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AP_Parachute: move to new relay functions

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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
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21
libraries/AP_Parachute/AP_Parachute.cpp
View File

@ -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;

3
libraries/AP_Parachute/AP_Parachute.h
View File

@ -86,6 +86,9 @@ 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