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AC_Sprayer: move the check for srv_channel assignment from update to run method 

It should be enough to do this check only once in run method instead of doing it in update method
This commit is contained in:
Shiv Tyagi 2022-11-14 23:11:29 +05:30
parent 18dc37eef8
commit 7630aeb0e4
1 changed files with 5 additions and 5 deletions
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10
libraries/AC_Sprayer/AC_Sprayer.cpp
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@ -93,6 +93,11 @@ void AC_Sprayer::run(const bool activate)
return; return;
} }
// exit immediately if the pump function has not been set-up for any servos
if (!SRV_Channels::function_assigned(SRV_Channel::k_sprayer_pump)) {
return;
}
// set flag indicate whether spraying is permitted: // set flag indicate whether spraying is permitted:
// do not allow running to be set to true if we are currently not enabled // do not allow running to be set to true if we are currently not enabled
_flags.running = _enabled && activate; _flags.running = _enabled && activate;
@ -120,11 +125,6 @@ void AC_Sprayer::update()
return; return;
} }
// exit immediately if the pump function has not been set-up for any servo
if (!SRV_Channels::function_assigned(SRV_Channel::k_sprayer_pump)) {
return;
}
// get horizontal velocity // get horizontal velocity
Vector3f velocity; Vector3f velocity;
if (!AP::ahrs().get_velocity_NED(velocity)) { if (!AP::ahrs().get_velocity_NED(velocity)) {