mirror of https://github.com/ArduPilot/ardupilot
91 lines
2.7 KiB
C++
91 lines
2.7 KiB
C++
/*
|
|
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 <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
simple sprayer simulator class
|
|
*/
|
|
|
|
#include "SIM_Sprayer.h"
|
|
#include <stdio.h>
|
|
|
|
using namespace SITL;
|
|
|
|
/*
|
|
update sprayer state
|
|
*/
|
|
void Sprayer::update(const Aircraft::sitl_input &input)
|
|
{
|
|
const uint64_t now = AP_HAL::micros64();
|
|
const float dt = (now - last_update_us) * 1.0e-6f;
|
|
|
|
// 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 = (input.servos[pump_servo]-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/100.0f * 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);
|
|
|
|
// update spinner (if any)
|
|
if (spinner_servo >= 0) {
|
|
const float spinner_demand = (input.servos[spinner_servo]-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_servo >= 0) {
|
|
printf("Spinner: %f rev/s\n", (last_spinner_output * spinner_max_rate)/360.0f);
|
|
}
|
|
last_report_us = now;
|
|
}
|
|
|
|
last_update_us = now;
|
|
return;
|
|
}
|
|
|
|
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;
|
|
}
|
|
|