From 74fb500efe4344c3629bd6bbc8cd8cbce27111ac Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sun, 4 Aug 2013 23:20:21 +0900
Subject: [PATCH] Copter: integrate AC_Sprayer

---
 ArduCopter/ArduCopter.pde | 12 ++++++++++++
 ArduCopter/Parameters.h   |  3 ++-
 ArduCopter/Parameters.pde |  6 ++++++
 ArduCopter/config.h       |  5 +++++
 4 files changed, 25 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 63bf112487..1093394909 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/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
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index b54caf8fae..975862995d 100644
--- a/ArduCopter/Parameters.h
+++ b/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
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 8af262050a..8fe53b43cb 100644
--- a/ArduCopter/Parameters.pde
+++ b/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
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 4a64eb83ed..00a8edffb5 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -464,6 +464,11 @@
  #define OPTFLOW_IMAX 1
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+//  Crop Sprayer
+#ifndef SPRAYER
+ # define SPRAYER  DISABLED
+#endif
 
 //////////////////////////////////////////////////////////////////////////////
 // RADIO CONFIGURATION