Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-18 06:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Parachute: move to new relay functions

Browse Source
This commit is contained in:
Iampete1 2023-12-08 04:36:47 +00:00 committed by Peter Barker
parent 8ab6f01942
commit 5a5ee0c44c
2 changed files with 21 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
libraries/AP_Parachute/AP_Parachute.cpp
View File

@ -142,7 +142,7 @@ void AP_Parachute::update()
// set relay // set relay
AP_Relay*_relay = AP::relay(); AP_Relay*_relay = AP::relay();
if (_relay != nullptr) { if (_relay != nullptr) {
_relay->on(_release_type); _relay->set(AP_Relay_Params::FUNCTION::PARACHUTE, true);
} }
#endif #endif
} }
@ -159,7 +159,7 @@ void AP_Parachute::update()
// set relay back to zero volts // set relay back to zero volts
AP_Relay*_relay = AP::relay(); AP_Relay*_relay = AP::relay();
if (_relay != nullptr) { if (_relay != nullptr) {
_relay->off(_release_type); _relay->set(AP_Relay_Params::FUNCTION::PARACHUTE, false);
} }
#endif #endif
} }
@ -218,8 +218,8 @@ bool AP_Parachute::arming_checks(size_t buflen, char *buffer) const
} else { } else {
#if AP_RELAY_ENABLED #if AP_RELAY_ENABLED
AP_Relay*_relay = AP::relay(); AP_Relay*_relay = AP::relay();
if (_relay == nullptr || !_relay->enabled(_release_type)) { if (_relay == nullptr || !_relay->enabled(AP_Relay_Params::FUNCTION::PARACHUTE)) {
hal.util->snprintf(buffer, buflen, "Chute invalid relay %d", int(_release_type)); hal.util->snprintf(buffer, buflen, "Chute has no relay");
return false; return false;
} }
#else #else
@ -235,6 +235,19 @@ bool AP_Parachute::arming_checks(size_t buflen, char *buffer) const
return true; 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 // singleton instance
AP_Parachute *AP_Parachute::_singleton; AP_Parachute *AP_Parachute::_singleton;

5
libraries/AP_Parachute/AP_Parachute.h
View File

@ -85,7 +85,10 @@ public:
// check settings are valid // check settings are valid
bool arming_checks(size_t buflen, char *buffer) const; 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[]; static const struct AP_Param::GroupInfo var_info[];
// get singleton instance // get singleton instance