mirror of https://github.com/ArduPilot/ardupilot
Rover: add support for Sprayer
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@ -77,6 +77,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
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SCHED_TASK_CLASS(ModeSmartRTL, &rover.mode_smartrtl, save_position, 3, 200),
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SCHED_TASK_CLASS(AP_Notify, &rover.notify, update, 50, 300),
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SCHED_TASK(one_second_loop, 1, 1500),
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SCHED_TASK_CLASS(AC_Sprayer, &rover.g2.sprayer, update, 3, 90),
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SCHED_TASK(compass_cal_update, 50, 200),
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SCHED_TASK(compass_save, 0.1, 200),
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SCHED_TASK(accel_cal_update, 10, 200),
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@ -571,6 +571,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
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// @User: Standard
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AP_GROUPINFO("LOIT_TYPE", 25, ParametersG2, loit_type, 0),
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// @Group: SPRAYER_
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// @Path: ../libraries/AC_Sprayer/AC_Sprayer.cpp
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AP_SUBGROUPINFO(sprayer, "SPRAY_", 26, ParametersG2, AC_Sprayer),
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AP_GROUPEND
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};
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@ -3,6 +3,7 @@
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#include <AP_Common/AP_Common.h>
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#include "RC_Channel.h"
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#include "AC_Sprayer/AC_Sprayer.h"
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// Global parameter class.
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//
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@ -357,6 +358,9 @@ public:
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// loiter type
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AP_Int8 loit_type;
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// Sprayer
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AC_Sprayer sprayer;
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};
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extern const AP_Param::Info var_info[];
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