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Copter: integrate AC_Sprayer

This commit is contained in:
Randy Mackay 2013-08-04 23:20:21 +09:00
parent e4ca7d2fdf
commit 74fb500efe
4 changed files with 25 additions and 1 deletions
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12
ArduCopter/ArduCopter.pde
View File

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

3
ArduCopter/Parameters.h
View File

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

6
ArduCopter/Parameters.pde
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@ -991,6 +991,12 @@ const AP_Param::Info var_info[] PROGMEM = {
GOBJECT(camera_mount2, "MNT2_", AP_Mount), GOBJECT(camera_mount2, "MNT2_", AP_Mount),
#endif #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 #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
GOBJECT(sitl, "SIM_", SITL), GOBJECT(sitl, "SIM_", SITL),
#endif #endif

5
ArduCopter/config.h
View File

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