Plane: ICE: fully move to aux function

ArduCopter/RC_Channel.cpp

@@ -140,7 +140,7 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi
     case AUX_FUNC::CUSTOM_CONTROLLER:
     case AUX_FUNC::WEATHER_VANE_ENABLE:
     case AUX_FUNC::TRANSMITTER_TUNING:
-        run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
+        run_aux_function(ch_option, ch_flag, AuxFuncTrigger::Source::INIT);
         break;
     default:
         RC_Channel::init_aux_function(ch_option, ch_flag);
@@ -169,8 +169,11 @@ void RC_Channel_Copter::do_aux_function_change_mode(const Mode::Number mode,
 }
 
 // do_aux_function - implement the function invoked by auxiliary switches
-bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel_Copter::do_aux_function(const AuxFuncTrigger &trigger)
 {
+    const AUX_FUNC &ch_option = trigger.func;
+    const AuxSwitchPos &ch_flag = trigger.pos;
+
     switch(ch_option) {
         case AUX_FUNC::FLIP:
             // flip if switch is on, positive throttle and we're actually flying
@@ -668,7 +671,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
         break;
 
     default:
-        return RC_Channel::do_aux_function(ch_option, ch_flag);
+        return RC_Channel::do_aux_function(trigger);
     }
     return true;
 }

ArduCopter/RC_Channel.h

@@ -12,7 +12,7 @@ class RC_Channel_Copter : public RC_Channel
 protected:
 
     void init_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
-    bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
+    bool do_aux_function(const AuxFuncTrigger &trigger) override;
 
 private:
 

ArduPlane/RC_Channel.cpp

@@ -172,9 +172,6 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::AUX_FUNC ch_option,
     case AUX_FUNC::FW_AUTOTUNE:
     case AUX_FUNC::VFWD_THR_OVERRIDE:
     case AUX_FUNC::PRECISION_LOITER:
-#if AP_ICENGINE_ENABLED
-    case AUX_FUNC::ICE_START_STOP:
-#endif
 #if QAUTOTUNE_ENABLED
     case AUX_FUNC::AUTOTUNE_TEST_GAINS:
 #endif
@@ -194,7 +191,10 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::AUX_FUNC ch_option,
 #endif
     case AUX_FUNC::TER_DISABLE:
     case AUX_FUNC::CROW_SELECT:
-        run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
+#if AP_ICENGINE_ENABLED
+    case AUX_FUNC::ICE_START_STOP:
+#endif
+        run_aux_function(ch_option, ch_flag, AuxFuncTrigger::Source::INIT);
         break;
 
     case AUX_FUNC::REVERSE_THROTTLE:
@@ -216,8 +216,11 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::AUX_FUNC ch_option,
 }
 
 // do_aux_function - implement the function invoked by auxiliary switches
-bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel_Plane::do_aux_function(const AuxFuncTrigger &trigger)
 {
+    const AUX_FUNC &ch_option = trigger.func;
+    const AuxSwitchPos &ch_flag = trigger.pos;
+
     switch(ch_option) {
     case AUX_FUNC::INVERTED:
         plane.inverted_flight = (ch_flag == AuxSwitchPos::HIGH);
@@ -296,9 +299,6 @@ bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
     case AUX_FUNC::FLAP:
     case AUX_FUNC::FBWA_TAILDRAGGER:
     case AUX_FUNC::AIRBRAKE:
-#if AP_ICENGINE_ENABLED
-    case AUX_FUNC::ICE_START_STOP:
-#endif
         break; // input labels, nothing to do
 
 #if HAL_QUADPLANE_ENABLED
@@ -468,8 +468,14 @@ bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
         break;
 #endif
 
+#if AP_ICENGINE_ENABLED
+    case AUX_FUNC::ICE_START_STOP:
+        plane.g2.ice_control.do_aux_function(trigger);
+        break;
+#endif
+
     default:
-        return RC_Channel::do_aux_function(ch_option, ch_flag);
+        return RC_Channel::do_aux_function(trigger);
     }
 
     return true;

