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Plane: accept DO_ENGINE_CONTROL as both COMMAND_LONG and COMMAND_INT #24783

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merged 2 commits into from
Aug 29, 2023
Merged

Plane: accept DO_ENGINE_CONTROL as both COMMAND_LONG and COMMAND_INT #24783

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f09f543
Plane: accept DO_ENGINE_CONTROL as both COMMAND_LONG and COMMAND_INT
peterbarker Aug 25, 2023
f97edf3
autotest: add test for DO_ENGINE_CONTROL
peterbarker Aug 25, 2023
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16 changes: 8 additions & 8 deletions ArduPlane/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -973,6 +973,14 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
return MAV_RESULT_DENIED;
#endif

#if AP_ICENGINE_ENABLED
case MAV_CMD_DO_ENGINE_CONTROL:
if (!plane.g2.ice_control.engine_control(packet.param1, packet.param2, packet.param3)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
#endif

default:
return GCS_MAVLINK::handle_command_int_packet(packet, msg);
}
Expand Down Expand Up @@ -1094,14 +1102,6 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
return MAV_RESULT_ACCEPTED;
#endif

#if AP_ICENGINE_ENABLED
case MAV_CMD_DO_ENGINE_CONTROL:
if (!plane.g2.ice_control.engine_control(packet.param1, packet.param2, packet.param3)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
#endif

default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
Expand Down
76 changes: 76 additions & 0 deletions Tools/autotest/quadplane.py
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Original file line number Diff line number Diff line change
Expand Up @@ -997,6 +997,81 @@ def ICEngineMission(self):
self.change_mode('AUTO')
self.wait_disarmed(timeout=300)

def MAV_CMD_DO_ENGINE_CONTROL(self):
'''test MAV_CMD_DO_ENGINE_CONTROL mavlink command'''

expected_idle_rpm_min = 65
expected_idle_rpm_max = 75
expected_starter_rpm_min = 345
expected_starter_rpm_max = 355

rc_engine_start_chan = 11
self.setup_ICEngine_vehicle(start_chan=rc_engine_start_chan)

self.wait_ready_to_arm()

for method in self.run_cmd, self.run_cmd_int:
self.change_mode('MANUAL')
self.set_rc(rc_engine_start_chan, 1500) # allow motor to run
self.wait_rpm(1, 0, 0, minimum_duration=1)
self.arm_vehicle()
self.wait_rpm(1, 0, 0, minimum_duration=1)
self.start_subtest("Start motor")
method(mavutil.mavlink.MAV_CMD_DO_ENGINE_CONTROL, p1=1)
self.wait_rpm(1, expected_starter_rpm_min, expected_starter_rpm_max)
self.wait_rpm(1, expected_idle_rpm_min, expected_idle_rpm_max, minimum_duration=10)

# starting the motor while it is running is failure
# (probably wrong, but that's how this works):
self.start_subtest("try start motor again")
self.context_collect('STATUSTEXT')
method(mavutil.mavlink.MAV_CMD_DO_ENGINE_CONTROL, p1=1, want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.wait_statustext("already running", check_context=True)
self.context_stop_collecting('STATUSTEXT')
# shouldn't affect run state:
self.wait_rpm(1, expected_idle_rpm_min, expected_idle_rpm_max, minimum_duration=1)

self.start_subtest("Stop motor")
method(mavutil.mavlink.MAV_CMD_DO_ENGINE_CONTROL, p1=0)
self.wait_rpm(1, 0, 0, minimum_duration=1)

self.start_subtest("Stop motor (again)")
method(mavutil.mavlink.MAV_CMD_DO_ENGINE_CONTROL, p1=0)
self.wait_rpm(1, 0, 0, minimum_duration=1)

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.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)
self.context_stop_collecting('STATUSTEXT')
self.set_rc(rc_engine_start_chan, old_start_channel_value)
self.wait_rpm(1, 0, 0, minimum_duration=1)

self.start_subtest("test start-at-height")
self.wait_rpm(1, 0, 0, minimum_duration=1)
self.context_collect('STATUSTEXT')
method(
mavutil.mavlink.MAV_CMD_DO_ENGINE_CONTROL,
p1=1, # start
p3=15.5, # ... at 15.5 metres
)
self.wait_statustext("height set to 15.5m", check_context=True)
self.wait_rpm(1, 0, 0, minimum_duration=2)

self.takeoff(20, mode='GUIDED')
self.wait_rpm(1, expected_starter_rpm_min, expected_starter_rpm_max, minimum_duration=1)
self.wait_statustext("Engine running", check_context=True)
self.context_stop_collecting('STATUSTEXT')

# stop the motor again:
method(mavutil.mavlink.MAV_CMD_DO_ENGINE_CONTROL, p1=0)
self.wait_rpm(1, 0, 0, minimum_duration=1)

self.change_mode('QLAND')
self.wait_disarmed()

def Ship(self):
'''Ensure we can take off from simulated ship'''
self.context_push()
Expand Down Expand Up @@ -1237,6 +1312,7 @@ def tests(self):
self.Tailsitter,
self.ICEngine,
self.ICEngineMission,
self.MAV_CMD_DO_ENGINE_CONTROL,
self.MidAirDisarmDisallowed,
self.GUIDEDToAUTO,
self.BootInAUTO,
Expand Down