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AP_Relay: pre-arm displays gpio vs servo_ch conflict

This commit is contained in:
Randy Mackay 2022-04-19 11:18:07 +09:00
parent 846637e3e9
commit d8219c2200
1 changed files with 12 additions and 2 deletions
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14
libraries/AP_Relay/AP_Relay.cpp
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@ -156,8 +156,18 @@ void AP_Relay::toggle(uint8_t instance)
bool AP_Relay::arming_checks(size_t buflen, char *buffer) const
{
for (uint8_t i=0; i<AP_RELAY_NUM_RELAYS; i++) {
if (_pin[i] != -1 && !hal.gpio->valid_pin(_pin[i])) {
hal.util->snprintf(buffer, buflen, "Relay[%u] pin %d invalid", i + 1, int(_pin[i].get()));
int8_t pin = _pin[i].get();
if (pin != -1 && !hal.gpio->valid_pin(pin)) {
char param_name_buf[11] = "RELAY_PIN";
if (i > 0) {
hal.util->snprintf(param_name_buf, ARRAY_SIZE(param_name_buf), "RELAY_PIN%u", unsigned(i+1));
}
uint8_t servo_ch;
if (hal.gpio->pin_to_servo_channel(pin, servo_ch)) {
hal.util->snprintf(buffer, buflen, "%s=%d, set SERVO%u_FUNCTION=-1", param_name_buf, int(pin), unsigned(servo_ch+1));
} else {
hal.util->snprintf(buffer, buflen, "%s=%d invalid", param_name_buf, int(pin));
}
return false;
}
}