Copter: integrate sprayer pump test

ArduCopter/control_modes.pde

@@ -267,6 +267,8 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
 #if SPRAYER == ENABLED
         case AUX_SWITCH_SPRAYER:
             sprayer.enable(ch_flag == AUX_SWITCH_HIGH);
+            // if we are disarmed the pilot must want to test the pump
+            sprayer.test_pump((ch_flag == AUX_SWITCH_HIGH) && !motors.armed());
             break;
 #endif
 

ArduCopter/motors.pde

@@ -194,6 +194,11 @@ static void init_arm_motors()
         return;
     }
 
+#if SPRAYER == ENABLED
+    // turn off sprayer's test if on
+    sprayer.test_pump(false);
+#endif
+
     // enable output to motors
     output_min();