AP_ICEngine: Add support for relay control of the starter and ignition

ArduPilot · Sep 26, 2023 · d9dcc3e · d9dcc3e
1 parent 263f1f7
commit d9dcc3e
Showing 1 changed file with 28 additions and 0 deletions.
diff --git a/libraries/AP_ICEngine/AP_ICEngine.cpp b/libraries/AP_ICEngine/AP_ICEngine.cpp
@@ -25,6 +25,7 @@
 #include <RC_Channel/RC_Channel.h>
 #include <AP_RPM/AP_RPM.h>
 #include <AP_Parachute/AP_Parachute.h>
+#include <AP_Relay/AP_Relay.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -354,23 +355,44 @@ void AP_ICEngine::update(void)
     }
 #endif // AP_RPM_ENABLED
 
+#if AP_RELAY_ENABLED
+    AP_Relay *relay = AP::relay();
+#endif // AP_RELAY_ENABLED
     /* now set output channels */
     switch (state) {
     case ICE_OFF:
         SRV_Channels::set_output_pwm(SRV_Channel::k_ignition, pwm_ignition_off);
         SRV_Channels::set_output_pwm(SRV_Channel::k_starter,  pwm_starter_off);
+#if AP_RELAY_ENABLED
+        if (relay != nullptr) {
+            relay->set(AP_Relay_Params::Function::ignition, false);
+            relay->set(AP_Relay_Params::Function::starter, false);
+        }
+#endif // AP_RELAY_ENABLED
         starter_start_time_ms = 0;
         break;
 
     case ICE_START_HEIGHT_DELAY:
     case ICE_START_DELAY:
         SRV_Channels::set_output_pwm(SRV_Channel::k_ignition, pwm_ignition_on);
         SRV_Channels::set_output_pwm(SRV_Channel::k_starter,  pwm_starter_off);
+#if AP_RELAY_ENABLED
+        if (relay != nullptr) {
+            relay->set(AP_Relay_Params::Function::ignition, true);
+            relay->set(AP_Relay_Params::Function::starter, false);
+        }
+#endif // AP_RELAY_ENABLED
         break;
 
     case ICE_STARTING:
         SRV_Channels::set_output_pwm(SRV_Channel::k_ignition, pwm_ignition_on);
         SRV_Channels::set_output_pwm(SRV_Channel::k_starter,  pwm_starter_on);
+#if AP_RELAY_ENABLED
+        if (relay != nullptr) {
+            relay->set(AP_Relay_Params::Function::ignition, true);
+            relay->set(AP_Relay_Params::Function::starter, true);
+        }
+#endif // AP_RELAY_ENABLED
         if (starter_start_time_ms == 0) {
             starter_start_time_ms = now;
         }
@@ -380,6 +402,12 @@ void AP_ICEngine::update(void)
     case ICE_RUNNING:
         SRV_Channels::set_output_pwm(SRV_Channel::k_ignition, pwm_ignition_on);
         SRV_Channels::set_output_pwm(SRV_Channel::k_starter,  pwm_starter_off);
+#if AP_RELAY_ENABLED
+        if (relay != nullptr) {
+            relay->set(AP_Relay_Params::Function::ignition, true);
+            relay->set(AP_Relay_Params::Function::starter, false);
+        }
+#endif // AP_RELAY_ENABLED
         starter_start_time_ms = 0;
         break;
     }