flag是什么泵Ardupilot的植保喷洒作业的控制代码讲解

本文主要记录自己学习ardupilot的植保喷洒作业的过程。ardupilot要想进行植保喷洒，必须把水泵连接到SERVO上面，我这里使用的是SERVO9，也就是排针的第九个引脚，如果所示。通过遥控器的外部开关的调节来控制定时器输出PWM大小，进行植保作业。查阅网上资料对这块基本没有讲解，都是基本使用。这里对这部分代码进行讲解下，有不对的地方欢迎批评指正！！！

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这里主要讲解两种方式来实现喷洒设置：
（1）连动方式（一个遥控开关控制）
（2）遥控器通道直接控制（两个开关控制）

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用到的主要代码在这里

（1）进行植保作业喷洒需要注意的参数设置

在massionplanner中主要要设置的参数是：

这里需要说明：一定要弄清楚：选择的遥控器通道和servo输出控制水泵不是一回事，特别注意！！!需要思考就是怎么实现遥控器通道映射到可以控制servo输出控制水泵。

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一定要打开servo9的功能函数设置，因为每个servo9上面有很多功能

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对应的参数设置：

    typedef enum
     Aux_servo_function_t;

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代码中对应的参数如下：

const AP_Param::GroupInfo AC_Sprayer::var_info[] = {
    // @Param: ENABLE
    // @DisplayName: Sprayer enable/disable
    // @Description: Allows you to enable (1) or disable (0) the sprayer
    // @Values: 0:Disabled,1:Enabled
    // @User: Standard
    AP_GROUPINFO_FLAGS("ENABLE", 0, AC_Sprayer, _enabled, 0, AP_PARAM_FLAG_ENABLE),      //是否进行使能

    // @Param: PUMP_RATE
    // @DisplayName: Pump speed
    // @Description: Desired pump speed when traveling 1m/s expressed as a percentage
    // @Units: percentage
    // @Range: 0 100
    // @User: Standard
    AP_GROUPINFO("PUMP_RATE",   1, AC_Sprayer, _pump_pct_1ms, AC_SPRAYER_DEFAULT_PUMP_RATE), //期望的喷洒速度，这个参数设置大，比如100cm/s速度飞行，×10%，就是10%运行

    // @Param: SPINNER
    // @DisplayName: Spinner rotation speed
    // @Description: Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)
    // @Units: ms
    // @Range: 1000 2000
    // @User: Standard
    AP_GROUPINFO("SPINNER",     2, AC_Sprayer, _spinner_pwm, AC_SPRAYER_DEFAULT_SPINNER_PWM), //水平喷洒旋转设置

    // @Param: SPEED_MIN
    // @DisplayName: Speed minimum
    // @Description: Speed minimum at which we will begin spraying
    // @Units: cm/s
    // @Range: 0 1000
    // @User: Standard
    AP_GROUPINFO("SPEED_MIN",   3, AC_Sprayer, _speed_min, AC_SPRAYER_DEFAULT_SPEED_MIN),  //大于这个值才能进行喷洒

    // @Param: PUMP_MIN
    // @DisplayName: Pump speed minimum
    // @Description: Minimum pump speed expressed as a percentage
    // @Units: percentage
    // @Range: 0 100
    // @User: Standard
    AP_GROUPINFO("PUMP_MIN",   4, AC_Sprayer, _pump_min_pct, AC_SPRAYER_DEFAULT_PUMP_MIN), //默认的最小喷洒速度所占的百分比

    AP_GROUPEND
};

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（2）怎么使遥控器控制水泵

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要想让水泵工作，需要遥控器的外部开关adc值的大小控制水泵的喷洒速度的大小；那么我们的水泵要连接具有pwm功能的引脚上面。这样我们就像控制无人机电机一样来控制水泵。（更形象的理解怎么控制电机转的过程）。

