mirror of https://github.com/ArduPilot/ardupilot
125 lines
4.1 KiB
C++
125 lines
4.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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simple sprayer simulator class
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*/
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#include "SIM_Sprayer.h"
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#include "AP_HAL/AP_HAL.h"
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#include "AP_Math/AP_Math.h"
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#include <stdio.h>
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using namespace SITL;
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// table of user settable parameters
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const AP_Param::GroupInfo Sprayer::var_info[] = {
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// @Param: ENABLE
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// @DisplayName: Sprayer Sim enable/disable
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// @Description: Allows you to enable (1) or disable (0) the Sprayer simulation
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// @Values: 0:Disabled,1:Enabled
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// @User: Advanced
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AP_GROUPINFO("ENABLE", 0, Sprayer, sprayer_enable, 0),
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// @Param: PUMP
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// @DisplayName: Sprayer pump pin
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// @Description: The pin number that the Sprayer pump is connected to. (start at 1)
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// @Range: 0 15
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// @User: Advanced
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AP_GROUPINFO("PUMP", 1, Sprayer, sprayer_pump_pin, -1),
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// @Param: SPIN
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// @DisplayName: Sprayer spinner servo pin
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// @Description: The pin number that the Sprayer spinner servo is connected to. (start at 1)
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// @Range: 0 15
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// @User: Advanced
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AP_GROUPINFO("SPIN", 2, Sprayer, sprayer_spin_pin, -1),
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AP_GROUPEND
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};
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/*
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update sprayer state
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*/
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void Sprayer::update(const struct sitl_input &input)
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{
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const int16_t pump_pwm = sprayer_pump_pin >= 1 ? input.servos[sprayer_pump_pin-1] : -1;
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const int16_t spinner_pwm = sprayer_spin_pin >= 1 ? input.servos[sprayer_spin_pin-1] : -1;
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const uint64_t now = AP_HAL::micros64();
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const float dt = (now - last_update_us) * 1.0e-6f;
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if (pump_pwm >= 0) {
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// update remaining payload
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if (capacity > 0) {
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const double delta = last_pump_output * pump_max_rate * dt;
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capacity -= delta;
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if (capacity < 0) {
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capacity = 0.0f;
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}
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}
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// update pump
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float pump_demand = (pump_pwm - 1000) * 0.001f;
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// ::fprintf(stderr, "pump_demand=%f\n", pump_demand);
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if (pump_demand < 0) { // never updated
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pump_demand = 0;
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}
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const float pump_max_change = pump_slew_rate / 100.0f * dt;
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last_pump_output =
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constrain_float(pump_demand, last_pump_output - pump_max_change, last_pump_output + pump_max_change);
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last_pump_output = constrain_float(last_pump_output, 0, 1);
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} else {
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last_pump_output = 0.0f;
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}
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// update spinner (if any)
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if (spinner_pwm >= 0) {
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const float spinner_demand = (spinner_pwm - 1000) * 0.001f;
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const float spinner_max_change = spinner_slew_rate * 0.01f * dt;
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last_spinner_output = constrain_float(spinner_demand,
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last_spinner_output - spinner_max_change,
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last_spinner_output + spinner_max_change);
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last_spinner_output = constrain_float(last_spinner_output, 0, 1);
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}
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if (should_report()) {
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printf("Remaining: %f litres\n", capacity);
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printf("Pump: %f l/s\n", last_pump_output * pump_max_rate);
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if (spinner_pwm >= 0) {
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printf("Spinner: %f rev/s\n", (last_spinner_output * spinner_max_rate) / 360.0f);
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}
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last_report_us = now;
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}
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last_update_us = now;
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}
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bool Sprayer::should_report()
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{
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if (AP_HAL::micros64() - last_report_us < report_interval) {
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return false;
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}
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if (!is_zero(last_pump_output) || !is_zero(last_spinner_output)) {
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zero_report_done = false;
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return true;
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}
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if (!zero_report_done) {
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zero_report_done = true;
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return true;
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}
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return false;
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}
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