From ca7842afacac5cfc1f9a2ea1ea2b3e99620bda87 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Jun 2018 19:22:55 +1000
Subject: [PATCH] Rover: add support for Sprayer

---
 APMrover2/APMrover2.cpp  | 1 +
 APMrover2/Parameters.cpp | 4 ++++
 APMrover2/Parameters.h   | 4 ++++
 3 files changed, 9 insertions(+)

diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index ece8f9f75c..a4c30b9a1e 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -77,6 +77,7 @@ 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),
+    SCHED_TASK_CLASS(AC_Sprayer,              &rover.g2.sprayer,           update,      3,  90),
     SCHED_TASK(compass_cal_update,     50,    200),
     SCHED_TASK(compass_save,           0.1,   200),
     SCHED_TASK(accel_cal_update,       10,    200),
diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index 86ce8d3e42..3cf40bce09 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -571,6 +571,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("LOIT_TYPE", 25, ParametersG2, loit_type, 0),
 
+    // @Group: SPRAYER_
+    // @Path: ../libraries/AC_Sprayer/AC_Sprayer.cpp
+    AP_SUBGROUPINFO(sprayer, "SPRAY_", 26, ParametersG2, AC_Sprayer),
+
     AP_GROUPEND
 };
 
diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index 75f92667d7..bb42072d94 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -3,6 +3,7 @@
 #include <AP_Common/AP_Common.h>
 
 #include "RC_Channel.h"
+#include "AC_Sprayer/AC_Sprayer.h"
 
 // Global parameter class.
 //
@@ -357,6 +358,9 @@ public:
 
     // loiter type
     AP_Int8 loit_type;
+
+    // Sprayer
+    AC_Sprayer sprayer;
 };
 
 extern const AP_Param::Info var_info[];