limp manager can disable etb (#2143)

* move rev limit to limp manager

* call fatal error

* include order

* fix bug

* tests

* limp can disable etb

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>

firmware/controllers/actuators/electronic_throttle.cpp

@@ -458,11 +458,14 @@ void EtbController::setOutput(expected<percent_t> outputValue) {
 
 	if (!m_motor) return;
 
-	// If output is valid and we aren't paused, output to motor.
+	// If ETB is allowed, output is valid, and we aren't paused, output to motor.
-	if (outputValue && !engineConfiguration->pauseEtbControl) {
+	if (ENGINE(limpManager).allowElectronicThrottle()
+		&& outputValue
+		&& !engineConfiguration->pauseEtbControl) {
 		m_motor->enable();
 		m_motor->set(ETB_PERCENT_TO_DUTY(outputValue.Value));
 	} else {
+		// Otherwise disable the motor.
 		m_motor->disable();
 	}
 }

unit_tests/tests/test_etb.cpp

@@ -529,6 +529,26 @@ TEST(etb, setOutputPauseControl) {
 	etb.setOutput(25.0f);
 }
 
+TEST(etb, setOutputLimpHome) {
+	WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
+	StrictMock<MockMotor> motor;
+
+	// Must have TPS initialized for ETB setup
+	Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
+
+	EtbController etb;
+	INJECT_ENGINE_REFERENCE(&etb);
+	etb.init(ETB_Throttle1, &motor, nullptr, nullptr, true);
+
+	// Should be disabled when in ETB limp mode
+	EXPECT_CALL(motor, disable());
+
+	// Trip a fatal error
+	ENGINE(limpManager).fatalError();
+
+	etb.setOutput(25.0f);
+}
+
 TEST(etb, closedLoopPid) {
 	pid_s pid = {};
 	pid.pFactor = 5;