mirror of https://github.com/ArduPilot/ardupilot
Sprayer: add pump min rate and test
If pump is enabled while copter is disarmed it will spray as if travelling at 1m/s
This commit is contained in:
Randy Mackay
parent
152f5da880
commit
5e7a6b3b98
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@ -39,13 +39,20 @@ const AP_Param::GroupInfo AC_Sprayer::var_info[] PROGMEM = {
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// @User: Standard
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AP_GROUPINFO("SPEED_MIN", 3, AC_Sprayer, _speed_min, AC_SPRAYER_DEFAULT_SPEED_MIN),
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// @Param: PUMP_MIN
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// @DisplayName: Pump speed minimum
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// @Description: Minimum pump speed expressed as a percentage
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// @Units: percentage
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// @Range: 0 100
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// @User: Standard
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AP_GROUPINFO("PUMP_MIN", 4, AC_Sprayer, _pump_min_pct, AC_SPRAYER_DEFAULT_PUMP_MIN),
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AP_GROUPEND
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};
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/// Default constructor.
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AC_Sprayer::AC_Sprayer(AP_InertialNav* inav) :
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_inav(inav),
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_spraying(false),
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_speed_over_min_time(0),
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_speed_under_min_time(0)
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{
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@ -113,14 +120,14 @@ AC_Sprayer::update()
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// check our speed vs the minimum
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if (ground_speed >= _speed_min) {
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// if we are not already spraying
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if (!_spraying) {
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if (!_flags.spraying) {
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// set the timer if this is the first time we've surpassed the min speed
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if (_speed_over_min_time == 0) {
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_speed_over_min_time = now;
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}else{
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// check if we've been over the speed long enough to engage the sprayer
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if((now - _speed_over_min_time) > AC_SPRAYER_DEFAULT_TURN_ON_DELAY) {
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_spraying = true;
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_flags.spraying = true;
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_speed_over_min_time = 0;
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}
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}
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@ -129,14 +136,14 @@ AC_Sprayer::update()
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_speed_under_min_time = 0;
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}else{
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// we are under the min speed. If we are spraying
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if (_spraying) {
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if (_flags.spraying) {
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// set the timer if this is the first time we've dropped below the min speed
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if (_speed_under_min_time == 0) {
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_speed_under_min_time = now;
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}else{
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// check if we've been over the speed long enough to engage the sprayer
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if((now - _speed_under_min_time) > AC_SPRAYER_DEFAULT_SHUT_OFF_DELAY) {
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_spraying = false;
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_flags.spraying = false;
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_speed_under_min_time = 0;
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}
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}
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@ -145,9 +152,14 @@ AC_Sprayer::update()
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_speed_over_min_time = 0;
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}
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// if spraying update the pump servo position
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if (_spraying) {
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RC_Channel_aux::move_servo(RC_Channel_aux::k_sprayer_pump, min(ground_speed * _pump_pct_1ms,10000),0,10000);
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// if testing pump output speed as if travelling at 1m/s
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if (_flags.testing) {
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ground_speed = 100;
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}
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// if spraying or testing update the pump servo position
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if (_flags.spraying || _flags.testing) {
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RC_Channel_aux::move_servo(RC_Channel_aux::k_sprayer_pump, min(max(ground_speed * _pump_pct_1ms, 100 *_pump_min_pct),10000),0,10000);
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RC_Channel_aux::set_radio(RC_Channel_aux::k_sprayer_spinner, _spinner_pwm);
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}else{
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// ensure sprayer and spinner are off
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@ -3,6 +3,20 @@
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/// @file AC_Sprayer.h