ArduPlane/RC_Channel.h

@@ -11,7 +11,7 @@ class RC_Channel_Plane : public RC_Channel
 
     void init_aux_function(AUX_FUNC ch_option,
                            AuxSwitchPos ch_flag) override;
-    bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
+    bool do_aux_function(const AuxFuncTrigger &trigger) override;
 
     // called when the mode switch changes position:
     void mode_switch_changed(modeswitch_pos_t new_pos) override;

Blimp/RC_Channel.cpp

@@ -99,8 +99,11 @@ void RC_Channel_Blimp::do_aux_function_change_mode(const Mode::Number mode,
 }
 
 // do_aux_function - implement the function invoked by auxiliary switches
-bool RC_Channel_Blimp::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel_Blimp::do_aux_function(const AuxFuncTrigger &trigger)
 {
+    const AUX_FUNC &ch_option = trigger.func;
+    const AuxSwitchPos &ch_flag = trigger.pos;
+
     switch (ch_option) {
 
     case AUX_FUNC::SAVE_TRIM:
@@ -120,7 +123,7 @@ bool RC_Channel_Blimp::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
         break;
 
     default:
-        return RC_Channel::do_aux_function(ch_option, ch_flag);
+        return RC_Channel::do_aux_function(trigger);
     }
     return true;
 }

Blimp/RC_Channel.h

@@ -12,7 +12,7 @@ class RC_Channel_Blimp : public RC_Channel
 protected:
 
     void init_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
-    bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
+    bool do_aux_function(const AuxFuncTrigger &trigger) override;
 
 private:
 

Rover/RC_Channel.cpp

@@ -130,8 +130,11 @@ void RC_Channel_Rover::do_aux_function_sailboat_motor_3pos(const AuxSwitchPos ch
     }
 }
 
-bool RC_Channel_Rover::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel_Rover::do_aux_function(const AuxFuncTrigger &trigger)
 {
+    const AUX_FUNC &ch_option = trigger.func;
+    const AuxSwitchPos &ch_flag = trigger.pos;
+
     switch (ch_option) {
     case AUX_FUNC::DO_NOTHING:
         break;
@@ -261,7 +264,7 @@ bool RC_Channel_Rover::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
         break;
 
     default:
-        return RC_Channel::do_aux_function(ch_option, ch_flag);
+        return RC_Channel::do_aux_function(trigger);
 
     }
 

Rover/RC_Channel.h

@@ -12,7 +12,7 @@ class RC_Channel_Rover : public RC_Channel
 protected:
 
     void init_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
-    bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
+    bool do_aux_function(const AuxFuncTrigger &trigger) override;
 
     // called when the mode switch changes position:
     void mode_switch_changed(modeswitch_pos_t new_pos) override;

Tools/autotest/quadplane.py

@@ -1234,6 +1234,7 @@ def MAV_CMD_DO_ENGINE_CONTROL(self):
             self.start_subtest("Check start chan control disable")
             old_start_channel_value = self.get_rc_channel_value(rc_engine_start_chan)
             self.set_rc(rc_engine_start_chan, 1000)
+            self.delay_sim_time(1) # Make sure the RC change has registered
             self.context_collect('STATUSTEXT')
             method(mavutil.mavlink.MAV_CMD_DO_ENGINE_CONTROL, p1=1, want_result=mavutil.mavlink.MAV_RESULT_FAILED)
             self.wait_statustext("start control disabled", check_context=True)

libraries/AP_Button/AP_Button.cpp

@@ -278,7 +278,7 @@ void AP_Button::run_aux_functions(bool force)
             GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Button %i: executing (%s %s)", i+1, str, rc_channel->string_for_aux_pos(pos));
         }
 #endif
-        rc_channel->run_aux_function(func, pos, RC_Channel::AuxFuncTriggerSource::BUTTON);
+        rc_channel->run_aux_function(func, pos, RC_Channel::AuxFuncTrigger::Source::BUTTON);
     }
 }
 

libraries/AP_ICEngine/AP_ICEngine.cpp

@@ -30,8 +30,6 @@
 
 extern const AP_HAL::HAL& hal;
 
-#define AP_ICENGINE_START_CHAN_DEBOUNCE_MS          300
-
 const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
 
     // @Param: ENABLE
@@ -282,6 +280,17 @@ void AP_ICEngine::param_conversion()
     }
 }
 
