From a5586ec3942e19034ea800a4262cd4e3bc543ee0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 25 Jun 2013 12:48:58 +1000
Subject: [PATCH] Rover: enable RELAY_* parameters

---
 APMrover2/Parameters.h   | 1 +
 APMrover2/Parameters.pde | 4 ++++
 APMrover2/config.h       | 7 -------
 APMrover2/system.pde     | 2 --
 4 files changed, 5 insertions(+), 9 deletions(-)

diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index c3578fbc24..c378848263 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -33,6 +33,7 @@ public:
         k_param_reset_switch_chan,
         k_param_initial_mode,
         k_param_scheduler,
+        k_param_relay,
 
         // IO pins
         k_param_rssi_pin = 20,
diff --git a/APMrover2/Parameters.pde b/APMrover2/Parameters.pde
index 4f43e1ea29..a6265646ff 100644
--- a/APMrover2/Parameters.pde
+++ b/APMrover2/Parameters.pde
@@ -422,6 +422,10 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
     GOBJECT(scheduler, "SCHED_", AP_Scheduler),
 
+    // @Group: RELAY_
+    // @Path: ../libraries/AP_Relay/AP_Relay.cpp
+    GOBJECT(relay,                  "RELAY_", AP_Relay),
+
     // @Group: RCMAP_
     // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
     GOBJECT(rcmap,                 "RCMAP_",         RCMapper),
diff --git a/APMrover2/config.h b/APMrover2/config.h
index 4024769048..f6b9691f3e 100644
--- a/APMrover2/config.h
+++ b/APMrover2/config.h
@@ -36,9 +36,6 @@
  // default choices for a 1280. We can't fit everything in, so we 
  // make some popular choices by default
  #define LOGGING_ENABLED DISABLED
- #ifndef CONFIG_RELAY
- # define CONFIG_RELAY DISABLED
- #endif
  #ifndef MOUNT2
  # define MOUNT2 DISABLED
  #endif
@@ -74,14 +71,12 @@
 # define SLIDE_SWITCH_PIN 40
 # define PUSHBUTTON_PIN   41
 # define USB_MUX_PIN      -1
-# define CONFIG_RELAY     ENABLED
 # define BATTERY_PIN_1	  0
 # define CURRENT_PIN_1	  1
 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
 # define CONFIG_INS_TYPE   CONFIG_INS_MPU6000
 # define CONFIG_COMPASS  AP_COMPASS_HMC5843
 # define CONFIG_PUSHBUTTON DISABLED
-# define CONFIG_RELAY      DISABLED
 # define A_LED_PIN        27
 # define B_LED_PIN        26
 # define C_LED_PIN        25
@@ -97,7 +92,6 @@
 # define CONFIG_INS_TYPE CONFIG_INS_STUB
 # define CONFIG_COMPASS  AP_COMPASS_HIL
 # define CONFIG_PUSHBUTTON DISABLED
-# define CONFIG_RELAY      DISABLED
 # define A_LED_PIN        27
 # define B_LED_PIN        26
 # define C_LED_PIN        25
@@ -113,7 +107,6 @@
 # define CONFIG_INS_TYPE   CONFIG_INS_PX4
 # define CONFIG_COMPASS  AP_COMPASS_PX4
 # define CONFIG_PUSHBUTTON DISABLED
-# define CONFIG_RELAY      DISABLED
 # define A_LED_PIN        27
 # define B_LED_PIN        26
 # define C_LED_PIN        25
diff --git a/APMrover2/system.pde b/APMrover2/system.pde
index 302d922b7b..7de80b90df 100644
--- a/APMrover2/system.pde
+++ b/APMrover2/system.pde
@@ -206,9 +206,7 @@ static void init_ardupilot()
 #if CONFIG_PUSHBUTTON == ENABLED
 	pinMode(PUSHBUTTON_PIN, INPUT);		// unused
 #endif
-#if CONFIG_RELAY == ENABLED
     relay.init();
-#endif
 
     /*
       setup the 'main loop is dead' check. Note that this relies on