AP_ICEngine: fixed SITL ICE control

tridge · Jul 12, 2023 · 0c423a0 · 0c423a0
1 parent e60e08f
commit 0c423a0
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/libraries/AP_ICEngine/AP_ICEngine.cpp b/libraries/AP_ICEngine/AP_ICEngine.cpp
@@ -321,18 +321,24 @@ void AP_ICEngine::update(void)
     /* 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);
         control_ign_str(IGN_OFF_STR_OFF);
         ignition_relay_set(false);
         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);
         control_ign_str(IGN_ON_STR_OFF);
         ignition_relay_set(false);
         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 (!(hal.util->get_soft_armed() || allow_throttle_disarmed())) {
             control_ign_str(IGN_ON_STR_OFF);
             ignition_relay_set(false);
@@ -348,6 +354,8 @@ void AP_ICEngine::update(void)
         break;
 
     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);
         control_ign_str(IGN_ON_STR_OFF);
         ignition_relay_set(true);
         starter_start_time_ms = 0;