Hexacoptère agricole de pulvérisation

# ArduCopter 4.7.2 on a Cube Orange+: hexa X, six Hobbywing X8 units on MAIN 1-6, power brick on POWER1
param set FRAME_CLASS 2         # Hexa
param set FRAME_TYPE 1          # X: M1 right, M2 left, M3 front left, M4 rear right, M5 front right, M6 rear left
param set SERVO1_FUNCTION 33    # MAIN 1: Motor1
param set SERVO2_FUNCTION 34    # MAIN 2: Motor2
param set SERVO3_FUNCTION 35    # MAIN 3: Motor3
param set SERVO4_FUNCTION 36    # MAIN 4: Motor4
param set SERVO5_FUNCTION 37    # MAIN 5: Motor5
param set SERVO6_FUNCTION 38    # MAIN 6: Motor6
param set MOT_PWM_TYPE 0        # Normal PWM: the X8 takes 1100-1940 us, no DShot, no throttle calibration
param set MOT_PWM_MIN 1050      # Hobbywing's numbers for open-source autopilots
param set MOT_PWM_MAX 1950
param set MOT_SPIN_ARM 0.08     # armed idle: 30-inch props turn slowly and hit hard
param set MOT_HOVER_LEARN 2     # learn the hover throttle and save it in MOT_THST_HOVER
param set INS_HNTCH_ENABLE 1    # harmonic notch; refresh the parameters to see the rest
param set INS_HNTCH_MODE 1      # follow the throttle: PWM ESCs report no rpm
param set INS_HNTCH_FREQ 80     # Hz: about 2400 rpm x 2 blades at hover
param set BATT_MONITOR 4        # analog voltage and current from the power brick
param set BATT_CAPACITY 22000   # mAh
param set AHRS_ORIENTATION 0    # Cube arrow to the nose; 4 = Yaw180 if it points back
# FRAME_CLASS, the SERVOn_FUNCTIONs, INS_HNTCH_ENABLE and AHRS_ORIENTATION take effect after a reboot

# The 900 MHz radio on TELEM1, the radar on TELEM2, the two F9P receivers on GPS1 and GPS2
param set SERIAL1_PROTOCOL 2    # MAVLink2: telemetry out, RTK corrections in
param set SERIAL1_BAUD 57       # 57600
param set SERIAL2_PROTOCOL 9    # Rangefinder
param set SERIAL2_BAUD 115      # 115200 for the US-D1
param set RNGFND1_TYPE 11       # USD1_Serial: the Ainstein US-D1 radar
param set RNGFND1_ORIENT 25     # looking down
param set RNGFND1_MIN 0.5       # m: the radar reads nothing closer (was RNGFND1_MIN_CM)
param set RNGFND1_MAX 45        # m
param set SERIAL3_PROTOCOL 5    # GPS1
param set SERIAL4_PROTOCOL 5    # GPS2
param set GPS1_TYPE 17          # u-blox moving-baseline base: the front antenna
param set GPS2_TYPE 18          # u-blox moving-baseline rover: the rear antenna
param set GPS_AUTO_CONFIG 1     # the Cube configures both F9Ps
param set GPS_AUTO_SWITCH 1     # use the better one; never 2 (blend) with a moving baseline
param set GPS1_POS_X 0.17       # m forward of the centre of gravity
param set GPS1_POS_Y -0.15      # m: ArduPilot's y points right, so masts on the left are negative
param set GPS2_POS_X -0.17
param set GPS2_POS_Y -0.15
param set EK3_SRC1_YAW 2        # heading from the two antennas, not a compass
param set COMPASS_USE 0         # steel sheds and a 450 A bus: leave the compass out
param set GPS_INJECT_TO 127     # RTK corrections to both receivers

