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AC_Sprayer: replace AP_InertialNav with AHRS

This commit is contained in:
Pierre Kancir 2018-04-11 09:11:17 +09:00 committed by Randy Mackay
parent 2b49a3ab7b
commit c2e546285c
2 changed files with 12 additions and 7 deletions
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13
libraries/AC_Sprayer/AC_Sprayer.cpp
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@ -48,8 +48,8 @@ const AP_Param::GroupInfo AC_Sprayer::var_info[] = {
AP_GROUPEND AP_GROUPEND
}; };
AC_Sprayer::AC_Sprayer(const AP_InertialNav* inav) : AC_Sprayer::AC_Sprayer(const AP_AHRS_NavEKF &ahrs) :
_inav(inav), _ahrs(ahrs),
_speed_over_min_time(0), _speed_over_min_time(0),
_speed_under_min_time(0) _speed_under_min_time(0)
{ {
@ -107,8 +107,13 @@ AC_Sprayer::update()
} }
// get horizontal velocity // get horizontal velocity
const Vector3f &velocity = _inav->get_velocity(); Vector3f velocity;
float ground_speed = norm(velocity.x,velocity.y); if (!_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);
// get the current time // get the current time
const uint32_t now = AP_HAL::millis(); const uint32_t now = AP_HAL::millis();

6
libraries/AC_Sprayer/AC_Sprayer.h
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@ -19,7 +19,7 @@
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <SRV_Channel/SRV_Channel.h> #include <SRV_Channel/SRV_Channel.h>
#include <AP_InertialNav/AP_InertialNav.h> // Inertial Navigation library #include <AP_AHRS/AP_AHRS.h>
#define AC_SPRAYER_DEFAULT_PUMP_RATE 10.0f ///< default quantity of spray per meter travelled #define AC_SPRAYER_DEFAULT_PUMP_RATE 10.0f ///< default quantity of spray per meter travelled
#define AC_SPRAYER_DEFAULT_PUMP_MIN 0 ///< default minimum pump speed expressed as a percentage from 0 to 100 #define AC_SPRAYER_DEFAULT_PUMP_MIN 0 ///< default minimum pump speed expressed as a percentage from 0 to 100
@ -32,7 +32,7 @@
/// @brief Object managing a crop sprayer comprised of a spinner and a pump both controlled by pwm /// @brief Object managing a crop sprayer comprised of a spinner and a pump both controlled by pwm
class AC_Sprayer { class AC_Sprayer {
public: public:
AC_Sprayer(const AP_InertialNav *inav); AC_Sprayer(const AP_AHRS_NavEKF &ahrs);
/* Do not allow copies */ /* Do not allow copies */
AC_Sprayer(const AC_Sprayer &other) = delete; AC_Sprayer(const AC_Sprayer &other) = delete;
@ -61,7 +61,7 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
private: private:
const AP_InertialNav* const _inav; ///< pointers to other objects we depend upon const AP_AHRS_NavEKF &_ahrs; ///< pointers to other objects we depend upon
// parameters // parameters
AP_Int8 _enabled; ///< top level enable/disable control AP_Int8 _enabled; ///< top level enable/disable control