From c2e546285c7c6b7397c4cf72a6e4aa9a5b33ac78 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir@azurdrones.com>
Date: Wed, 11 Apr 2018 09:11:17 +0900
Subject: [PATCH] AC_Sprayer: replace AP_InertialNav with AHRS

---
 libraries/AC_Sprayer/AC_Sprayer.cpp | 13 +++++++++----
 libraries/AC_Sprayer/AC_Sprayer.h   |  6 +++---
 2 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/libraries/AC_Sprayer/AC_Sprayer.cpp b/libraries/AC_Sprayer/AC_Sprayer.cpp
index e303f3cbac..405fed8948 100644
--- a/libraries/AC_Sprayer/AC_Sprayer.cpp
+++ b/libraries/AC_Sprayer/AC_Sprayer.cpp
@@ -48,8 +48,8 @@ const AP_Param::GroupInfo AC_Sprayer::var_info[] = {
     AP_GROUPEND
 };
 
-AC_Sprayer::AC_Sprayer(const AP_InertialNav* inav) :
-    _inav(inav),
+AC_Sprayer::AC_Sprayer(const AP_AHRS_NavEKF &ahrs) :
+    _ahrs(ahrs),
     _speed_over_min_time(0),
     _speed_under_min_time(0)
 {
@@ -107,8 +107,13 @@ AC_Sprayer::update()
     }
 
     // get horizontal velocity
-    const Vector3f &velocity = _inav->get_velocity();
-    float ground_speed = norm(velocity.x,velocity.y);
+    Vector3f velocity;
+    if (!_ahrs.get_velocity_NED(velocity)) {
+        // treat unknown velocity as zero which should lead to pump stopping
+        // velocity will already be zero but this avoids a coverity warning
+        velocity.zero();
+    }
+    float ground_speed = norm(velocity.x * 100.0f, velocity.y * 100.0f);
 
     // get the current time
     const uint32_t now = AP_HAL::millis();
diff --git a/libraries/AC_Sprayer/AC_Sprayer.h b/libraries/AC_Sprayer/AC_Sprayer.h
index 6c024654c5..2849d9d4a9 100644
--- a/libraries/AC_Sprayer/AC_Sprayer.h
+++ b/libraries/AC_Sprayer/AC_Sprayer.h
@@ -19,7 +19,7 @@
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
 #include <SRV_Channel/SRV_Channel.h>
-#include <AP_InertialNav/AP_InertialNav.h>     // Inertial Navigation library
+#include <AP_AHRS/AP_AHRS.h>
 
 #define AC_SPRAYER_DEFAULT_PUMP_RATE        10.0f   ///< default quantity of spray per meter travelled
 #define AC_SPRAYER_DEFAULT_PUMP_MIN         0       ///< default minimum pump speed expressed as a percentage from 0 to 100
@@ -32,7 +32,7 @@
 /// @brief  Object managing a crop sprayer comprised of a spinner and a pump both controlled by pwm
 class AC_Sprayer {
 public:
-    AC_Sprayer(const AP_InertialNav *inav);
+    AC_Sprayer(const AP_AHRS_NavEKF &ahrs);
 
     /* Do not allow copies */
     AC_Sprayer(const AC_Sprayer &other) = delete;
@@ -61,7 +61,7 @@ public:
     static const struct AP_Param::GroupInfo var_info[];
 
 private:
-    const AP_InertialNav* const _inav;      ///< pointers to other objects we depend upon
+    const AP_AHRS_NavEKF &_ahrs;            ///< pointers to other objects we depend upon
 
     // parameters
     AP_Int8         _enabled;               ///< top level enable/disable control