AP_Scripting: Auto turn off sprayer

libraries/AP_Scripting/applets/Sprayer_auto_off.lua

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+--
+-- Allows crop sprayers to automatically turn off sprayer on RTL, LAND, Failsafe triggers(RC_FS etc.)
+--
+
+local FREQUENCY      = 250    -- ms
+local VERBOSE_MODE   = 2
+
+local sprayer_function = 15    -- AUX function Sprayer Enable is assigned to number 15
+
+local HIGH    = 2    -- High
+local LOW     = 0    -- Low
+
+local COPTER_MODE_AUTO    = 3
+local COPTER_MODE_RTL     = 6
+local COPTER_MODE_LAND    = 9
+
+local sprayer_state = nil  -- Track sprayer state (Running or Stopped)
+
+function sprayer_update()
+    local switch_pos = rc:get_aux_cached(300) -- 300 = Lua Script 1 option
+    local mode = vehicle:get_mode()    --get current mode
+    local current_nav_index = mission:get_current_nav_index()    --get current command index
+    local num_command = mission:num_commands()    --total numbers of commands
+
+    local new_state = nil     --current Track sprayer state (Running or Stopped)
+
+    -- Manual override: Stop sprayer if user sets RC channel to low
+    if switch_pos == 0 then -- Switch is in "off" position
+        new_state = LOW
+    -- Automatic control: Stop in RTL, LAND, or at the last waypoint
+    elseif mode == COPTER_MODE_RTL or mode == COPTER_MODE_LAND or 
+           (mode == COPTER_MODE_AUTO and current_nav_index == num_command - 1) then
+        new_state = LOW
+    else
+        -- Otherwise, start the sprayer
+        new_state = HIGH
+    end
+
+    -- Update sprayer only if the state has changed
+    if new_state ~= sprayer_state then
+        sprayer_state = new_state
+        rc:run_aux_function(sprayer_function, sprayer_state)
+        if VERBOSE_MODE > 0 then
+            if sprayer_state == HIGH then
+                gcs:send_text(4, "Sprayer running")
+            else
+                gcs:send_text(4, "Sprayer stopped")
+            end
+        end
+    end
+
+    return sprayer_update, FREQUENCY
+end
+
+return sprayer_update, FREQUENCY

libraries/AP_Scripting/applets/Sprayer_auto_off.md

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+
+ Allows crop sprayers to automatically turn off sprayer on RTL, LAND, Failsafe triggers(RC_FS etc.)
+
+-- Check https://ardupilot.org/copter/docs/sprayer.html to activate speed dependant automatic spraying
+-- Purpose of this script is improving spraying automation ability of ardupilot. 
+Normally sprayer won't stop on RTL after mission complete or when RC connection is lost without this script
+cause it is only speed dependant.
+-- User doesn't need to set sprayer enable on RCx_OPTION parameters 
+
+### How to use
+-- Activate scripting SCR_ENABLE = 1
+-- Assign any RCx_OPTION parameter to Scripting1(300) to on/off sprayer
+