AP_Mission: support DO_ENGINE_CONTROL

ArduPlane/commands_logic.cpp

@@ -227,9 +227,9 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
         break;
 
     case MAV_CMD_DO_ENGINE_CONTROL:
-        plane.ice_control.engine_control(cmd.content.do_engine_control.start_control,
-                                         cmd.content.do_engine_control.cold_start,
-                                         cmd.content.do_engine_control.height_delay_cm*0.01f);
+        plane.g2.ice_control.engine_control(cmd.content.do_engine_control.start_control,
+                                            cmd.content.do_engine_control.cold_start,
+                                            cmd.content.do_engine_control.height_delay_cm*0.01f);
         break;
     }
 
@@ -316,6 +316,8 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd)        // Ret
     case MAV_CMD_DO_LAND_START:
     case MAV_CMD_DO_FENCE_ENABLE:
     case MAV_CMD_DO_AUTOTUNE_ENABLE:
+    case MAV_CMD_DO_VTOL_TRANSITION:
+    case MAV_CMD_DO_ENGINE_CONTROL:
         return true;
 
     default:

libraries/AP_Mission/AP_Mission.cpp

@@ -757,11 +757,17 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
     case MAV_CMD_DO_VTOL_TRANSITION:
         cmd.content.do_vtol_transition.target_state = packet.param1;
         break;
-        
+
     case MAV_CMD_DO_SET_REVERSE:
         cmd.p1 = packet.param1; // 0 = forward, 1 = reverse
         break;
 
+    case MAV_CMD_DO_ENGINE_CONTROL:
+        cmd.content.do_engine_control.start_control = (packet.param1>0);
+        cmd.content.do_engine_control.cold_start = (packet.param2>0);
+        cmd.content.do_engine_control.height_delay_cm = packet.param3*100;
+        break;        
+        
     default:
         // unrecognised command
         return MAV_MISSION_UNSUPPORTED;
@@ -1200,7 +1206,13 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
     case MAV_CMD_DO_VTOL_TRANSITION:
         packet.param1 = cmd.content.do_vtol_transition.target_state;
         break;
-        
+
+    case MAV_CMD_DO_ENGINE_CONTROL:
+        packet.param1 = cmd.content.do_engine_control.start_control?1:0;
+        packet.param2 = cmd.content.do_engine_control.cold_start?1:0;
+        packet.param3 = cmd.content.do_engine_control.height_delay_cm*0.01f;
+        break;        
+                
     default:
         // unrecognised command
         return false;

libraries/AP_Mission/AP_Mission.h

@@ -169,6 +169,13 @@ public:
         int8_t sec_utc; // absolute time's sec (utc)
     };
 
+    // DO_ENGINE_CONTROL support
+    struct PACKED Do_Engine_Control {
+        bool start_control; // start or stop engine
+        bool cold_start; // use cold start procedure
+        uint16_t height_delay_cm; // height delay for start
+    };
+    
     union PACKED Content {
         // jump structure
         Jump_Command jump;
@@ -220,6 +227,9 @@ public:
 
         // do vtol transition
         Do_VTOL_Transition do_vtol_transition;
+
+        // DO_ENGINE_CONTROL
+        Do_Engine_Control do_engine_control;
         
         // location
         Location location;      // Waypoint location