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AC_Sprayer: correct HOWTO, minor cleanups (NFC)

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This commit is contained in:
Peter Barker 2016-10-28 12:50:37 +11:00 committed by Randy Mackay
parent a7867603a0
commit bae89d43fa
2 changed files with 11 additions and 20 deletions
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13
libraries/AC_Sprayer/AC_Sprayer.cpp
View File

@ -63,10 +63,6 @@ AC_Sprayer::AC_Sprayer(const AP_InertialNav* inav) :
_spinner_pwm.set_and_save(AC_SPRAYER_DEFAULT_SPINNER_PWM); _spinner_pwm.set_and_save(AC_SPRAYER_DEFAULT_SPINNER_PWM);
} }
// initialise flags
_flags.spraying = false;
_flags.testing = false;
// To-Do: ensure that the pump and spinner servo channels are enabled // To-Do: ensure that the pump and spinner servo channels are enabled
} }
@ -96,9 +92,6 @@ void AC_Sprayer::enable(bool true_false)
void void
AC_Sprayer::update() AC_Sprayer::update()
{ {
uint32_t now;
float ground_speed;
// exit immediately if we are disabled (perhaps set pwm values back to defaults) // exit immediately if we are disabled (perhaps set pwm values back to defaults)
if (!_enabled) { if (!_enabled) {
return; return;
@ -111,10 +104,10 @@ AC_Sprayer::update()
// get horizontal velocity // get horizontal velocity
const Vector3f &velocity = _inav->get_velocity(); const Vector3f &velocity = _inav->get_velocity();
ground_speed = norm(velocity.x,velocity.y); float ground_speed = norm(velocity.x,velocity.y);
// get the current time // get the current time
now = AP_HAL::millis(); const uint32_t now = AP_HAL::millis();
// check our speed vs the minimum // check our speed vs the minimum
if (ground_speed >= _speed_min) { if (ground_speed >= _speed_min) {
@ -134,7 +127,7 @@ AC_Sprayer::update()
// reset the speed under timer // reset the speed under timer
_speed_under_min_time = 0; _speed_under_min_time = 0;
}else{ }else{
// we are under the min speed. If we are spraying // we are under the min speed.
if (_flags.spraying) { if (_flags.spraying) {
// set the timer if this is the first time we've dropped below the min speed // set the timer if this is the first time we've dropped below the min speed
if (_speed_under_min_time == 0) { if (_speed_under_min_time == 0) {

18
libraries/AC_Sprayer/AC_Sprayer.h
View File

@ -3,16 +3,14 @@
/** /**
The crop spraying functionality can be enabled in ArduCopter by doing the following: The crop spraying functionality can be enabled in ArduCopter by doing the following:
1. add this line to APM_Config.h - set CH7_OPT or CH8_OPT parameter to 15 to allow turning the sprayer on/off from one of these channels
#define SPRAYER ENABLED - set RC10_FUNCTION to 22 to enable the servo output controlling the pump speed on servo-out 10
2. set CH7_OPT or CH8_OPT parameter to 15 to allow turning the sprayer on/off from one of these channels - set RC11_FUNCTION to 23 to enable the servo output controlling the spinner on servo-out 11
3. set RC10_FUNCTION to 22 to enable the servo output controlling the pump speed on RC10 - 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
4. set RC11_FUNCTION to 23 to enable the spervo output controlling the spinner on RC11 - set the SPRAY_SPINNER to the pwm value the spinner should spin at when on
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 - set the SPRAY_PUMP_RATE to the value the pump 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
6. set the SPRAY_SPINNER to the pwm value the spinner should spin at when on - 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
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 - 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
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
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
**/ **/
#pragma once #pragma once