ardupilot/libraries/AC_Sprayer/AC_Sprayer.cpp

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#include "AC_Sprayer.h"
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#include <AP_AHRS/AP_AHRS.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <SRV_Channel/SRV_Channel.h>
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extern const AP_HAL::HAL& hal;
// ------------------------------
const AP_Param::GroupInfo AC_Sprayer::var_info[] = {
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// @Param: ENABLE
// @DisplayName: Sprayer enable/disable
// @Description: Allows you to enable (1) or disable (0) the sprayer
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO_FLAGS("ENABLE", 0, AC_Sprayer, _enabled, 0, AP_PARAM_FLAG_ENABLE),
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// @Param: PUMP_RATE
// @DisplayName: Pump speed
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// @Description: Desired pump speed when traveling 1m/s expressed as a percentage
// @Units: %
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// @Range: 0 100
// @User: Standard
AP_GROUPINFO("PUMP_RATE", 1, AC_Sprayer, _pump_pct_1ms, AC_SPRAYER_DEFAULT_PUMP_RATE),
// @Param: SPINNER
// @DisplayName: Spinner rotation speed
// @Description: Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)
// @Units: ms
// @Range: 1000 2000
// @User: Standard
AP_GROUPINFO("SPINNER", 2, AC_Sprayer, _spinner_pwm, AC_SPRAYER_DEFAULT_SPINNER_PWM),
// @Param: SPEED_MIN
// @DisplayName: Speed minimum
// @Description: Speed minimum at which we will begin spraying
// @Units: cm/s
// @Range: 0 1000
// @User: Standard
AP_GROUPINFO("SPEED_MIN", 3, AC_Sprayer, _speed_min, AC_SPRAYER_DEFAULT_SPEED_MIN),
// @Param: PUMP_MIN
// @DisplayName: Pump speed minimum
// @Description: Minimum pump speed expressed as a percentage
// @Units: %
// @Range: 0 100
// @User: Standard
AP_GROUPINFO("PUMP_MIN", 4, AC_Sprayer, _pump_min_pct, AC_SPRAYER_DEFAULT_PUMP_MIN),
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AP_GROUPEND
};
AC_Sprayer::AC_Sprayer()
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{
if (_singleton) {
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Too many sprayers");
#endif
return;
}
_singleton = this;
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AP_Param::setup_object_defaults(this, var_info);
// check for silly parameter values
if (_pump_pct_1ms < 0.0f || _pump_pct_1ms > 100.0f) {
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_pump_pct_1ms.set_and_save(AC_SPRAYER_DEFAULT_PUMP_RATE);
}
if (_spinner_pwm < 0) {
_spinner_pwm.set_and_save(AC_SPRAYER_DEFAULT_SPINNER_PWM);
}
// To-Do: ensure that the pump and spinner servo channels are enabled
}
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/*
* Get the AP_Sprayer singleton
*/
AC_Sprayer *AC_Sprayer::_singleton;
AC_Sprayer *AC_Sprayer::get_singleton()
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{
return _singleton;
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}
void AC_Sprayer::run(const bool true_false)
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{
// return immediately if no change
if (true_false == _flags.running) {
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return;
}
// set flag indicate whether spraying is permitted:
// do not allow running to be set to true if we are currently not enabled
_flags.running = true_false && _enabled;
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// turn off the pump and spinner servos if necessary
if (!_flags.running) {
stop_spraying();
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}
}
void AC_Sprayer::stop_spraying()
{
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SRV_Channels::set_output_limit(SRV_Channel::k_sprayer_pump, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_output_limit(SRV_Channel::k_sprayer_spinner, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
_flags.spraying = false;
}
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/// update - adjust pwm of servo controlling pump speed according to the desired quantity and our horizontal speed
void AC_Sprayer::update()
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{
// exit immediately if we are disabled or shouldn't be running
if (!_enabled || !running()) {
run(false);
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return;
}
// exit immediately if the pump function has not been set-up for any servo
if (!SRV_Channels::function_assigned(SRV_Channel::k_sprayer_pump)) {
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return;
}
// get horizontal velocity
Vector3f velocity;
if (!AP::ahrs().get_velocity_NED(velocity)) {
// treat unknown velocity as zero which should lead to pump stopping
// velocity will already be zero but this avoids a coverity warning
velocity.zero();
}
float ground_speed = norm(velocity.x * 100.0f, velocity.y * 100.0f);
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// get the current time
const uint32_t now = AP_HAL::millis();
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bool should_be_spraying = _flags.spraying;
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// check our speed vs the minimum
if (ground_speed >= _speed_min) {
// if we are not already spraying
if (!_flags.spraying) {
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// set the timer if this is the first time we've surpassed the min speed
if (_speed_over_min_time == 0) {
_speed_over_min_time = now;
}else{
// check if we've been over the speed long enough to engage the sprayer
if((now - _speed_over_min_time) > AC_SPRAYER_DEFAULT_TURN_ON_DELAY) {
should_be_spraying = true;
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_speed_over_min_time = 0;
}
}
}
// reset the speed under timer
_speed_under_min_time = 0;
} else {
// we are under the min speed.
if (_flags.spraying) {
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// set the timer if this is the first time we've dropped below the min speed
if (_speed_under_min_time == 0) {
_speed_under_min_time = now;
}else{
// check if we've been over the speed long enough to engage the sprayer
if((now - _speed_under_min_time) > AC_SPRAYER_DEFAULT_SHUT_OFF_DELAY) {
should_be_spraying = false;
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_speed_under_min_time = 0;
}
}
}
// reset the speed over timer
_speed_over_min_time = 0;
}
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// if testing pump output speed as if traveling at 1m/s
if (_flags.testing) {
ground_speed = 100.0f;
should_be_spraying = true;
}
// if spraying or testing update the pump servo position
if (should_be_spraying) {
float pos = ground_speed * _pump_pct_1ms;
pos = MAX(pos, 100 *_pump_min_pct); // ensure min pump speed
pos = MIN(pos,10000); // clamp to range
SRV_Channels::move_servo(SRV_Channel::k_sprayer_pump, pos, 0, 10000);
SRV_Channels::set_output_pwm(SRV_Channel::k_sprayer_spinner, _spinner_pwm);
_flags.spraying = true;
} else {
stop_spraying();
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}
}
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namespace AP {
AC_Sprayer *sprayer()
{
return AC_Sprayer::get_singleton();
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}
};