From e3804e2846cca91ca4df3a4077272bf92eb6ea3a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 20 Jan 2014 14:54:21 +1100
Subject: [PATCH] Copter: fixes for AP_Relay API change
---
ArduCopter/ArduCopter.pde | 4 ++--
ArduCopter/commands_logic.pde | 6 +++---
ArduCopter/events.pde | 2 +-
ArduCopter/test.pde | 4 ++--
4 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index a9611839c..1a8bf3d7f 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -2205,8 +2205,8 @@ static void tuning(){
break;
case CH6_RELAY:
- if (g.rc_6.control_in > 525) relay.on();
- if (g.rc_6.control_in < 475) relay.off();
+ if (g.rc_6.control_in > 525) relay.on(0);
+ if (g.rc_6.control_in < 475) relay.off(0);
break;
#if FRAME_CONFIG == HELI_FRAME
diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 2d331f838..b16680b54 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -906,11 +906,11 @@ static void do_set_servo()
static void do_set_relay()
{
if (command_cond_queue.p1 == 1) {
- relay.on();
+ relay.on(0);
} else if (command_cond_queue.p1 == 0) {
- relay.off();
+ relay.off(0);
}else{
- relay.toggle();
+ relay.toggle(0);
}
}
diff --git a/ArduCopter/events.pde b/ArduCopter/events.pde
index 13c69776e..ce66ffe88 100644
--- a/ArduCopter/events.pde
+++ b/ArduCopter/events.pde
@@ -324,7 +324,7 @@ static void update_events() // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_
}
if (event_id == RELAY_TOGGLE) {
- relay.toggle();
+ relay.toggle(0);
}
if (event_repeat > 0) {
event_repeat--;
diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index 1f7b21ba8..3a156b1e1 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -495,14 +495,14 @@ static int8_t test_relay(uint8_t argc, const Menu::arg *argv)
while(1) {
cliSerial->printf_P(PSTR("Relay on\n"));
- relay.on();
+ relay.on(0);
delay(3000);
if(cliSerial->available() > 0) {
return (0);
}
cliSerial->printf_P(PSTR("Relay off\n"));
- relay.off();
+ relay.off(0);
delay(3000);
if(cliSerial->available() > 0) {
return (0);
--
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