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AP_Parachute: add option to disable relay and servorelay libraries

This commit is contained in:
Peter Barker 2023-06-06 18:05:06 +10:00 committed by Peter Barker
parent e423173848
commit 2adb4fef5a
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_Parachute/AP_Parachute.cpp
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@ -137,12 +137,14 @@ void AP_Parachute::update()
if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
// move servo
SRV_Channels::set_output_pwm(SRV_Channel::k_parachute_release, _servo_on_pwm);
#if AP_RELAY_ENABLED
} else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
// set relay
AP_Relay*_relay = AP::relay();
if (_relay != nullptr) {
_relay->on(_release_type);
}
#endif
}
_release_in_progress = true;
_released = true;
@ -152,12 +154,14 @@ void AP_Parachute::update()
if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
// move servo back to off position
SRV_Channels::set_output_pwm(SRV_Channel::k_parachute_release, _servo_off_pwm);
#if AP_RELAY_ENABLED
} else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
// set relay back to zero volts
AP_Relay*_relay = AP::relay();
if (_relay != nullptr) {
_relay->off(_release_type);
}
#endif
}
// reset released flag and release_time
_release_in_progress = false;
@ -212,12 +216,17 @@ bool AP_Parachute::arming_checks(size_t buflen, char *buffer) const
return false;
}
} else {
#if AP_RELAY_ENABLED
AP_Relay*_relay = AP::relay();
if (_relay == nullptr || !_relay->enabled(_release_type)) {
hal.util->snprintf(buffer, buflen, "Chute invalid relay %d", int(_release_type));
return false;
}
#else
hal.util->snprintf(buffer, buflen, "AP_Relay not available");
#endif
}
if (_release_initiated) {
hal.util->snprintf(buffer, buflen, "Chute is released");
return false;