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AP_Rely: allow RELAYn_DEFAULT values for DroneCAN Periphs

This commit is contained in:
Tom Pittenger 2024-11-13 15:33:17 -08:00 committed by Tom Pittenger
parent a69b777d17
commit 2115ad9c97
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_Relay/AP_Relay.cpp
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@ -353,7 +353,11 @@ void AP_Relay::init()
continue; continue;
} }
if (function == AP_Relay_Params::FUNCTION::RELAY) { bool use_default_param = (function == AP_Relay_Params::FUNCTION::RELAY);
#ifdef HAL_BUILD_AP_PERIPH
use_default_param |= (function >= AP_Relay_Params::FUNCTION::DroneCAN_HARDPOINT_0 && function <= AP_Relay_Params::FUNCTION::DroneCAN_HARDPOINT_15);
#endif
if (use_default_param) {
// relay by instance number, set the state to match our output // relay by instance number, set the state to match our output
const AP_Relay_Params::DefaultState default_state = _params[instance].default_state; const AP_Relay_Params::DefaultState default_state = _params[instance].default_state;
if ((default_state == AP_Relay_Params::DefaultState::OFF) || if ((default_state == AP_Relay_Params::DefaultState::OFF) ||