Sub: Remove sprayer

ArduSub/APM_Config.h

@@ -32,7 +32,6 @@
 #define TRANSECT_ENABLED      DISABLED
 
 // features below are disabled by default on all boards
-//#define SPRAYER               ENABLED             // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
 //#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE   // disable mode changes from GCS during Radio failsafes.  Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link
 
 // other settings

ArduSub/ArduSub.cpp

@@ -465,10 +465,6 @@ void Sub::three_hz_loop()
     fence_check();
 #endif // AC_FENCE_ENABLED
 
-#if SPRAYER == ENABLED
-    sprayer.update();
-#endif
-
     update_events();
 
     // update ch6 in flight tuning

ArduSub/Parameters.cpp

@@ -922,12 +922,6 @@ const AP_Param::Info Sub::var_info[] = {
     // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
     GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),
 
-#if SPRAYER == ENABLED
-    // @Group: SPRAY_
-    // @Path: ../libraries/AC_Sprayer/AC_Sprayer.cpp
-    GOBJECT(sprayer,                "SPRAY_",       AC_Sprayer),
-#endif
-
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     GOBJECT(sitl, "SIM_", SITL::SITL),
 #endif

ArduSub/Parameters.h

@@ -84,7 +84,6 @@ public:
         k_param_rangefinder_gain,
         k_param_ch8_option,
         k_param_arming_check,
-        k_param_sprayer,
         k_param_angle_max,
         k_param_gps_hdop_good,
         k_param_battery,

ArduSub/Sub.cpp

@@ -88,9 +88,6 @@ Sub::Sub(void) :
 #if AC_RALLY == ENABLED
     rally(ahrs),
 #endif
-#if SPRAYER == ENABLED
-    sprayer(&inertial_nav),
-#endif
 #if AP_TERRAIN_AVAILABLE && AC_TERRAIN
     terrain(ahrs, mission, rally),
 #endif

ArduSub/Sub.h

@@ -97,9 +97,6 @@
 #include "GCS_Mavlink.h"
 
 // libraries which are dependent on #defines in defines.h and/or config.h
-#if SPRAYER == ENABLED
-#include <AC_Sprayer/AC_Sprayer.h>         // crop sprayer library
-#endif
 #if GRIPPER_ENABLED == ENABLED
 #include <AP_Gripper/AP_Gripper.h>             // gripper stuff
 #endif
@@ -481,12 +478,7 @@ private:
 #endif
 
     // RSSI 
-    AP_RSSI rssi;      
-
-    // Crop Sprayer
-#if SPRAYER == ENABLED
-    AC_Sprayer sprayer;
-#endif
+    AP_RSSI rssi;
 
     // terrain handling
 #if AP_TERRAIN_AVAILABLE && AC_TERRAIN

ArduSub/defines.h

@@ -51,7 +51,10 @@ enum aux_sw_func {
 	AUXSW_RESETTOARMEDYAW =     12, // changes yaw to be same as when quad was armed
     AUXSW_SUPERSIMPLE_MODE =    13, // change to simple mode in middle, super simple at top
     AUXSW_ACRO_TRAINER =        14, // low = disabled, middle = leveled, high = leveled and limited
-    AUXSW_SPRAYER =             15, // enable/disable the crop sprayer
+
+// No sprayer for Sub, remove
+//    AUXSW_SPRAYER =             15, // enable/disable the crop sprayer
+
     AUXSW_AUTO =                16, // change to auto flight mode
     AUXSW_AUTOTUNE =            17, // auto tune
     AUXSW_LAND =                18, // change to LAND flight mode

ArduSub/make.inc

@@ -51,7 +51,6 @@ LIBRARIES += AP_Notify
 LIBRARIES += AP_BattMonitor
 LIBRARIES += AP_BoardConfig
 LIBRARIES += AP_Frsky_Telem
-LIBRARIES += AC_Sprayer
 LIBRARIES += AP_Terrain
 LIBRARIES += AP_RPM
 LIBRARIES += AC_InputManager

ArduSub/motors.cpp

@@ -189,11 +189,6 @@ bool Sub::init_arm_motors(bool arming_from_gcs)
     ahrs.set_correct_centrifugal(true);
     hal.util->set_soft_armed(true);
 
-#if SPRAYER == ENABLED
-    // turn off sprayer's test if on
-    sprayer.test_pump(false);
-#endif
-
     // enable output to motors
     enable_motor_output();
 

ArduSub/switches.cpp

@@ -234,7 +234,6 @@ void Sub::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
         case AUXSW_SUPERSIMPLE_MODE:
         case AUXSW_ACRO_TRAINER:
         case AUXSW_GRIPPER:
-        case AUXSW_SPRAYER:
         case AUXSW_RETRACT_MOUNT:
         case AUXSW_MISSION_RESET:
         case AUXSW_ATTCON_FEEDFWD:
@@ -387,13 +386,6 @@ void Sub::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             }
             break;
 #endif
-#if SPRAYER == ENABLED
-        case AUXSW_SPRAYER:
-            sprayer.enable(ch_flag == AUX_SWITCH_HIGH);
-            // if we are disarmed the pilot must want to test the pump
-            sprayer.test_pump((ch_flag == AUX_SWITCH_HIGH) && !motors.armed());
-            break;
-#endif
 
         case AUXSW_AUTO:
             if (ch_flag == AUX_SWITCH_HIGH) {

ArduSub/wscript

@@ -13,7 +13,6 @@ def build(bld):
             'AC_Fence',
             'AC_Avoidance',
             'AC_PID',
-            'AC_Sprayer',
             'AC_WPNav',
             'AP_Camera',
             'AP_InertialNav',