# The sprayer: enable it, refresh the parameters (the others stay hidden until it is on), then set it up
param set SPRAY_ENABLE 1
param set SERVO9_FUNCTION 22    # AUX 1: SprayerPump
param set SPRAY_PUMP_RATE 10    # % of full pump per m/s of ground speed: 40 % at 4 m/s
param set SPRAY_PUMP_MIN 0      # %: nothing when it stops
param set SPRAY_SPEED_MIN 100   # cm/s: no spray below 1 m/s (still centimetres in 4.7)
param set RC7_OPTION 15         # channel 7 switch: Sprayer Enable; high while disarmed = pump test
param set SERVO9_MIN 1000       # the pump driver's PWM range, from its manual
param set SERVO9_MAX 2000

# Radio lost, ground station lost, battery low and critical, a fence round the farm, every pre-arm check
param set FS_THR_ENABLE 1       # RC lost: RTL
param set FS_GCS_ENABLE 1       # no ground-station heartbeat for 5 s: RTL
param set BATT_LOW_VOLT 42      # 3.5 V per cell x 12 under load
param set BATT_LOW_MAH 6600     # or 30 % of the 22000 mAh left
param set BATT_FS_LOW_ACT 2     # low: RTL (FS_BATT_ENABLE no longer exists)
param set BATT_CRT_VOLT 40.8    # 3.4 V per cell
param set BATT_FS_CRT_ACT 1     # critical: land where it is
param set BATT_ARM_VOLT 48      # 4.0 V per cell: take off only on a fresh pack
param set FENCE_ENABLE 1
param set FENCE_TYPE 7          # max altitude + circle + polygon (the field edge)
param set FENCE_ALT_MAX 30      # m
param set FENCE_RADIUS 300      # m round home
param set ARMING_SKIPCHK 0      # skip no pre-arm check (4.7; was ARMING_CHECK 1)

# Stabilize: self-levelling, the throttle stick is the motors. The last resort if the GPS or the radar goes
param set ATC_ANGLE_MAX 25      # max lean in every mode, degrees: 33 kg of water and drone swings hard
mode STABILIZE

# AltHold: the throttle stick asks for a climb rate; over crop the radar holds the height above it
param set PILOT_SPD_UP 2.5      # m/s at full stick (was PILOT_SPEED_UP 250)
param set SURFTRAK_MODE 1       # surface tracking: follow the ground the radar sees
mode ALT_HOLD

# Loiter: RTK holds the position to a few centimetres, GPS yaw holds the heading
param set LOIT_SPEED_MS 8       # m/s at full stick (was LOIT_SPEED 800)
param set LOIT_ACC_MAX_M 3      # m/s/s: gentle with a full tank sloshing (was LOIT_ACC_MAX 300)
mode LOITER

# Return to launch: climb to 12 m over the trees and the power line, fly home, land
# The pump does NOT stop on a mode change: DO_SPRAYER 0 ends every row, or flip the sprayer switch off
param set RTL_ALT_M 12          # m (was RTL_ALT 1200)
param set RTL_SPEED_MS 6        # m/s home (was RTL_SPEED 600)
param set RTL_ALT_FINAL_M 0     # 0 = land at home
param set LAND_SPD_MS 0.5       # m/s for the last metres
mode RTL

# The spray mission from a survey grid: six 36 m rows 4 m apart, 2.5 m above the crop
#   1 NAV_TAKEOFF 5 m              2 DO_SET_RESUME_REPEAT_DIST 2 m
#   3 DO_CHANGE_SPEED 6 m/s        4 NAV_WAYPOINT row 1 start (Terrain frame, 2.5 m)
#   5 DO_SPRAYER 1                 6 DO_CHANGE_SPEED 4 m/s
#   7 NAV_WAYPOINT row 1 end       8 DO_SPRAYER 0     then the same for rows 2-6
#   NAV_WAYPOINT home 5 m at 6 m/s, NAV_LAND
param set WP_SPD 4              # m/s along the rows (was WPNAV_SPEED 400)
param set WP_RADIUS_M 1         # m: how close counts as reached (was WPNAV_RADIUS 100)
param set WP_RFND_USE 1         # missions follow the radar height (was WPNAV_RFND_USE)
param set MIS_RESTART 0         # back in AUTO after a refill, it resumes instead of starting over
mode LOITER
arm throttle                    # AUTO cannot arm by itself
mode AUTO