From 43f60195a1a2fe559a46cf37f650507b5f231c6e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?EREN=20MERT=20Y=C4=B0=C4=9E=C4=B0T?=
 <alroboticsEMY@gmail.com>
Date: Mon, 25 Nov 2024 11:19:52 +0300
Subject: [PATCH] AP_Scripting: Auto turn off sprayer

---
 .../AP_Scripting/applets/Sprayer_auto_off.lua | 55 +++++++++++++++++++
 .../AP_Scripting/applets/Sprayer_auto_off.md  | 13 +++++
 2 files changed, 68 insertions(+)
 create mode 100644 libraries/AP_Scripting/applets/Sprayer_auto_off.lua
 create mode 100644 libraries/AP_Scripting/applets/Sprayer_auto_off.md

diff --git a/libraries/AP_Scripting/applets/Sprayer_auto_off.lua b/libraries/AP_Scripting/applets/Sprayer_auto_off.lua
new file mode 100644
index 0000000000000..943f5f7a0cb5e
--- /dev/null
+++ b/libraries/AP_Scripting/applets/Sprayer_auto_off.lua
@@ -0,0 +1,55 @@
+--
+-- 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
diff --git a/libraries/AP_Scripting/applets/Sprayer_auto_off.md b/libraries/AP_Scripting/applets/Sprayer_auto_off.md
new file mode 100644
index 0000000000000..a1e16cae86170
--- /dev/null
+++ b/libraries/AP_Scripting/applets/Sprayer_auto_off.md
@@ -0,0 +1,13 @@
+
+ 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
+