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Rover: use HAL_SPRAYER_ENABLED

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This commit is contained in:
Andrew Tridgell 2020-01-18 11:36:11 +11:00
parent 32221e2207
commit b3c44d42d7
3 changed files with 6 additions and 0 deletions
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2
APMrover2/Parameters.cpp
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@ -519,9 +519,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Standard
AP_GROUPINFO("LOIT_TYPE", 25, ParametersG2, loit_type, 0),
#if HAL_SPRAYER_ENABLED
// @Group: SPRAYER_
// @Path: ../libraries/AC_Sprayer/AC_Sprayer.cpp
AP_SUBGROUPINFO(sprayer, "SPRAY_", 26, ParametersG2, AC_Sprayer),
#endif
// @Group: WRC
// @Path: ../libraries/AP_WheelEncoder/AP_WheelRateControl.cpp

2
APMrover2/Parameters.h
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@ -351,8 +351,10 @@ public:
AP_Int8 loit_type;
AP_Float loit_radius;
#if HAL_SPRAYER_ENABLED
// Sprayer
AC_Sprayer sprayer;
#endif
#if GRIPPER_ENABLED
AP_Gripper gripper;

2
APMrover2/Rover.cpp
View File

@ -89,7 +89,9 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK_CLASS(ModeSmartRTL, &rover.mode_smartrtl, save_position, 3, 200),
SCHED_TASK_CLASS(AP_Notify, &rover.notify, update, 50, 300),
SCHED_TASK(one_second_loop, 1, 1500),
#if HAL_SPRAYER_ENABLED
SCHED_TASK_CLASS(AC_Sprayer, &rover.g2.sprayer, update, 3, 90),
#endif
SCHED_TASK_CLASS(Compass, &rover.compass, cal_update, 50, 200),
SCHED_TASK(compass_save, 0.1, 200),
SCHED_TASK(accel_cal_update, 10, 200),