From 768e2409df1864334544adf35d54832c8b57f1a1 Mon Sep 17 00:00:00 2001
From: James O'Shannessy <12959316+joshanne@users.noreply.github.com>
Date: Tue, 5 Sep 2023 00:48:19 +1000
Subject: [PATCH] AP_Relay: check enabled relay mask for passing relay outputs
 to hardware

---
 libraries/AP_Relay/AP_Relay.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 859cf27685..1c4cb143f7 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -156,8 +156,10 @@ void AP_Relay::set(const uint8_t instance, const bool value)
        _last_log_ms = now;
        _last_logged_pin_states = _pin_states;
     }
-#if AP_SIM_ENABLED && (CONFIG_HAL_BOARD != HAL_BOARD_SITL)
-    return;
+#if AP_SIM_ENABLED
+    if (!(AP::sitl()->on_hardware_relay_enable_mask & (1U << instance))) {
+        return;
+    }
 #endif
     hal.gpio->pinMode(_pin[instance], HAL_GPIO_OUTPUT);
     hal.gpio->write(_pin[instance], value);