/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see .
*/
/*
simple sprayer simulator class
*/
#include "SIM_Sprayer.h"
#include "AP_HAL/AP_HAL.h"
#include "AP_Math/AP_Math.h"
#include
using namespace SITL;
// table of user settable parameters
const AP_Param::GroupInfo Sprayer::var_info[] = {
// @Param: ENABLE
// @DisplayName: Sprayer Sim enable/disable
// @Description: Allows you to enable (1) or disable (0) the Sprayer simulation
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
AP_GROUPINFO("ENABLE", 0, Sprayer, sprayer_enable, 0),
// @Param: PUMP
// @DisplayName: Sprayer pump pin
// @Description: The pin number that the Sprayer pump is connected to. (start at 1)
// @Range: 0 15
// @User: Advanced
AP_GROUPINFO("PUMP", 1, Sprayer, sprayer_pump_pin, -1),
// @Param: SPIN
// @DisplayName: Sprayer spinner servo pin
// @Description: The pin number that the Sprayer spinner servo is connected to. (start at 1)
// @Range: 0 15
// @User: Advanced
AP_GROUPINFO("SPIN", 2, Sprayer, sprayer_spin_pin, -1),
AP_GROUPEND
};
/*
update sprayer state
*/
void Sprayer::update(const struct sitl_input &input)
{
const int16_t pump_pwm = sprayer_pump_pin >= 1 ? input.servos[sprayer_pump_pin-1] : -1;
const int16_t spinner_pwm = sprayer_spin_pin >= 1 ? input.servos[sprayer_spin_pin-1] : -1;
const uint64_t now = AP_HAL::micros64();
const float dt = (now - last_update_us) * 1.0e-6f;
if (pump_pwm >= 0) {
// update remaining payload
if (capacity > 0) {
const double delta = last_pump_output * pump_max_rate * dt;
capacity -= delta;
if (capacity < 0) {
capacity = 0.0f;
}
}
// update pump
float pump_demand = (pump_pwm - 1000) * 0.001f;
// ::fprintf(stderr, "pump_demand=%f\n", pump_demand);
if (pump_demand < 0) { // never updated
pump_demand = 0;
}
const float pump_max_change = pump_slew_rate * 0.01f * dt;
last_pump_output =
constrain_float(pump_demand, last_pump_output - pump_max_change, last_pump_output + pump_max_change);
last_pump_output = constrain_float(last_pump_output, 0, 1);
} else {
last_pump_output = 0.0f;
}
// update spinner (if any)
if (spinner_pwm >= 0) {
const float spinner_demand = (spinner_pwm - 1000) * 0.001f;
const float spinner_max_change = spinner_slew_rate * 0.01f * dt;
last_spinner_output = constrain_float(spinner_demand,
last_spinner_output - spinner_max_change,
last_spinner_output + spinner_max_change);
last_spinner_output = constrain_float(last_spinner_output, 0, 1);
}
if (should_report()) {
printf("Remaining: %f litres\n", capacity);
printf("Pump: %f l/s\n", last_pump_output * pump_max_rate);
if (spinner_pwm >= 0) {
printf("Spinner: %f rev/s\n", (last_spinner_output * spinner_max_rate) / 360.0f);
}
last_report_us = now;
}
last_update_us = now;
}
bool Sprayer::should_report()
{
if (AP_HAL::micros64() - last_report_us < report_interval) {
return false;
}
if (!is_zero(last_pump_output) || !is_zero(last_spinner_output)) {
zero_report_done = false;
return true;
}
if (!zero_report_done) {
zero_report_done = true;
return true;
}
return false;
}