Pixhawk Cube Crop Sprayer Pump

I have build a agriculture setup using cube black running Arducopter 4.0.3.
I just wanna know how the sprayer pump function works in auto mode…
In Stable or Post hold mode the pump doesnt function when you select the servo function as a Sprayer. It only works if u select the servo function as Rc Pass through.
Have any one else used the mission planer and run the sprayer ?
And is there any way we can continue mission from last point after refilling the tank or swapping the battries?
Im really stuck at these two issues

Thank You…

You must not set it as RC pass through, but as aux servo and then controll that servo using mission commands.

Continue mission is not supported (at the autopilot level) yet. But UGCS doe it at the groundstation level

@amilcarlucas Hello, could you explain more about the continue mission ? I didn’t get the part about the autopilot level

The UGCS groundstation can stop, continue and restart missions. So that you can exchange batteries for example.

Other ground stations might have that functionality as well.

I got it now, MP does not have that function yet. A workaround is to use scripts right? and if I might ask in this post, I keep seeing posts about new features like object avoidance, and master and a 4.1.0-dev version. I tried searching in the wiki, but this link https://firmware.ardupilot.org/devbuild is broken and I still kinda newbie in github, but from I gathered, if I want to use these new features that aren’t in stable yet, I have to download these files in https://github.com/ArduPilot/ardupilot/tree/master/ArduCopter for copter, and do a custom upload/install to my pyxhawk?

The correct link is https://firmware.ardupilot.org/Copter/latest/

Please open github issue explaining where in the wiki you have found that broken link.

Thanks alot,
what confuse me alot is that when you set it up the pump as aux servo and give the DO_SET_SERVO and the Servo Number With PWM value in a perticular way point, does is functional from that perticular way poin to the next way point or will the function remain active for the entier mission?

Thank You

It will remain until another DO_SET_SERVO command is given. You can test this in Mission Planners Simulator.

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is there somewhere where it states what are the new features?

Yes, https://github.com/ArduPilot/ardupilot/commits/master
But the list is very, very, very long

Thank You Soo Much That Helps a Lot…