AP_Scripting: Added Lua bindings for AC_Sprayer #30843
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rmackay9
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Aug 6, 2025
| singleton AC_PosControl method get_vel_target boolean Vector3f'Null | ||
| singleton AC_PosControl method get_accel_target boolean Vector3f'Null | ||
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| include AC_Sprayer/AC_Sprayer.h depends APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_Rover) |
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I think maybe this should be dependent upon HAL_SPRAYER_ENABLED rather than the vehicle?
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This generally looks OK to me. It doesn't affect the code but just as a side note, we can see this is a very old library because the "run" method is used to enable/disable the sprayer. Our standard these days is to call the method, "enable". "run" is too close to "update" so it's confusing. Still, it's existing code so not an issue for this PR |
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Thanks for looking into this and proposing bindings. Some concerns:
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ashober
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Added bindings for public methods of AC_Sprayer.
Expected behavior: Sprayer pump can be controlled from Lua like it can from RC channels.
Tested on CubeOrange+ with HobbyWing XRotor 5L pump
Pump responded to Lua code.