/* 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; }