Setting up crop sprayer

ArduCopter Copter 4.1
1

Hello, I wanted to add a crop sprayer to my drone. Right now, I am controlling them using python scripts. To set everything up, do I just work as if its just a servo, or is there already a bult-in method?

2

There is sprayer support. did you read the wiki?

3

I read the wiki, but my doubt is if I am able to manipulate those parameters while using python scripts

4

The flight controller supports lua scripts (Ardupilot 4.0.6 required)
Or you can use python scripts on the GCS (i.e. pymavlink, dronekit or mavproxy)

5

@amilcarlucas Hello, so I have this doubt, I saw that I need to enable this parameter SPRAY_ENABLE, but I planning to only use dronekit script to control the drone, using mission planner just for monitoring purposes. My doubt is how can I set this parameter from scripts?because in the https://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html, that list the mavlinks the copter accepts, I couldn’t find something for spray_enable, unless I just manipulate as a servo?

6

Yes, probably you need to manipulate is as a servo, yes.

7

So if I wanted to add this functionality,I would need to create it. After researching I thought of these steps,

  1. Make a MAV_CMD_DO_SPRAYER and SPRAYER_DO_SPRAYER and add them to this code https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/common.xml

2.Add those to the code in https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/GCS_Mavlink.cpp#L676

Is that right @amilcarlucas ?

1 Like
8

Yes that is correct. You need to do a Mavlink upstream pull request, and a followup ardupilot pull request.

9

It is now in master, both auto missions and mavlink DO commands:

but be careful, ArduPilot/mavlink#195 is still missing

3 Likes
10

Hello, sorry, I didn’t understand

11

The stuff you wanted is done now, I edited the post above to clarify.

12

Okay, so should I wait for a while until Ardupilot/mavlink#195 is not missing?

13

Yes, I hope that one will go in in the next few days.

14

thank you, I will wait

15

Hello,
Is there a updated list of the mavlink commands copter accepts? the one from wiki still lacks the spray command

1 Like
16

No, the source code is the most up-to-date documentation.

17

ok,if I may ask, what is the link of github that shows the most up-to-date list of mavlink commands copter accepts?

18

The spray command is supported in Arducopter 4.1.0 beta 5

19

I got that, I wanted the up to date list of all the mavlink commands that are currently supported in copter

20

Then why post in the Copter 3.6 thread?