mirror of https://github.com/ArduPilot/ardupilot
88 lines
4.6 KiB
C++
88 lines
4.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AC_Sprayer.h
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/// @brief Crop sprayer library
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/**
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The crop spraying functionality can be enabled in ArduCopter by doing the following:
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1. add this line to APM_Config.h
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#define SPRAYER ENABLED
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2. set CH7_OPT or CH8_OPT parameter to 15 to allow turning the sprayer on/off from one of these channels
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3. set RC10_FUNCTION to 22 to enable the servo output controlling the pump speed on RC10
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4. set RC11_FUNCTION to 23 to enable the spervo output controlling the spinner on RC11
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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
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6. set the SPRAY_SPINNER to the pwm value the spinner should spin at when on
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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
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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
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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
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**/
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#ifndef AC_SPRAYER_H
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#define AC_SPRAYER_H
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#include <inttypes.h>
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#include <AP_Common.h>
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#include <AP_Param.h>
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#include <AP_Math.h>
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#include <RC_Channel.h>
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#include <AP_InertialNav.h> // Inertial Navigation library
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#define AC_SPRAYER_DEFAULT_PUMP_RATE 10 // default quantity of spray per meter travelled
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#define AC_SPRAYER_DEFAULT_PUMP_MIN 0 // default minimum pump speed expressed as a percentage from 0 to 100
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#define AC_SPRAYER_DEFAULT_SPINNER_PWM 1300 // default speed of spinner (higher means spray is throw further horizontally
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#define AC_SPRAYER_DEFAULT_SPEED_MIN 100 // we must be travelling at least 1m/s to begin spraying
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#define AC_SPRAYER_DEFAULT_TURN_ON_DELAY 100 // delay between when we reach the minimum speed and we begin spraying. This reduces the likelihood of constantly turning on/off the pump
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#define AC_SPRAYER_DEFAULT_SHUT_OFF_DELAY 1000 // shut-off delay in milli seconds. This reduces the likelihood of constantly turning on/off the pump
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/// @class AC_Sprayer
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/// @brief Object managing a crop sprayer comprised of a spinner and a pump both controlled by pwm
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class AC_Sprayer {
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public:
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/// Constructor
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AC_Sprayer(const AP_InertialNav* inav);
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/// enable - allows sprayer to be enabled/disabled. Note: this does not update the eeprom saved value
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void enable(bool true_false);
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/// enabled - returns true if sprayer is enabled
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bool enabled() const { return _enabled; }
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/// test_pump - set to true to turn on pump as if travelling at 1m/s as a test
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void test_pump(bool true_false) { _flags.testing = true_false; }
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/// To-Do: add function to decode pilot input from channel 6 tuning knob
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/// set_pump_rate - sets desired quantity of spray when travelling at 1m/s as a percentage of the pumps maximum rate
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void set_pump_rate(float pct_at_1ms) { _pump_pct_1ms.set(pct_at_1ms); }
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/// update - adjusts servo positions based on speed and requested quantity
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void update();
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// pointers to other objects we depend upon
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const AP_InertialNav* const _inav;
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// parameters
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AP_Int8 _enabled; // top level enable/disable control
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AP_Float _pump_pct_1ms; // desired pump rate (expressed as a percentage of top rate) when travelling at 1m/s
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AP_Int8 _pump_min_pct; // minimum pump rate (expressed as a percentage from 0 to 100)
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AP_Int16 _spinner_pwm; // pwm rate of spinner
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AP_Float _speed_min; // minimum speed in cm/s above which the sprayer will be started
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// flag bitmask
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struct sprayer_flags_type {
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uint8_t spraying : 1; // 1 if we are currently spraying
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uint8_t testing : 1; // 1 if we are testing the sprayer and should output a minimum value
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} _flags;
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// internal variables
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uint32_t _speed_over_min_time; // time at which we reached speed minimum
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uint32_t _speed_under_min_time; // time at which we fell below speed minimum
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};
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#endif /* AC_SPRAYER_H */
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