Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-30 20:48:33 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: rename zigzag_auto_pump to zigzag_sprayer

Browse Source
This commit is contained in:
Tatsuya Yamaguchi 2020-04-03 13:38:35 +09:00 committed by Randy Mackay
parent 63002111eb
commit 60fb275501
5 changed files with 25 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduCopter/Parameters.cpp
View File

@ -965,12 +965,12 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
#if MODE_ZIGZAG_ENABLED == ENABLED #if MODE_ZIGZAG_ENABLED == ENABLED
#if SPRAYER_ENABLED == ENABLED #if SPRAYER_ENABLED == ENABLED
// @Param: ZIGZAG_AUTO_PUMP // @Param: ZIGZ_SPRAYER
// @DisplayName: Auto pump in ZigZag // @DisplayName: Auto sprayer in ZigZag
// @Description: Enable the auto pump in ZigZag mode. SERVOx_FUNCTION = 22 (SprayerPump) and SPRAY_ENABLE = 1 also must be set. This makes the pump on while moving to destination A or B. The pump will stop if the vehicle reaches destination or the flight mode is changed from ZigZag to other. // @Description: Enable the auto sprayer in ZigZag mode. SPRAY_ENABLE = 1 and SERVOx_FUNCTION = 22(SprayerPump) / 23(SprayerSpinner) also must be set. This makes the sprayer on while moving to destination A or B. The sprayer will stop if the vehicle reaches destination or the flight mode is changed from ZigZag to other.
// @Values: 0:Disabled,1:Enabled // @Values: 0:Disabled,1:Enabled
// @User: Advanced // @User: Advanced
AP_GROUPINFO("ZIGZAG_AUTO_PUMP", 38, ParametersG2, zigzag_auto_pump_enabled, ZIGZAG_AUTO_PUMP_ENABLED), AP_GROUPINFO("ZIGZ_SPRAYER", 38, ParametersG2, zigzag_spray_enabled, ZIGZAG_SPRAY_ENABLED),
#endif // SPRAYER_ENABLED == ENABLED #endif // SPRAYER_ENABLED == ENABLED
// @Param: ZIGZ_WP_DELAY // @Param: ZIGZ_WP_DELAY

2
ArduCopter/Parameters.h
View File

@ -614,7 +614,7 @@ public:
#if MODE_ZIGZAG_ENABLED == ENABLED #if MODE_ZIGZAG_ENABLED == ENABLED
#if SPRAYER_ENABLED == ENABLED #if SPRAYER_ENABLED == ENABLED
// auto pump enable/disable // auto pump enable/disable
AP_Int8 zigzag_auto_pump_enabled; AP_Int8 zigzag_spray_enabled;
#endif #endif
AP_Int8 zigzag_wp_delay; AP_Int8 zigzag_wp_delay;
#endif #endif

2
ArduCopter/config.h
View File

@ -366,7 +366,7 @@
# define MODE_ZIGZAG_ENABLED !HAL_MINIMIZE_FEATURES # define MODE_ZIGZAG_ENABLED !HAL_MINIMIZE_FEATURES
# define ZIGZAG_WP_DELAY 1 # define ZIGZAG_WP_DELAY 1
#if HAL_SPRAYER_ENABLED #if HAL_SPRAYER_ENABLED
# define ZIGZAG_AUTO_PUMP_ENABLED DISABLED # define ZIGZAG_SPRAY_ENABLED DISABLED
#endif #endif
#endif #endif

1
ArduCopter/mode.h
View File

@ -1418,6 +1418,7 @@ private:
void manual_control(); void manual_control();
bool reached_destination(); bool reached_destination();
bool calculate_next_dest(Destination ab_dest, bool use_wpnav_alt, Vector3f& next_dest, bool& terrain_alt) const; bool calculate_next_dest(Destination ab_dest, bool use_wpnav_alt, Vector3f& next_dest, bool& terrain_alt) const;
void spray(bool b);
Vector2f dest_A; // in NEU frame in cm relative to ekf origin Vector2f dest_A; // in NEU frame in cm relative to ekf origin
Vector2f dest_B; // in NEU frame in cm relative to ekf origin Vector2f dest_B; // in NEU frame in cm relative to ekf origin

35
ArduCopter/mode_zigzag.cpp
View File

@ -44,12 +44,8 @@ bool ModeZigZag::init(bool ignore_checks)
// perform cleanup required when leaving zigzag mode // perform cleanup required when leaving zigzag mode
void ModeZigZag::exit() void ModeZigZag::exit()
{ {
#if SPRAYER_ENABLED == ENABLED // The sprayer will stop if the flight mode is changed from ZigZag to other
// The pump will stop if the flight mode is changed from ZigZag to other spray(false);
if (g2.zigzag_auto_pump_enabled) {
copter.sprayer.run(false);
}
#endif
} }
// run the zigzag controller // run the zigzag controller
@ -107,6 +103,10 @@ void ModeZigZag::save_or_move_to_destination(Destination ab_dest)
// if both A and B have been stored advance state // if both A and B have been stored advance state
if (!dest_A.is_zero() && !dest_B.is_zero() && is_positive((dest_B - dest_A).length_squared())) { if (!dest_A.is_zero() && !dest_B.is_zero() && is_positive((dest_B - dest_A).length_squared())) {
stage = MANUAL_REGAIN; stage = MANUAL_REGAIN;
spray(false);
} else {
// if only A or B have been stored, spray on
spray(true);
} }
break; break;
@ -119,12 +119,8 @@ void ModeZigZag::save_or_move_to_destination(Destination ab_dest)
wp_nav->wp_and_spline_init(); wp_nav->wp_and_spline_init();
if (wp_nav->set_wp_destination(next_dest, terr_alt)) { if (wp_nav->set_wp_destination(next_dest, terr_alt)) {
stage = AUTO; stage = AUTO;
#if SPRAYER_ENABLED == ENABLED
// spray on while moving to A or B // spray on while moving to A or B
if (g2.zigzag_auto_pump_enabled) { spray(true);
copter.sprayer.run(true);
}
#endif
reach_wp_time_ms = 0; reach_wp_time_ms = 0;
if (ab_dest == Destination::A) { if (ab_dest == Destination::A) {
gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: moving to A"); gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: moving to A");
@ -142,12 +138,7 @@ void ModeZigZag::return_to_manual_control(bool maintain_target)
{ {
if (stage == AUTO) { if (stage == AUTO) {
stage = MANUAL_REGAIN; stage = MANUAL_REGAIN;
#if SPRAYER_ENABLED == ENABLED spray(false);
// spray off
if (g2.zigzag_auto_pump_enabled) {
copter.sprayer.run(false);
}
#endif
loiter_nav->clear_pilot_desired_acceleration(); loiter_nav->clear_pilot_desired_acceleration();
if (maintain_target) { if (maintain_target) {
const Vector3f& wp_dest = wp_nav->get_wp_destination(); const Vector3f& wp_dest = wp_nav->get_wp_destination();
@ -377,4 +368,14 @@ bool ModeZigZag::calculate_next_dest(Destination ab_dest, bool use_wpnav_alt, Ve
return true; return true;
} }
// spray on / off
void ModeZigZag::spray(bool b)
{
#if SPRAYER_ENABLED == ENABLED
if (g2.zigzag_spray_enabled) {
copter.sprayer.run(b);
}
#endif
}
#endif // MODE_ZIGZAG_ENABLED == ENABLED #endif // MODE_ZIGZAG_ENABLED == ENABLED