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AP_ICEngine: move to new relay functions

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Iampete1 2023-12-08 04:30:34 +00:00 committed by Peter Barker
parent 8292c6ea9f
commit 8ce490d985
2 changed files with 25 additions and 19 deletions
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34
libraries/AP_ICEngine/AP_ICEngine.cpp
View File

@ -165,14 +165,8 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
AP_GROUPINFO("REDLINE_RPM", 17, AP_ICEngine, redline_rpm, 0),
#endif
#if AP_RELAY_ENABLED
// @Param: IGNITION_RLY
// @DisplayName: Ignition relay channel
// @Description: This is a a relay channel to use for ignition control
// @User: Standard
// @Values: 0:None,1:Relay1,2:Relay2,3:Relay3,4:Relay4,5:Relay5,6:Relay6
AP_GROUPINFO("IGNITION_RLY", 18, AP_ICEngine, ignition_relay, 0),
#endif
// 18 was IGNITION_RLY
AP_GROUPEND
};
@ -608,15 +602,14 @@ void AP_ICEngine::update_idle_governor(int8_t &min_throttle)
void AP_ICEngine::set_ignition(bool on)
{
SRV_Channels::set_output_pwm(SRV_Channel::k_ignition, on? pwm_ignition_on : pwm_ignition_off);
#if AP_RELAY_ENABLED
// optionally use a relay as well
if (ignition_relay > 0) {
auto *relay = AP::relay();
if (relay != nullptr) {
relay->set(ignition_relay-1, on);
}
AP_Relay *relay = AP::relay();
if (relay != nullptr) {
relay->set(AP_Relay_Params::FUNCTION::IGNITION, on);
}
#endif // AP_RELAY_ENABLED
}
/*
@ -638,6 +631,19 @@ bool AP_ICEngine::allow_throttle_while_disarmed() const
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED;
}
#if AP_RELAY_ENABLED
bool AP_ICEngine::get_legacy_ignition_relay_index(int8_t &num)
{
// PARAMETER_CONVERSION - Added: Dec-2023
if (!enable || !AP_Param::get_param_by_index(this, 18, AP_PARAM_INT8, &num)) {
return false;
}
// convert to zero indexed
num -= 1;
return true;
}
#endif
// singleton instance. Should only ever be set in the constructor.
AP_ICEngine *AP_ICEngine::_singleton;
namespace AP {

10
libraries/AP_ICEngine/AP_ICEngine.h
View File

@ -66,6 +66,11 @@ public:
// do we have throttle while disarmed enabled?
bool allow_throttle_while_disarmed(void) const;
#if AP_RELAY_ENABLED
// Needed for param conversion from relay numbers to functions
bool get_legacy_ignition_relay_index(int8_t &num);
#endif
static AP_ICEngine *get_singleton() { return _singleton; }
private:
@ -136,11 +141,6 @@ private:
AP_Float idle_slew;
#endif
#if AP_RELAY_ENABLED
// relay number for ignition
AP_Int8 ignition_relay;
#endif
// height when we enter ICE_START_HEIGHT_DELAY
float initial_height;