Add IC engine control module #24055

sfuhrer · 2024-11-29T10:22:43Z

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.

A flow chart of the solution:

The proposed state machine:

Changelog Entry

For release notes:

Feature: Add IC engine control module

Alternatives / Follow-ups

Couple of ideas for followup work:

Idle RPM governor
allow start/stop over CMD_DO_ENGINE_CONTROL
- publish engine status over MAVLink EFI_STATUS
make "flight time remaining" compatible with fuel engines (needs extraction from battery_status)
Fuel status MAVLink message support

Test coverage

Tested on bench.

Context

Note: This feature is not enabled by default and needs to be configured together with the rpm capture driver: CONFIG_MODULES_INTERNAL_COMBUSTION_ENGINE_CONTROL=y
CONFIG_DRIVERS_RPM_CAPTURE=y

Below is a plot from the test bench:

During the starting and running state there was a fault and ICE control was able to recover.

github-actions · 2024-11-29T10:28:14Z

🔎 FLASH Analysis

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Updated: 2025-02-07T09:29:08

src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.cpp

src/modules/internal_combustion_engine_control/module.yaml

src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.cpp

DronecodeBot · 2024-12-09T16:13:35Z

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/gas-engine/42729/9

src/lib/mixer_module/functions/FunctionICEngineControl.hpp

src/modules/internal_combustion_engine_control/CMakeLists.txt

src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.cpp

src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.hpp

src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.cpp

src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.hpp

src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.cpp

Perrrewi

I made some comments, but in general it looks good to me

Signed-off-by: Silvan Fuhrer <[email protected]>

sfuhrer

Beside the small comments I would have one "feature" request: To add a 1s delay between the starting retries. That should help to reduce wear on the starter motor and makes the starter retries audibly distinguishable from each other.

sfuhrer · 2025-02-07T12:48:11Z

ROMFS/px4fmu_common/init.d/rcS

+	if param compare -s ICE_EN 1
+	then
+		internal_combustion_engine_control start
+		echo "****INFO [init] Internal Combustion Engine Control started"


Suggested change

echo "****INFO [init] Internal Combustion Engine Control started"

This is a left over from debugging.

sfuhrer · 2025-02-07T12:48:31Z

boards/px4/sitl/default.px4board

@@ -81,3 +81,5 @@ CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
 CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
 CONFIG_MODULES_SPACECRAFT=n
+
+CONFIG_MODULES_INTERNAL_COMBUSTION_ENGINE_CONTROL=y


Suggested change

CONFIG_MODULES_INTERNAL_COMBUSTION_ENGINE_CONTROL=y

This was also just for testing.

sfuhrer · 2025-02-07T12:49:14Z

msg/InternalCombustionEngineControl.msg

+float32 choke_control			# [0,1]
+float32 starter_engine_control		# [0,1]
+
+uint8 user_request			# user intent for on/off/keep


Suggested change

uint8 user_request # user intent for on/off/keep

uint8 user_request # user intent for on/off

I don't think the keep is implemented, is it?

sfuhrer · 2025-02-07T12:53:26Z

src/lib/mixer_module/functions/FunctionICEngineControl.hpp

+	static_assert(num_data_points == (int)OutputFunction::IC_Engine_Starter - (int)OutputFunction::IC_Engine_Ignition + 1,
+		      "number of functions mismatch");
+
+	uORB::Subscription _topic{ORB_ID(internal_combustion_engine_control)};


Suggested change

uORB::Subscription _topic{ORB_ID(internal_combustion_engine_control)};

uORB::Subscription _internal_combustion_engine_control_sub{ORB_ID(internal_combustion_engine_control)};

sfuhrer · 2025-02-07T13:05:41Z

src/modules/internal_combustion_engine_control/module.yaml

+        values:
+          0: No activation
+          1: On arming - disarming
+          2: Mavlink?


Suggested change

2: Mavlink?

