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AP_ServoRelayEvents: allow DO_SET_SERVO commands while rc pass-thru

This commit is contained in:
Tatsuya Yamaguchi 2019-06-07 14:34:40 +09:00 committed by Randy Mackay
parent f9547fa28e
commit 012fcae388
1 changed files with 16 additions and 2 deletions
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18
libraries/AP_ServoRelayEvents/AP_ServoRelayEvents.cpp
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@ -32,7 +32,13 @@ bool AP_ServoRelayEvents::do_set_servo(uint8_t _channel, uint16_t pwm)
if (c == nullptr) { if (c == nullptr) {
return false; return false;
} }
if (c->get_function() != SRV_Channel::k_none) { switch(c->get_function())
{
case SRV_Channel::k_none:
case SRV_Channel::k_manual:
case SRV_Channel::k_rcin1 ... SRV_Channel::k_rcin16: // rc pass-thru
break;
default:
gcs().send_text(MAV_SEVERITY_INFO, "ServoRelayEvent: Channel %d is already in use", _channel); gcs().send_text(MAV_SEVERITY_INFO, "ServoRelayEvent: Channel %d is already in use", _channel);
return false; return false;
} }
@ -42,6 +48,7 @@ bool AP_ServoRelayEvents::do_set_servo(uint8_t _channel, uint16_t pwm)
repeat = 0; repeat = 0;
} }
c->set_output_pwm(pwm); c->set_output_pwm(pwm);
c->ignore_small_rcin_changes();
return true; return true;
} }
@ -72,7 +79,13 @@ bool AP_ServoRelayEvents::do_repeat_servo(uint8_t _channel, uint16_t _servo_valu
if (c == nullptr) { if (c == nullptr) {
return false; return false;
} }
if (c->get_function() != SRV_Channel::k_none) { switch(c->get_function())
{
case SRV_Channel::k_none:
case SRV_Channel::k_manual:
case SRV_Channel::k_rcin1 ... SRV_Channel::k_rcin16: // rc pass-thru
break;
default:
gcs().send_text(MAV_SEVERITY_INFO, "ServoRelayEvent: Channel %d is already in use", _channel); gcs().send_text(MAV_SEVERITY_INFO, "ServoRelayEvent: Channel %d is already in use", _channel);
return false; return false;
} }
@ -121,6 +134,7 @@ void AP_ServoRelayEvents::update_events(void)
c->set_output_pwm(c->get_trim()); c->set_output_pwm(c->get_trim());
} else { } else {
c->set_output_pwm(servo_value); c->set_output_pwm(servo_value);
c->ignore_small_rcin_changes();
} }
} }
break; break;