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