From b14dcf4baeae802f713791e72f31e0fe2b4940e7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 3 Jul 2020 09:04:28 +1000
Subject: [PATCH] Tools: add mission command to turn sprayer on and off

---
 .../ArduRover_Tests/Sprayer/sprayer-mission.txt   |  7 +++++++
 Tools/autotest/rover.py                           | 15 +++++++++++++++
 2 files changed, 22 insertions(+)
 create mode 100644 Tools/autotest/ArduRover_Tests/Sprayer/sprayer-mission.txt

diff --git a/Tools/autotest/ArduRover_Tests/Sprayer/sprayer-mission.txt b/Tools/autotest/ArduRover_Tests/Sprayer/sprayer-mission.txt
new file mode 100644
index 0000000000..4a9a7a19ec
--- /dev/null
+++ b/Tools/autotest/ArduRover_Tests/Sprayer/sprayer-mission.txt
@@ -0,0 +1,7 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	40.071375	-105.229789	-0.020000	1
+1	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071364	-105.230440	100.000000	1
+2	0	0	216	1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071319	-105.230331	100.000000	1
+4	0	0	216	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	40.071319	-105.230331	100.000000	1
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 34b2690ad8..5f9aa7d1b9 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -5,6 +5,7 @@ from __future__ import print_function
 
 import copy
 import math
+import operator
 import os
 import shutil
 import sys
@@ -295,6 +296,20 @@ class AutoTestRover(AutoTest):
             # this is somewhat empirical...
             self.wait_servo_channel_value(pump_ch, 1695, timeout=60)
 
+            self.progress("Turning it off again")
+            self.set_rc(rc_ch, 1000)
+            self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
+            self.wait_servo_channel_value(pump_ch, pump_ch_min)
+
+            self.start_subtest("Sprayer Mission")
+            self.load_mission("sprayer-mission.txt")
+            self.change_mode("AUTO")
+#            self.send_debug_trap()
+            self.progress("Waiting for sprayer to start")
+            self.wait_servo_channel_value(pump_ch, 1300, timeout=60, comparator=operator.gt)
+            self.progress("Waiting for sprayer to stop")
+            self.wait_servo_channel_value(pump_ch, pump_ch_min, timeout=120)
+
             self.progress("Sprayer OK")
         except Exception as e:
             self.progress("Caught exception: %s" %