2: Mavlink - TODO

sfuhrer · 2025-02-07T13:08:21Z

src/modules/internal_combustion_engine_control/module.yaml

+          short: Apply choke when stopping engine
+          long: TBD
+        type: boolean
+        default: false


I would change the default to true.

sfuhrer · 2025-02-07T13:10:29Z

src/modules/internal_combustion_engine_control/module.yaml

+          short: Try to re-start engine if it stops
+          long: TBD
+        type: boolean
+        default: false


Suggested change

default: false

default: true

sfuhrer · 2025-02-07T13:11:18Z

src/modules/internal_combustion_engine_control/module.yaml

+        max: 10
+        decimal: 1
+        increment: 0.1
+        default: 1


Suggested change

default: 1

default: 0

sfuhrer · 2025-02-07T13:12:20Z

src/modules/internal_combustion_engine_control/module.yaml

+      ICE_IGN_DELAY:
+        description:
+          short: Cold-start delay after ignition before engaging starter
+          long: TBD


Suggested change

long: TBD

long: In case that the ignition takes a moment to be up and running, this parameter can be set to account for that.

sfuhrer · 2025-02-07T13:17:21Z

src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.cpp

+
+		if (user_request == UserOnOffRequest::On && !_engine_tried_to_restart) {
+			_state = State::Starting;
+			instantiateEngineStart();


Suggested change

instantiateEngineStart();

_state_start_time = now;

This method isn't needed anymore I would say.

And just store now at the beginning of the Run() function.

sfuhrer requested a review from RomanBapst November 29, 2024 10:22

bresch reviewed Nov 29, 2024

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RomanBapst requested review from KonradRudin and removed request for KonradRudin November 29, 2024 15:21

github-actions bot added the stale label Jan 9, 2025

Perrrewi reviewed Feb 4, 2025

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Perrrewi force-pushed the pr-ice-control-module-main branch 2 times, most recently from 8eb6dfb to 00375b9 Compare February 5, 2025 12:21

Perrrewi mentioned this pull request Feb 7, 2025

Adding ice control description PX4/PX4-user_guide#3574

Open

1 task

sfuhrer and others added 9 commits February 7, 2025 10:21

Adding ICE control module

3f13bb3

Signed-off-by: Silvan Fuhrer <[email protected]>

ICE: add throttle control

156e259

Signed-off-by: Silvan Fuhrer <[email protected]>

ICE: add slew rate to throttle

7e764ff

Signed-off-by: Silvan Fuhrer <[email protected]>

ICE: WARN-->INFO where possible

3829d48

Signed-off-by: Silvan Fuhrer <[email protected]>

ICE: only chocke on cold start and add delay

79e5f04

Signed-off-by: Silvan Fuhrer <[email protected]>

enumeration for switch case

8f486c9

clarify that variable belongs to the class

c39d9b8

small fixes from review

981b641

cast the param to ICE source

01020af

Perrrewi added 2 commits February 7, 2025 10:21

choke on fault

3b74eaf

add module name in module yaml

c5f8416

Perrrewi force-pushed the pr-ice-control-module-main branch from d810d24 to c5f8416 Compare February 7, 2025 09:23

sfuhrer changed the title ~~[WIP] Add IC engine control module~~ Add IC engine control module Feb 7, 2025

sfuhrer commented Feb 7, 2025

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Add IC engine control module #24055

Add IC engine control module #24055

sfuhrer commented Nov 29, 2024 •

edited by Perrrewi

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	uint8 user_request # user intent for on/off/keep
	uint8 user_request # user intent for on/off

	uORB::Subscription _topic{ORB_ID(internal_combustion_engine_control)};
	uORB::Subscription _internal_combustion_engine_control_sub{ORB_ID(internal_combustion_engine_control)};

	long: TBD
	long: In case that the ignition takes a moment to be up and running, this parameter can be set to account for that.

Add IC engine control module #24055

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sfuhrer commented Nov 29, 2024 •

edited by Perrrewi

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