AP_ICEngine: add support for starter relay

2023-12-19 02:13:25 +00:00 · 2023-12-19 02:13:25 +00:00 · 86a199c1bf
commit 86a199c1bf
parent ab0755d0d8
1 changed files with 7 additions and 0 deletions
--- a/libraries/AP_ICEngine/AP_ICEngine.cpp
+++ b/libraries/AP_ICEngine/AP_ICEngine.cpp
@ -622,6 +622,13 @@ void AP_ICEngine::set_starter(bool on)
 #if AP_ICENGINE_TCA9554_STARTER_ENABLED
    tca9554_starter.set_starter(on);
 #endif
+
+#if AP_RELAY_ENABLED
+    AP_Relay *relay = AP::relay();
+    if (relay != nullptr) {
+        relay->set(AP_Relay_Params::FUNCTION::ICE_STARTER, on);
+    }
+#endif // AP_RELAY_ENABLED
 }