From a68966e07700e2c8297da1b008b07dfaea09b42e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 11 Sep 2013 17:05:25 +0900
Subject: [PATCH] Copter: integrate sprayer pump test

---
 ArduCopter/control_modes.pde | 2 ++
 ArduCopter/motors.pde        | 5 +++++
 2 files changed, 7 insertions(+)

diff --git a/ArduCopter/control_modes.pde b/ArduCopter/control_modes.pde
index 4a2322952d..ce94644a38 100644
--- a/ArduCopter/control_modes.pde
+++ b/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
 
diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index aa1d3fd8e4..03f1c0a7b6 100644
--- a/ArduCopter/motors.pde
+++ b/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();