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往下看这个代码

 read_aux_switch(CH_7, aux_con.CH7_flag, g.ch7_option); //对应的是哪个通道的哪个值,这里设置控制水泵

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继续看代码

#define read_aux_switch(chan, flag, option)                           
    do                                                            
    } while (false)

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void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)

            break;

        case AUXSW_SIMPLE_MODE:
            // low = simple mode off, middle or high position turns simple mode on
            set_simple_mode(ch_flag == AUX_SWITCH_HIGH || ch_flag == AUX_SWITCH_MIDDLE);
            break;

        case AUXSW_SUPERSIMPLE_MODE:
            // low = simple mode off, middle = simple mode, high = super simple mode
            set_simple_mode(ch_flag);
            break;

        case AUXSW_RTL:
            if (ch_flag == AUX_SWITCH_HIGH)  else 
            }
            break;

        case AUXSW_SAVE_TRIM:
            if ((ch_flag == AUX_SWITCH_HIGH) && (control_mode <= ACRO) && (channel_throttle->get_control_in() == 0)) {
                save_trim();
            }
            break;

        case AUXSW_SAVE_WP:
            // save waypoint when switch is brought high
            if (ch_flag == AUX_SWITCH_HIGH) 

                // do not allow saving the first waypoint with zero throttle
                if ((mission.num_commands() == 0) && (channel_throttle->get_control_in() == 0)) {
                    return;
                }

                // create new mission command
                AP_Mission::Mission_Command cmd  = {};

                // if the mission is empty save a takeoff command
                if (mission.num_commands() == 0)

                }

                // set new waypoint to current location
                cmd.content.location = current_loc;

                // if throttle is above zero, create waypoint command
                if (channel_throttle->get_control_in() > 0) {
                    cmd.id = MAV_CMD_NAV_WAYPOINT;
                } else {
                    // with zero throttle, create LAND command
                    cmd.id = MAV_CMD_NAV_LAND;
                }

                // save command
                if (mission.add_cmd(cmd)) {
                    // log event
                    Log_Write_Event(DATA_SAVEWP_ADD_WP);
                }
            }
            break;

        case AUXSW_CAMERA_TRIGGER:
#if CAMERA == ENABLED
            if (ch_flag == AUX_SWITCH_HIGH) {
                do_take_picture();
            }
#endif
            break;

        case AUXSW_RANGEFINDER:
            // enable or disable the rangefinder
#if RANGEFINDER_ENABLED == ENABLED
            if ((ch_flag == AUX_SWITCH_HIGH) && rangefinder.has_orientation(ROTATION_PITCH_270)) {
                rangefinder_state.enabled = true;
            } else {
                rangefinder_state.enabled = false;
            }
#endif
            break;

        case AUXSW_FENCE:
#if AC_FENCE == ENABLED
            // enable or disable the fence
            if (ch_flag == AUX_SWITCH_HIGH) {
                fence.enable(true);
                Log_Write_Event(DATA_FENCE_ENABLE);
            } else {
                fence.enable(false);
                Log_Write_Event(DATA_FENCE_DISABLE);
            }
#endif
            break;

        case AUXSW_ACRO_TRAINER:
            switch(ch_flag) {
                case AUX_SWITCH_LOW:
                    g.acro_trainer = ACRO_TRAINER_DISABLED;
                    Log_Write_Event(DATA_ACRO_TRAINER_DISABLED);
                    break;
                case AUX_SWITCH_MIDDLE:
                    g.acro_trainer = ACRO_TRAINER_LEVELING;
                    Log_Write_Event(DATA_ACRO_TRAINER_LEVELING);
                    break;
                case AUX_SWITCH_HIGH:
                    g.acro_trainer = ACRO_TRAINER_LIMITED;
                    Log_Write_Event(DATA_ACRO_TRAINER_LIMITED);
                    break;
            }
            break;

