Copter: remove SPRAYER_ENABLED define in favor of just HAL_SPRAYER_ENABLED

ArduCopter/APM_Config.h

@@ -11,7 +11,6 @@
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
 //#define PRECISION_LANDING     DISABLED            // disable precision landing using companion computer or IRLock sensor
 //#define BEACON_ENABLED        DISABLED            // disable beacon support
-//#define SPRAYER_ENABLED       DISABLED            // disable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
 //#define WINCH_ENABLED         DISABLED            // disable winch support
 //#define STATS_ENABLED         DISABLED            // disable statistics support
 //#define MODE_ACRO_ENABLED     DISABLED            // disable acrobatic mode support

ArduCopter/AP_Arming.cpp

@@ -745,7 +745,7 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
 
     hal.util->set_soft_armed(true);
 
-#if SPRAYER_ENABLED == ENABLED
+#if HAL_SPRAYER_ENABLED
     // turn off sprayer's test if on
     copter.sprayer.test_pump(false);
 #endif

ArduCopter/Copter.cpp

@@ -172,7 +172,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if MODE_SMARTRTL_ENABLED == ENABLED
     SCHED_TASK_CLASS(ModeSmartRTL,         &copter.mode_smartrtl,       save_position,    3, 100,  51),
 #endif
-#if SPRAYER_ENABLED == ENABLED
+#if HAL_SPRAYER_ENABLED
     SCHED_TASK_CLASS(AC_Sprayer,           &copter.sprayer,               update,         3,  90,  54),
 #endif
     SCHED_TASK(three_hz_loop,          3,     75, 57),

ArduCopter/Copter.h

@@ -506,7 +506,7 @@ private:
 #endif
 
     // Crop Sprayer
-#if SPRAYER_ENABLED == ENABLED
+#if HAL_SPRAYER_ENABLED
     AC_Sprayer sprayer;
 #endif
 

ArduCopter/Parameters.cpp

@@ -586,7 +586,7 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECT(can_mgr,        "CAN_",       AP_CANManager),
 #endif
 
-#if SPRAYER_ENABLED == ENABLED
+#if HAL_SPRAYER_ENABLED
     // @Group: SPRAY_
     // @Path: ../libraries/AC_Sprayer/AC_Sprayer.cpp
     GOBJECT(sprayer,                "SPRAY_",       AC_Sprayer),

ArduCopter/config.h

@@ -169,12 +169,6 @@
  # define AUTOTUNE_ENABLED  ENABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-//  Crop Sprayer - enabled only on larger firmwares
-#ifndef SPRAYER_ENABLED
- # define SPRAYER_ENABLED  HAL_SPRAYER_ENABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // Precision Landing with companion computer or IRLock sensor
 #ifndef PRECISION_LANDING

ArduCopter/mode.h

@@ -1791,7 +1791,7 @@ private:
 
     // parameters
     AP_Int8  _auto_enabled;    // top level enable/disable control
-#if SPRAYER_ENABLED == ENABLED
+#if HAL_SPRAYER_ENABLED
     AP_Int8  _spray_enabled;   // auto spray enable/disable
 #endif
     AP_Int8  _wp_delay;        // delay for zigzag waypoint

ArduCopter/mode_zigzag.cpp

@@ -17,14 +17,14 @@ const AP_Param::GroupInfo ModeZigZag::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO_FLAGS("AUTO_ENABLE", 1, ModeZigZag, _auto_enabled, 0, AP_PARAM_FLAG_ENABLE),
 
-#if SPRAYER_ENABLED == ENABLED
+#if HAL_SPRAYER_ENABLED
     // @Param: SPRAYER
     // @DisplayName: Auto sprayer in ZigZag
     // @Description: Enable the auto sprayer in ZigZag mode. SPRAY_ENABLE = 1 and SERVOx_FUNCTION = 22(SprayerPump) / 23(SprayerSpinner) also must be set. This makes the sprayer on while moving to destination A or B. The sprayer will stop if the vehicle reaches destination or the flight mode is changed from ZigZag to other.
     // @Values: 0:Disabled,1:Enabled
     // @User: Advanced
     AP_GROUPINFO("SPRAYER", 2, ModeZigZag, _spray_enabled, 0),
-#endif // SPRAYER_ENABLED == ENABLED
+#endif // HAL_SPRAYER_ENABLED
 
     // @Param: WP_DELAY
     // @DisplayName: The delay for zigzag waypoint
@@ -576,7 +576,7 @@ void ModeZigZag::init_auto()
 // spray on / off
 void ModeZigZag::spray(bool b)
 {
-#if SPRAYER_ENABLED == ENABLED
+#if HAL_SPRAYER_ENABLED
     if (_spray_enabled) {
         copter.sprayer.run(b);
     }