Crop sprayer library. More...

#include <inttypes.h>
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <SRV_Channel/SRV_Channel.h>
#include <AP_AHRS/AP_AHRS.h>

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Classes
class	AC_Sprayer
	Object managing a crop sprayer comprised of a spinner and a pump both controlled by pwm. More...

struct	AC_Sprayer::sprayer_flags_type
	flag bitmask More...

Macros
#define	AC_SPRAYER_DEFAULT_PUMP_RATE 10.0f
	default quantity of spray per meter travelled More...

#define	AC_SPRAYER_DEFAULT_PUMP_MIN 0
	default minimum pump speed expressed as a percentage from 0 to 100 More...

#define	AC_SPRAYER_DEFAULT_SPINNER_PWM 1300
	default speed of spinner (higher means spray is throw further horizontally More...

#define	AC_SPRAYER_DEFAULT_SPEED_MIN 100
	we must be travelling at least 1m/s to begin spraying More...

#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 More...

#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 More...

Detailed Description

Crop sprayer library.

Definition in file AC_Sprayer.h.

Macro Definition Documentation

◆ AC_SPRAYER_DEFAULT_PUMP_MIN

#define AC_SPRAYER_DEFAULT_PUMP_MIN 0

default minimum pump speed expressed as a percentage from 0 to 100

Definition at line 25 of file AC_Sprayer.h.

◆ AC_SPRAYER_DEFAULT_PUMP_RATE

#define AC_SPRAYER_DEFAULT_PUMP_RATE 10.0f

default quantity of spray per meter travelled

The crop spraying functionality can be enabled in ArduCopter by doing the following:

set CH7_OPT or CH8_OPT parameter to 15 to allow turning the sprayer on/off from one of these channels
set RC10_FUNCTION to 22 to enable the servo output controlling the pump speed on servo-out 10
set RC11_FUNCTION to 23 to enable the servo output controlling the spinner on servo-out 11
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
set the SPRAY_SPINNER to the pwm value the spinner should spin at when on
set the SPRAY_PUMP_RATE to the value the pump 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
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
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

Definition at line 24 of file AC_Sprayer.h.

Referenced by AC_Sprayer::AC_Sprayer().