AP_Relay: add support for DroneCAN HardPoint functions

hellvesper · Jan 10, 2024 · ccb4d68 · ccb4d68
1 parent c8a63a1
commit ccb4d68
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Showing 2 changed files with 32 additions and 0 deletions.
diff --git a/libraries/AP_Relay/AP_Relay_Params.cpp b/libraries/AP_Relay/AP_Relay_Params.cpp
@@ -15,6 +15,22 @@ const AP_Param::GroupInfo AP_Relay_Params::var_info[] = {
     // @Values{Rover}: 7:Bushed motor reverse 3 omni motor 3
     // @Values{Rover}: 8:Bushed motor reverse 4 omni motor 4
     // @Values{Plane}: 9:ICE Starter
+    // @Values{AP_Periph}: 10: DroneCAN Hardpoint ID 0
+    // @Values{AP_Periph}: 11: DroneCAN Hardpoint ID 1
+    // @Values{AP_Periph}: 12: DroneCAN Hardpoint ID 2
+    // @Values{AP_Periph}: 13: DroneCAN Hardpoint ID 3
+    // @Values{AP_Periph}: 14: DroneCAN Hardpoint ID 4
+    // @Values{AP_Periph}: 15: DroneCAN Hardpoint ID 5
+    // @Values{AP_Periph}: 16: DroneCAN Hardpoint ID 6
+    // @Values{AP_Periph}: 17: DroneCAN Hardpoint ID 7
+    // @Values{AP_Periph}: 18: DroneCAN Hardpoint ID 8
+    // @Values{AP_Periph}: 19: DroneCAN Hardpoint ID 9
+    // @Values{AP_Periph}: 20: DroneCAN Hardpoint ID 10
+    // @Values{AP_Periph}: 21: DroneCAN Hardpoint ID 11
+    // @Values{AP_Periph}: 22: DroneCAN Hardpoint ID 12
+    // @Values{AP_Periph}: 23: DroneCAN Hardpoint ID 13
+    // @Values{AP_Periph}: 24: DroneCAN Hardpoint ID 14
+    // @Values{AP_Periph}: 25: DroneCAN Hardpoint ID 15
 
     // @User: Standard
     AP_GROUPINFO_FLAGS("FUNCTION", 1, AP_Relay_Params, function, (float)FUNCTION::NONE, AP_PARAM_FLAG_ENABLE),

diff --git a/libraries/AP_Relay/AP_Relay_Params.h b/libraries/AP_Relay/AP_Relay_Params.h
@@ -29,6 +29,22 @@ class AP_Relay_Params {
         BRUSHED_REVERSE_3 = 7,
         BRUSHED_REVERSE_4 = 8,
         ICE_STARTER = 9,
+        DroneCAN_HARDPOINT_0  = 10,
+        DroneCAN_HARDPOINT_1  = 11,
+        DroneCAN_HARDPOINT_2  = 12,
+        DroneCAN_HARDPOINT_3  = 13,
+        DroneCAN_HARDPOINT_4  = 14,
+        DroneCAN_HARDPOINT_5  = 15,
+        DroneCAN_HARDPOINT_6  = 16,
+        DroneCAN_HARDPOINT_7  = 17,
+        DroneCAN_HARDPOINT_8  = 18,
+        DroneCAN_HARDPOINT_9  = 19,
+        DroneCAN_HARDPOINT_10 = 20,
+        DroneCAN_HARDPOINT_11 = 21,
+        DroneCAN_HARDPOINT_12 = 22,
+        DroneCAN_HARDPOINT_13 = 23,
+        DroneCAN_HARDPOINT_14 = 24,
+        DroneCAN_HARDPOINT_15 = 25,
         NUM_FUNCTIONS // must be the last entry
     };