ICE_START_HEIGHT_DELAY: { @@ -314,8 +325,16 @@ 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 || 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_CRITICAL, "Engine max crank attempts reached"); + // Mark the last run now so we don't send this message every loop + starter_last_run_ms = now; + } } break; @@ -341,7 +360,14 @@ void AP_ICEngine::update(void) 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"); + GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Uncommanded engine stop"); + if (last_uncommanded_stop_ms != 0 && + now - last_uncommanded_stop_ms > 3*(starter_time + starter_delay)*1000) { + // if it has been a long enough time since the last uncommanded stop + // (3 times the time between start attempts) then reset the retry count + crank_retry_ct = 0; + } + last_uncommanded_stop_ms = now; } } #endif diff --git a/libraries/AP_ICEngine/AP_ICEngine.h b/libraries/AP_ICEngine/AP_ICEngine.h index 93277999f3..af007f2ac6 100644 --- a/libraries/AP_ICEngine/AP_ICEngine.h +++ b/libraries/AP_ICEngine/AP_ICEngine.h @@ -113,6 +113,10 @@ class AP_ICEngine { AP_Int16 pwm_starter_on; AP_Int16 pwm_starter_off; + // 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; @@ -124,6 +128,9 @@ class AP_ICEngine { // time when we last ran the starter uint32_t starter_last_run_ms; + // time when we last had an uncommanded engine stop + uint32_t last_uncommanded_stop_ms; + // throttle percentage for engine start AP_Int8 start_percent;