From 5a5ee0c44c41ac1acbde18662281a1bbb9b6ab0f Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 8 Dec 2023 04:36:47 +0000
Subject: [PATCH] AP_Parachute: move to new relay functions

---
 libraries/AP_Parachute/AP_Parachute.cpp | 21 +++++++++++++++++----
 libraries/AP_Parachute/AP_Parachute.h   |  5 ++++-
 2 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_Parachute/AP_Parachute.cpp b/libraries/AP_Parachute/AP_Parachute.cpp
index 9b4075dc71..6ed1618b19 100644
--- a/libraries/AP_Parachute/AP_Parachute.cpp
+++ b/libraries/AP_Parachute/AP_Parachute.cpp
@@ -142,7 +142,7 @@ void AP_Parachute::update()
                 // set relay
                 AP_Relay*_relay = AP::relay();
                 if (_relay != nullptr) {
-                    _relay->on(_release_type);
+                    _relay->set(AP_Relay_Params::FUNCTION::PARACHUTE, true); 
                 }
 #endif
             }
@@ -159,7 +159,7 @@ void AP_Parachute::update()
             // set relay back to zero volts
             AP_Relay*_relay = AP::relay();
             if (_relay != nullptr) {
-                _relay->off(_release_type);
+                _relay->set(AP_Relay_Params::FUNCTION::PARACHUTE, false);
             }
 #endif
         }
@@ -218,8 +218,8 @@ bool AP_Parachute::arming_checks(size_t buflen, char *buffer) const
         } 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));
+            if (_relay == nullptr || !_relay->enabled(AP_Relay_Params::FUNCTION::PARACHUTE)) {
+                hal.util->snprintf(buffer, buflen, "Chute has no relay");
                 return false;
             }
 #else
@@ -235,6 +235,19 @@ bool AP_Parachute::arming_checks(size_t buflen, char *buffer) const
     return true;
 }
 
+#if AP_RELAY_ENABLED
+// Return the relay index that would be used for param conversion to relay functions
+bool AP_Parachute::get_legacy_relay_index(int8_t &index) const
+{
+    // PARAMETER_CONVERSION - Added: Dec-2023
+    if (!enabled() || (_release_type > AP_PARACHUTE_TRIGGER_TYPE_RELAY_3)) {
+        return false;
+    }
+    index = _release_type; 
+    return true;
+}
+#endif
+
 // singleton instance
 AP_Parachute *AP_Parachute::_singleton;
 
diff --git a/libraries/AP_Parachute/AP_Parachute.h b/libraries/AP_Parachute/AP_Parachute.h
index 7793a202d2..30005e7543 100644
--- a/libraries/AP_Parachute/AP_Parachute.h
+++ b/libraries/AP_Parachute/AP_Parachute.h
@@ -85,7 +85,10 @@ public:
 
     // check settings are valid
     bool arming_checks(size_t buflen, char *buffer) const;
-    
+
+    // Return the relay index that would be used for param conversion to relay functions
+    bool get_legacy_relay_index(int8_t &index) const;
+
     static const struct AP_Param::GroupInfo        var_info[];
 
     // get singleton instance