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AP_Mission: Fix #19596 and MAV_CMD_DO_REPEAT_RELAY #19606

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AP_Mission: Fix #19596 and MAV_CMD_DO_REPEAT_RELAY #19606

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0a9d1f1
GCS_MAVLink: Fix #19596 and MAV_CMD_DO_REPEAT_RELAY
muramura Dec 24, 2021
51b5642
AP_ServoRelayEvents: Fix #19596 and MAV_CMD_DO_REPEAT_RELAY
muramura Dec 24, 2021
68626f6
AP_Mission: Fix #19596 and MAV_CMD_DO_REPEAT_RELAY
muramura Dec 24, 2021
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4 changes: 2 additions & 2 deletions libraries/AP_Mission/AP_Mission_Commands.cpp
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Expand Up @@ -73,12 +73,12 @@ bool AP_Mission::start_command_do_servorelayevents(const AP_Mission::Mission_Com
return sre->do_repeat_servo(cmd.content.repeat_servo.channel,
cmd.content.repeat_servo.pwm,
cmd.content.repeat_servo.repeat_count,
cmd.content.repeat_servo.cycle_time * 1000.0f);
cmd.content.repeat_servo.cycle_time);

case MAV_CMD_DO_REPEAT_RELAY:
return sre->do_repeat_relay(cmd.content.repeat_relay.num,
cmd.content.repeat_relay.repeat_count,
cmd.content.repeat_relay.cycle_time * 1000.0f);
cmd.content.repeat_relay.cycle_time);
default:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Unhandled servo/relay case");
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8 changes: 4 additions & 4 deletions libraries/AP_ServoRelayEvents/AP_ServoRelayEvents.cpp
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Expand Up @@ -81,7 +81,7 @@ bool AP_ServoRelayEvents::do_set_relay(uint8_t relay_num, uint8_t state)
}

bool AP_ServoRelayEvents::do_repeat_servo(uint8_t _channel, uint16_t _servo_value,
int16_t _repeat, uint16_t _delay_ms)
int16_t _repeat, uint16_t _delay_s)
{
SRV_Channel *c = SRV_Channels::srv_channel(_channel-1);
if (c == nullptr) {
Expand All @@ -104,14 +104,14 @@ bool AP_ServoRelayEvents::do_repeat_servo(uint8_t _channel, uint16_t _servo_valu
type = EVENT_TYPE_SERVO;

start_time_ms = 0;
delay_ms = _delay_ms / 2;
delay_ms = uint32_t(_delay_s) * 1000 / 2;
repeat = _repeat * 2;
servo_value = _servo_value;
update_events();
return true;
}

bool AP_ServoRelayEvents::do_repeat_relay(uint8_t relay_num, int16_t _repeat, uint32_t _delay_ms)
bool AP_ServoRelayEvents::do_repeat_relay(uint8_t relay_num, int16_t _repeat, uint16_t _delay_s)
{
AP_Relay *relay = AP::relay();
if (relay == nullptr) {
Expand All @@ -123,7 +123,7 @@ bool AP_ServoRelayEvents::do_repeat_relay(uint8_t relay_num, int16_t _repeat, ui
type = EVENT_TYPE_RELAY;
channel = relay_num;
start_time_ms = 0;
delay_ms = _delay_ms/2; // half cycle time
delay_ms = uint32_t(_delay_s) * 1000 / 2; // half cycle time
repeat = _repeat*2; // number of full cycles
update_events();
return true;
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6 changes: 3 additions & 3 deletions libraries/AP_ServoRelayEvents/AP_ServoRelayEvents.h
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Expand Up @@ -28,8 +28,8 @@ class AP_ServoRelayEvents {

bool do_set_servo(uint8_t channel, uint16_t pwm);
bool do_set_relay(uint8_t relay_num, uint8_t state);
bool do_repeat_servo(uint8_t channel, uint16_t servo_value, int16_t repeat, uint16_t delay_time_ms);
bool do_repeat_relay(uint8_t relay_num, int16_t count, uint32_t period_ms);
bool do_repeat_servo(uint8_t channel, uint16_t servo_value, int16_t repeat, uint16_t delay_time_s);
bool do_repeat_relay(uint8_t relay_num, int16_t count, uint16_t period_s);
void update_events(void);

private:
Expand All @@ -48,7 +48,7 @@ class AP_ServoRelayEvents {
uint32_t start_time_ms;

// how long to delay the next firing of event in millis
uint16_t delay_ms;
uint32_t delay_ms;

// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
int16_t repeat;
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4 changes: 2 additions & 2 deletions libraries/GCS_MAVLink/GCS_ServoRelay.cpp
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Expand Up @@ -19,7 +19,7 @@ MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_long_t &
break;

case MAV_CMD_DO_REPEAT_SERVO:
if (handler->do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4 * 1000)) {
if (handler->do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4)) {
result = MAV_RESULT_ACCEPTED;
}
break;
Expand All @@ -31,7 +31,7 @@ MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_long_t &
break;

case MAV_CMD_DO_REPEAT_RELAY:
if (handler->do_repeat_relay(packet.param1, packet.param2, packet.param3 * 1000)) {
if (handler->do_repeat_relay(packet.param1, packet.param2, packet.param3)) {
result = MAV_RESULT_ACCEPTED;
}
break;
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