+// Handle incoming aux function
+void AP_ICEngine::do_aux_function(const RC_Channel::AuxFuncTrigger &trigger)
+{
+    // If triggered from RC apply start chan min
+    if ((trigger.source == RC_Channel::AuxFuncTrigger::Source::RC) && (trigger.pwm < start_chan_min_pwm)) {
+        return;
+    }
+
+    aux_pos = trigger.pos;
+}
+
 /*
   update engine state
  */
@@ -291,51 +300,20 @@ void AP_ICEngine::update(void)
         return;
     }
 
-    uint16_t cvalue = 1500;
-    RC_Channel *c = rc().find_channel_for_option(RC_Channel::AUX_FUNC::ICE_START_STOP);
-    if (c != nullptr && rc().has_valid_input()) {
-        // get starter control channel
-        cvalue = c->get_radio_in();
-
-        if (cvalue < start_chan_min_pwm) {
-            cvalue = start_chan_last_value;
-        }
-
-        // snap the input to either 1000, 1500, or 2000
-        // this is useful to compare a debounce changed value
-        // while ignoring tiny noise
-        if (cvalue >= RC_Channel::AUX_PWM_TRIGGER_HIGH) {
-            cvalue = 2000;
-        } else if ((cvalue > 800) && (cvalue <= RC_Channel::AUX_PWM_TRIGGER_LOW)) {
-            cvalue = 1300;
-        } else {
-            cvalue = 1500;
-        }
-    }
-
     bool should_run = false;
     uint32_t now = AP_HAL::millis();
 
 
-    // debounce timer to protect from spurious changes on start_chan rc input
-    // If the cached value is the same, reset timer
-    if (start_chan_last_value == cvalue) {
-        start_chan_last_ms = now;
-    } else if (now - start_chan_last_ms >= AP_ICENGINE_START_CHAN_DEBOUNCE_MS) {
-        // if it has changed, and stayed changed for the duration, then use that new value
-        start_chan_last_value = cvalue;
-    }
-
-    if (state == ICE_START_HEIGHT_DELAY && start_chan_last_value >= RC_Channel::AUX_PWM_TRIGGER_HIGH) {
+    if ((state == ICE_START_HEIGHT_DELAY) && (aux_pos == RC_Channel::AuxSwitchPos::HIGH)) {
         // user is overriding the height start delay and asking for
         // immediate start. Put into ICE_OFF so that the logic below
         // can start the engine now
         state = ICE_OFF;
     }
 
-    if (state == ICE_OFF && start_chan_last_value >= RC_Channel::AUX_PWM_TRIGGER_HIGH) {
+    if ((state == ICE_OFF) && (aux_pos == RC_Channel::AuxSwitchPos::HIGH)) {
         should_run = true;
-    } else if (start_chan_last_value <= RC_Channel::AUX_PWM_TRIGGER_LOW) {
+    } else if (aux_pos == RC_Channel::AuxSwitchPos::LOW) {
         should_run = false;
 
         // clear the single start flag now that we will be stopping the engine
@@ -622,15 +600,13 @@ bool AP_ICEngine::engine_control(float start_control, float cold_start, float he
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Engine: already running");
         return false;
     }
-    RC_Channel *c = rc().find_channel_for_option(RC_Channel::AUX_FUNC::ICE_START_STOP);
-    if (c != nullptr && rc().has_valid_input()) {
-        // get starter control channel
-        uint16_t cvalue = c->get_radio_in();
-        if (cvalue >= start_chan_min_pwm && cvalue <= RC_Channel::AUX_PWM_TRIGGER_LOW) {
-            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Engine: start control disabled");
-            return false;
-        }
+
+    // get starter control channel
+    if (aux_pos == RC_Channel::AuxSwitchPos::LOW) {
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Engine: start control disabled by aux function");
+        return false;
     }
+
     if (height_delay > 0) {
         height_pending = true;
         initial_height = 0;

libraries/AP_ICEngine/AP_ICEngine.h

@@ -27,6 +27,7 @@
 #include <AP_RPM/AP_RPM_config.h>
 #include <AP_HAL/I2CDevice.h>
 #include <AP_Relay/AP_Relay_config.h>
+#include <RC_Channel/RC_Channel.h>
 
