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AP_Parachute: adapt to new RC_Channel API

This commit is contained in:
Andrew Tridgell 2017-01-05 16:13:09 +11:00
parent 4173432542
commit 7706741b9b
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_Parachute/AP_Parachute.cpp
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@ -2,6 +2,7 @@
#include <AP_Relay/AP_Relay.h>
#include <AP_Math/AP_Math.h>
#include <RC_Channel/RC_Channel.h>
#include <SRV_Channel/SRV_Channel.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_HAL/AP_HAL.h>
@ -107,7 +108,7 @@ void AP_Parachute::update()
if (time_diff >= delay_ms) {
if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
// move servo
RC_Channel_aux::set_radio(RC_Channel_aux::k_parachute_release, _servo_on_pwm);
SRV_Channels::set_output_pwm(SRV_Channel::k_parachute_release, _servo_on_pwm);
}else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
// set relay
_relay.on(_release_type);
@ -118,7 +119,7 @@ void AP_Parachute::update()
}else if ((_release_time == 0) || time_diff >= delay_ms + AP_PARACHUTE_RELEASE_DURATION_MS) {
if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
// move servo back to off position
RC_Channel_aux::set_radio(RC_Channel_aux::k_parachute_release, _servo_off_pwm);
SRV_Channels::set_output_pwm(SRV_Channel::k_parachute_release, _servo_off_pwm);
}else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
// set relay back to zero volts
_relay.off(_release_type);