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AP_Parachute: do relay conversion if ever enabled

This commit is contained in:
Iampete1 2024-02-06 14:59:08 +00:00 committed by Andrew Tridgell
parent 43a8432936
commit 5b6d86c278
1 changed files with 11 additions and 1 deletions
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12
libraries/AP_Parachute/AP_Parachute.cpp
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@ -241,7 +241,17 @@ bool AP_Parachute::arming_checks(size_t buflen, char *buffer) const
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)) {
if (_release_type > AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
// Not relay type
return false;
}
if (!enabled() && !_enabled.configured()) {
// Disabled and parameter never changed
// Copter manual parachute release enables and deploys in one step
// This means it is possible for parachute to still function correctly if disabled at boot
// Checking if the enable param is configured means the user must have setup chute at some point
// this means relay parm conversion will be done if parachute has ever been enabled
// Parachute has priority in relay param conversion, so this might mean we overwrite some other function
return false;
}
index = _release_type;