        case AUXSW_GRIPPER:
#if GRIPPER_ENABLED == ENABLED
            switch(ch_flag) {
                case AUX_SWITCH_LOW:
                    g2.gripper.release();
                    Log_Write_Event(DATA_GRIPPER_RELEASE);
                    break;
                case AUX_SWITCH_HIGH:
                    g2.gripper.grab();
                    Log_Write_Event(DATA_GRIPPER_GRAB);
                    break;
            }
#endif
            break;

        case AUXSW_SPRAYER:
#if SPRAYER == ENABLED
            sprayer.run(ch_flag == AUX_SWITCH_HIGH);
            // if we are disarmed the pilot must want to test the pump
            sprayer.test_pump((ch_flag == AUX_SWITCH_HIGH) && !motors->armed());
#endif
            break;

        case AUXSW_AUTO:
            if (ch_flag == AUX_SWITCH_HIGH)  else 
            }
            break;

        case AUXSW_AUTOTUNE:
#if AUTOTUNE_ENABLED == ENABLED
            // turn on auto tuner
            switch(ch_flag) 
                    break;
                case AUX_SWITCH_HIGH:
                    // start an autotuning session
                    set_mode(AUTOTUNE, MODE_REASON_TX_COMMAND);
                    break;
            }
#endif
            break;

        case AUXSW_LAND:
            if (ch_flag == AUX_SWITCH_HIGH)
             else

            }
            break;

        case AUXSW_PARACHUTE_ENABLE:
#if PARACHUTE == ENABLED
            // Parachute enable/disable
            parachute.enabled(ch_flag == AUX_SWITCH_HIGH);
#endif
            break;

        case AUXSW_PARACHUTE_RELEASE:
#if PARACHUTE == ENABLED
            if (ch_flag == AUX_SWITCH_HIGH) {
                parachute_manual_release();
            }
#endif
            break;

        case AUXSW_PARACHUTE_3POS:
#if PARACHUTE == ENABLED
            // Parachute disable, enable, release with 3 position switch
            switch (ch_flag) {
                case AUX_SWITCH_LOW:
                    parachute.enabled(false);
                    Log_Write_Event(DATA_PARACHUTE_DISABLED);
                    break;
                case AUX_SWITCH_MIDDLE:
                    parachute.enabled(true);
                    Log_Write_Event(DATA_PARACHUTE_ENABLED);
                    break;
                case AUX_SWITCH_HIGH:
                    parachute.enabled(true);
                    parachute_manual_release();
                    break;
            }
#endif
            break;

        case AUXSW_MISSION_RESET:
            if (ch_flag == AUX_SWITCH_HIGH) 
            break;

        case AUXSW_ATTCON_FEEDFWD:
            // enable or disable feed forward
            attitude_control->bf_feedforward(ch_flag == AUX_SWITCH_HIGH);
            break;

        case AUXSW_ATTCON_ACCEL_LIM:
            // enable or disable accel limiting by restoring defaults
            attitude_control->accel_limiting(ch_flag == AUX_SWITCH_HIGH);
            break;

        case AUXSW_RETRACT_MOUNT:
#if MOUNT == ENABLE
            switch (ch_flag) 
#endif
            break;

        case AUXSW_RELAY:
            ServoRelayEvents.do_set_relay(0, ch_flag == AUX_SWITCH_HIGH);
            break;

        case AUXSW_RELAY2:
            ServoRelayEvents.do_set_relay(1, ch_flag == AUX_SWITCH_HIGH);
            break;

        case AUXSW_RELAY3:
            ServoRelayEvents.do_set_relay(2, ch_flag == AUX_SWITCH_HIGH);
            break;

       case AUXSW_RELAY4:
            ServoRelayEvents.do_set_relay(3, ch_flag == AUX_SWITCH_HIGH);
            break;

       case AUXSW_LANDING_GEAR:
            switch (ch_flag) 
            break;

        case AUXSW_LOST_COPTER_SOUND:
            switch (ch_flag) 
            break;

