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[WIP] Add IC engine control module #24055

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[WIP] Add IC engine control module #24055

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@sfuhrer sfuhrer commented Nov 29, 2024 •
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The RPM based functionality requires #24041

Solved Problem

Adding fuel engine support to PX4, including:

  • starting logic
  • RPM based re-start logic
  • expose actuators as functions

Solution

Adding now module to handle ICE acutators. It gets fed by user inputs (for now manual control) and actuator_motors (TODO: add identifier which actuator_motor instances are fuel engines), and outputs the 4 fuel engine actuators: ignition, throttle, choke, starter motor.

more description tbd

Changelog Entry

For release notes:

Feature: Add IC engine control module

Alternatives

Couple of ideas for followup work:

  • Idle RPM governor

Test coverage

Tested on bench.

Context

image

@sfuhrer
Adding ICE control module
8587a7b 
Signed-off-by: Silvan Fuhrer <[email protected]>
@sfuhrer
ICE: add throttle control
72a6bb6 
Signed-off-by: Silvan Fuhrer <[email protected]>
@sfuhrer
ICE: add slew rate to throttle
a6809e7 
Signed-off-by: Silvan Fuhrer <[email protected]>
@github-actions GitHub Actions
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github-actions bot commented Nov 29, 2024 •
edited
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FLASH Analysis

px4_fmu-v5x 
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--------------  -------------- 
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...*[Comment body truncated]*

bresch
bresch reviewed Nov 29, 2024
View reviewed changes
src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.cpp
const float throttle_in = actuator_motors.control[0];

switch (_param_ice_on_source.get()) {
case 0:
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add enum

bresch
bresch reviewed Nov 29, 2024
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src/modules/internal_combustion_engine_control/module.yaml

ICE_RETRY_FAULT:
description:
short: Try to re-start engine if it stops
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What's the difference between setting this to true vs setting ICE_STRT_RETRY to a really large value? (maybe set that -1 makes it retry forever)

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This is to enable the auto re-start of the engine after a failure is detected in the running state.
ICE_STRT_RETRY is about how many startup tries it will make until declaring a fault.

@sfuhrer
ICE: WARN-->INFO where possible
38039e6 
Signed-off-by: Silvan Fuhrer <[email protected]>
@RomanBapst RomanBapst requested review from KonradRudin and removed request for KonradRudin November 29, 2024 15:21
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@sfuhrer @RomanBapst @bresch