 #if AP_ICENGINE_TCA9554_STARTER_ENABLED
 #include "AP_ICEngine_TCA9554.h"
@@ -69,6 +70,9 @@ class AP_ICEngine {
     // do we have throttle while disarmed enabled?
     bool allow_throttle_while_disarmed(void) const;
 
+    // Handle incoming aux function trigger
+    void do_aux_function(const RC_Channel::AuxFuncTrigger &trigger);
+
 #if AP_RELAY_ENABLED
     // Needed for param conversion from relay numbers to functions
     bool get_legacy_ignition_relay_index(int8_t &num);
@@ -95,7 +99,7 @@ class AP_ICEngine {
 
     // min pwm on start channel for engine stop
     AP_Int16 start_chan_min_pwm;
-    
+
 #if AP_RPM_ENABLED
     // which RPM instance to use
     AP_Int8 rpm_instance;
@@ -169,9 +173,8 @@ class AP_ICEngine {
         return (options & uint16_t(option)) != 0;
     }
 
-    // start_chan debounce
-    uint16_t start_chan_last_value = 1500;
-    uint32_t start_chan_last_ms;
+    // Last aux function value
+    RC_Channel::AuxSwitchPos aux_pos = RC_Channel::AuxSwitchPos::MIDDLE;
 
 #if AP_ICENGINE_TCA9554_STARTER_ENABLED
     AP_ICEngine_TCA9554 tca9554_starter;

libraries/AP_Mission/AP_Mission_Commands.cpp

@@ -31,7 +31,7 @@ bool AP_Mission::start_command_do_aux_function(const AP_Mission::Mission_Command
     default:
         return false;
     }
-    rc().run_aux_function(function, pos, RC_Channel::AuxFuncTriggerSource::MISSION);
+    rc().run_aux_function(function, pos, RC_Channel::AuxFuncTrigger::Source::MISSION);
     return true;
 }
 #endif  // AP_RC_CHANNEL_ENABLED

libraries/AP_Scripting/generator/description/bindings.desc

@@ -398,7 +398,7 @@ singleton RC_Channels rename rc
 singleton RC_Channels scheduler-semaphore
 singleton RC_Channels method get_pwm boolean uint8_t 1 NUM_RC_CHANNELS uint16_t'Null
 singleton RC_Channels method find_channel_for_option RC_Channel RC_Channel::AUX_FUNC'enum 0 UINT16_MAX
-singleton RC_Channels method run_aux_function boolean RC_Channel::AUX_FUNC'enum 0 UINT16_MAX RC_Channel::AuxSwitchPos'enum RC_Channel::AuxSwitchPos::LOW RC_Channel::AuxSwitchPos::HIGH RC_Channel::AuxFuncTriggerSource::SCRIPTING'literal
+singleton RC_Channels method run_aux_function boolean RC_Channel::AUX_FUNC'enum 0 UINT16_MAX RC_Channel::AuxSwitchPos'enum RC_Channel::AuxSwitchPos::LOW RC_Channel::AuxSwitchPos::HIGH RC_Channel::AuxFuncTrigger::Source::SCRIPTING'literal
 singleton RC_Channels method has_valid_input boolean
 singleton RC_Channels method lua_rc_channel RC_Channel uint8_t 1 NUM_RC_CHANNELS
 singleton RC_Channels method lua_rc_channel rename get_channel

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -3110,7 +3110,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_aux_function(const mavlink_command_int
     }
     const RC_Channel::AUX_FUNC aux_func = (RC_Channel::AUX_FUNC)packet.param1;
     const RC_Channel::AuxSwitchPos position = (RC_Channel::AuxSwitchPos)packet.param2;
-    if (!rc().run_aux_function(aux_func, position, RC_Channel::AuxFuncTriggerSource::MAVLINK)) {
+    if (!rc().run_aux_function(aux_func, position, RC_Channel::AuxFuncTrigger::Source::MAVLINK)) {
         // note that this is not quite right; we could be more nuanced
         // about our return code here.
         return MAV_RESULT_FAILED;