Copter: integrate AC_Sprayer

ArduCopter/ArduCopter.pde

@@ -104,6 +104,7 @@
 #include <SITL.h>               // software in the loop support
 #include <AP_Scheduler.h>       // main loop scheduler
 #include <AP_RCMapper.h>        // RC input mapping library
+#include <AC_Sprayer.h>         // Crop sprayer library
 
 // AP_HAL to Arduino compatibility layer
 #include "compat.h"
@@ -830,6 +831,13 @@ static AP_Mount camera_mount2(&current_loc, g_gps, &ahrs, 1);
 AC_Fence    fence(&inertial_nav);
 #endif
 
+////////////////////////////////////////////////////////////////////////////////
+// Crop Sprayer
+////////////////////////////////////////////////////////////////////////////////
+#if SPRAYER == ENABLED
+static AC_Sprayer sprayer(&inertial_nav);
+#endif
+
 ////////////////////////////////////////////////////////////////////////////////
 // function definitions to keep compiler from complaining about undeclared functions
 ////////////////////////////////////////////////////////////////////////////////
@@ -1253,6 +1261,10 @@ static void slow_loop()
         camera_mount2.update_mount_type();
 #endif
 
+#if SPRAYER == ENABLED
+        sprayer.update();
+#endif
+
         // agmatthews - USERHOOKS
 #ifdef USERHOOK_SLOWLOOP
         USERHOOK_SLOWLOOP

ArduCopter/Parameters.h

@@ -87,7 +87,8 @@ public:
         k_param_circle_rate,
         k_param_sonar_gain,
         k_param_ch8_option,
-        k_param_arming_check_enabled,   // 32
+        k_param_arming_check_enabled,
+        k_param_sprayer,    // 33
 
         // 65: AP_Limits Library
         k_param_limits = 65,            // deprecated - remove

ArduCopter/Parameters.pde

@@ -991,6 +991,12 @@ const AP_Param::Info var_info[] PROGMEM = {
     GOBJECT(camera_mount2,           "MNT2_",       AP_Mount),
 #endif
 
+#if SPRAYER == ENABLED
+    // @Group: SPRAYER_
+    // @Path: ../libraries/AC_Sprayer/AC_Sprayer.cpp
+    GOBJECT(sprayer,                "SPRAY_",       AC_Sprayer),
+#endif
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
     GOBJECT(sitl, "SIM_", SITL),
 #endif

ArduCopter/config.h

@@ -464,6 +464,11 @@
  #define OPTFLOW_IMAX 1
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+//  Crop Sprayer
+#ifndef SPRAYER
+ # define SPRAYER  DISABLED
+#endif
 
 //////////////////////////////////////////////////////////////////////////////
 // RADIO CONFIGURATION