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AC_Sprayer: adapt to new RC_Channel API

This commit is contained in:
Andrew Tridgell 2017-01-06 12:20:26 +11:00
parent 39ab1a0abc
commit 1ac5776b8b
2 changed files with 6 additions and 9 deletions
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13
libraries/AC_Sprayer/AC_Sprayer.cpp
View File

@ -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();

2
libraries/AC_Sprayer/AC_Sprayer.h
View File

@ -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