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Rover: add support for Sprayer

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This commit is contained in:
Peter Barker 2018-06-08 19:22:55 +10:00 committed by Randy Mackay
parent e4d3ed7e39
commit ca7842afac
3 changed files with 9 additions and 0 deletions
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1
APMrover2/APMrover2.cpp
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@ -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(ModeSmartRTL, &rover.mode_smartrtl, save_position, 3, 200),
SCHED_TASK_CLASS(AP_Notify, &rover.notify, update, 50, 300), SCHED_TASK_CLASS(AP_Notify, &rover.notify, update, 50, 300),
SCHED_TASK(one_second_loop, 1, 1500), 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_cal_update, 50, 200),
SCHED_TASK(compass_save, 0.1, 200), SCHED_TASK(compass_save, 0.1, 200),
SCHED_TASK(accel_cal_update, 10, 200), SCHED_TASK(accel_cal_update, 10, 200),

4
APMrover2/Parameters.cpp
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@ -571,6 +571,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("LOIT_TYPE", 25, ParametersG2, loit_type, 0), 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 AP_GROUPEND
}; };

4
APMrover2/Parameters.h
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@ -3,6 +3,7 @@
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include "RC_Channel.h" #include "RC_Channel.h"
#include "AC_Sprayer/AC_Sprayer.h"
// Global parameter class. // Global parameter class.
// //
@ -357,6 +358,9 @@ public:
// loiter type // loiter type
AP_Int8 loit_type; AP_Int8 loit_type;
// Sprayer
AC_Sprayer sprayer;
}; };
extern const AP_Param::Info var_info[]; extern const AP_Param::Info var_info[];