From 1ac5776b8b296d5bdcbe9209d201e3c435d77aec Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 6 Jan 2017 12:20:26 +1100
Subject: [PATCH] AC_Sprayer: adapt to new RC_Channel API

---
 libraries/AC_Sprayer/AC_Sprayer.cpp | 13 +++++--------
 libraries/AC_Sprayer/AC_Sprayer.h   |  2 +-
 2 files changed, 6 insertions(+), 9 deletions(-)

diff --git a/libraries/AC_Sprayer/AC_Sprayer.cpp b/libraries/AC_Sprayer/AC_Sprayer.cpp
index 998dd02ab1..5ad97af0bf 100644
--- a/libraries/AC_Sprayer/AC_Sprayer.cpp
+++ b/libraries/AC_Sprayer/AC_Sprayer.cpp
@@ -85,11 +85,8 @@ void AC_Sprayer::run(const bool true_false)
 
 void AC_Sprayer::stop_spraying()
 {
-    // send output to pump channel
-    RC_Channel_aux::set_radio_to_min(RC_Channel_aux::k_sprayer_pump);
-
-    // send output to spinner channel
-    RC_Channel_aux::set_radio_to_min(RC_Channel_aux::k_sprayer_spinner);
+    SRV_Channels::set_servo_limit(SRV_Channel::k_sprayer_pump, SRV_CHANNEL_LIMIT_MIN);
+    SRV_Channels::set_servo_limit(SRV_Channel::k_sprayer_spinner, SRV_CHANNEL_LIMIT_MIN);
 
     _flags.spraying = false;
 }
@@ -105,7 +102,7 @@ AC_Sprayer::update()
     }
 
     // exit immediately if the pump function has not been set-up for any servo
-    if (!RC_Channel_aux::function_assigned(RC_Channel_aux::k_sprayer_pump)) {
+    if (!SRV_Channels::function_assigned(SRV_Channel::k_sprayer_pump)) {
         return;
     }
 
@@ -163,8 +160,8 @@ AC_Sprayer::update()
         float pos = ground_speed * _pump_pct_1ms;
         pos = MAX(pos, 100 *_pump_min_pct); // ensure min pump speed
         pos = MIN(pos,10000); // clamp to range
-        RC_Channel_aux::move_servo(RC_Channel_aux::k_sprayer_pump, pos, 0, 10000);
-        RC_Channel_aux::set_radio(RC_Channel_aux::k_sprayer_spinner, _spinner_pwm);
+        SRV_Channels::move_servo(SRV_Channel::k_sprayer_pump, pos, 0, 10000);
+        SRV_Channels::set_output_pwm(SRV_Channel::k_sprayer_spinner, _spinner_pwm);
         _flags.spraying = true;
     }else{
         stop_spraying();
diff --git a/libraries/AC_Sprayer/AC_Sprayer.h b/libraries/AC_Sprayer/AC_Sprayer.h
index b4771b7f67..8164c2c109 100644
--- a/libraries/AC_Sprayer/AC_Sprayer.h
+++ b/libraries/AC_Sprayer/AC_Sprayer.h
@@ -18,7 +18,7 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
-#include <RC_Channel/RC_Channel.h>
+#include <SRV_Channel/SRV_Channel.h>
 #include <AP_InertialNav/AP_InertialNav.h>     // Inertial Navigation library
 
 #define AC_SPRAYER_DEFAULT_PUMP_RATE        10.0f   ///< default quantity of spray per meter travelled