        case AUXSW_MOTOR_ESTOP:
            // Turn on Emergency Stop logic when channel is high
            set_motor_emergency_stop(ch_flag == AUX_SWITCH_HIGH);
            break;

        case AUXSW_MOTOR_INTERLOCK:
            // Turn on when above LOW, because channel will also be used for speed
            // control signal in tradheli
            ap.motor_interlock_switch = (ch_flag == AUX_SWITCH_HIGH || ch_flag == AUX_SWITCH_MIDDLE);
            break;

        case AUXSW_BRAKE:
            // brake flight mode
            if (ch_flag == AUX_SWITCH_HIGH)  else 
            }
            break;

        case AUXSW_THROW:
            // throw flight mode
            if (ch_flag == AUX_SWITCH_HIGH)  else 
            }
            break;

        case AUXSW_AVOID_ADSB:
            // enable or disable AP_Avoidance
            if (ch_flag == AUX_SWITCH_HIGH) {
                avoidance_adsb.enable();
                Log_Write_Event(DATA_AVOIDANCE_ADSB_ENABLE);
            } else {
                avoidance_adsb.disable();
                Log_Write_Event(DATA_AVOIDANCE_ADSB_DISABLE);
            }
            break;

        case AUXSW_PRECISION_LOITER:
#if PRECISION_LANDING == ENABLED
            switch (ch_flag) 
#endif
            break;

        case AUXSW_AVOID_PROXIMITY:
#if PROXIMITY_ENABLED == ENABLED && AC_AVOID_ENABLED == ENABLED
            switch (ch_flag) {
                case AUX_SWITCH_HIGH:
                    avoid.proximity_avoidance_enable(true);
                    Log_Write_Event(DATA_AVOIDANCE_PROXIMITY_ENABLE);
                    break;
                case AUX_SWITCH_LOW:
                    avoid.proximity_avoidance_enable(false);
                    Log_Write_Event(DATA_AVOIDANCE_PROXIMITY_DISABLE);
                    break;
            }
#endif
            break;
        case AUXSW_ARMDISARM:
            // arm or disarm the vehicle
            switch (ch_flag) {
            case AUX_SWITCH_HIGH:
                init_arm_motors(false);
                break;
            case AUX_SWITCH_LOW:
                init_disarm_motors();
                break;
            }
            break;
                }
}

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我们重点看这个代码

下面我们重点分析这个代码

 void test_pump(bool true_false) { _flags.testing = true_false; }//这个是测试代码

总结：到这里初始化的讲解基本设置好，主要设置通道，使能喷洒，还有参数设置，下面讲解代码运行

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 SCHED_TASK(three_hz_loop,          3,     75), //植保喷洒设置

void AC_Sprayer::update()

    //如果没有为任何伺服机构设置泵功能，立即退出---- exit immediately if the pump function has not been set-up for any servo
    if (!SRV_Channels::function_assigned(SRV_Channel::k_sprayer_pump))
    {
        return;
    }

    //获取水平速度信息-----------------------------------get horizontal velocity
    const Vector3f &velocity = _inav->get_velocity();
    float ground_speed = norm(velocity.x,velocity.y);

    //获取当前时间--------------------------------------get the current time
    const uint32_t now = AP_HAL::millis();

    bool should_be_spraying = _flags.spraying;
    //检测当前的速度是否最小------------------------------check our speed vs the minimum
    if (ground_speed >= _speed_min)
    else

            }
        }
        //复位更新时间---------reset the speed under timer
        _speed_under_min_time = 0;
    }else
    else

            }
        }
        // reset the speed over timer
        _speed_over_min_time = 0;
    }

    // if testing pump output speed as if traveling at 1m/s
    if (_flags.testing)
    {
        ground_speed = 100.0f;
        should_be_spraying = true;
    }

    //如果喷洒装置或测试更新泵伺服位置----------if spraying or testing update the pump servo position
    if (should_be_spraying) //可以喷洒了
    else
    {
        stop_spraying();
    }
}