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/// @brief Crop sprayer library
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/**
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The crop spraying functionality can be enabled in ArduCopter by doing the following:
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1. add this line to APM_Config.h
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#define SPRAYER ENABLED
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2. set CH7_OPT or CH8_OPT parameter to 15 to allow turning the sprayer on/off from one of these channels
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3. set RC10_FUNCTION to 22 to enable the servo output controlling the pump speed on RC10
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4. set RC11_FUNCTION to 23 to enable the spervo output controlling the spinner on RC11
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5. ensure the RC10_MIN, RC10_MAX, RC11_MIN, RC11_MAX accurately hold the min and maximum servo values you could possibly output to the pump and spinner
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6. set the SPRAY_SPINNER to the pwm value the spinner should spin at when on
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7. set the SPRAY_PUMP_RATE to the value the pump should servo should move to when the vehicle is travelling 1m/s expressed as a percentage (i.e. 0 ~ 100) of the full servo range. I.e. 0 = the pump will not operate, 100 = maximum speed at 1m/s. 50 = 1/2 speed at 1m/s, full speed at 2m/s
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8. set the SPRAY_PUMP_MIN to the minimum value that the pump servo should move to while engaged expressed as a percentage (i.e. 0 ~ 100) of the full servo range
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9. set the SPRAY_SPEED_MIN to the minimum speed (in cm/s) the vehicle should be moving at before the pump and sprayer are turned on. 0 will mean the pump and spinner will always be on when the system is enabled with ch7/ch8 switch
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**/
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#ifndef AC_SPRAYER_H
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#define AC_SPRAYER_H
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@ -13,7 +27,8 @@
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#include <RC_Channel.h>
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#include <AP_InertialNav.h> // Inertial Navigation library
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#define AC_SPRAYER_DEFAULT_PUMP_RATE 0 // default quantity of spray per meter travelled
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#define AC_SPRAYER_DEFAULT_PUMP_RATE 10 // default quantity of spray per meter travelled
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#define AC_SPRAYER_DEFAULT_PUMP_MIN 0 // default minimum pump speed expressed as a percentage from 0 to 100
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#define AC_SPRAYER_DEFAULT_SPINNER_PWM 1300 // default speed of spinner (higher means spray is throw further horizontally
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#define AC_SPRAYER_DEFAULT_SPEED_MIN 100 // we must be travelling at least 1m/s to begin spraying
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#define AC_SPRAYER_DEFAULT_TURN_ON_DELAY 100 // delay between when we reach the minimum speed and we begin spraying. This reduces the likelihood of constantly turning on/off the pump
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@ -24,6 +39,7 @@
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class AC_Sprayer {
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public:
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/// Constructor
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AC_Sprayer(AP_InertialNav* inav);
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@ -33,6 +49,9 @@ public:
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/// enabled - returns true if fence is enabled
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bool enabled() const { return _enabled; }
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/// test_pump - set to true to turn on pump as if travelling at 1m/s as a test
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void test_pump(bool true_false) { _flags.testing = true_false; }
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/// To-Do: add function to decode pilot input from channel 6 tuning knob
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/// set_pump_rate - sets desired quantity of spray when travelling at 1m/s as a percentage of the pumps maximum rate
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@ -50,11 +69,17 @@ private:
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// parameters
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AP_Int8 _enabled; // top level enable/disable control
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AP_Float _pump_pct_1ms; // desired pump rate (expressed as a percentage of top rate) when travelling at 1m/s
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AP_Int8 _pump_min_pct; // minimum pump rate (expressed as a percentage from 0 to 100)
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AP_Int16 _spinner_pwm; // pwm rate of spinner
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AP_Float _speed_min; // minimum speed in cm/s above which the sprayer will be started
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// flag bitmask
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struct flag_type {
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uint8_t spraying : 1; // 1 if we are currently spraying
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uint8_t testing : 1; // 1 if we are testing the sprayer and should output a minimum value
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} _flags;
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// internal variables
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bool _spraying; // true if we are currently spraying
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uint32_t _speed_over_min_time; // time at which we reached speed minimum
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uint32_t _speed_under_min_time; // time at which we fell below speed minimum
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};
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