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AP_Gripper: correct emitting of grabbed/released messages 

these strigs would only be released if release() or grab were called a second time
This commit is contained in:
Peter Barker 2024-06-20 09:56:43 +10:00 committed by Peter Barker
parent 3630e772b1
commit 56a7e520b6
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_Gripper/AP_Gripper_Servo.cpp
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@ -104,8 +104,10 @@ void AP_Gripper_Servo::update_gripper()
// Check for successful grabbed or released // Check for successful grabbed or released
if (config.state == AP_Gripper::STATE_GRABBING && has_state_pwm(config.grab_pwm)) { if (config.state == AP_Gripper::STATE_GRABBING && has_state_pwm(config.grab_pwm)) {
config.state = AP_Gripper::STATE_GRABBED; config.state = AP_Gripper::STATE_GRABBED;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load grabbed");
} else if (config.state == AP_Gripper::STATE_RELEASING && has_state_pwm(config.release_pwm)) { } else if (config.state == AP_Gripper::STATE_RELEASING && has_state_pwm(config.release_pwm)) {
config.state = AP_Gripper::STATE_RELEASED; config.state = AP_Gripper::STATE_RELEASED;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load released");
} }
} }