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4.6:add relay output voltage level inversion #5950

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4.6:add relay output voltage level inversion #5950

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5 changes: 3 additions & 2 deletions common/source/docs/common-relay.rst
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Expand Up @@ -13,7 +13,7 @@ Relay Parameter Setup

Setup of a relay requires that which pin it controls be set, and its default state. In addition, some autopilot functions can be assigned to the relay.

Example below for the second Relay:
Examples below for the second Relay:

- :ref:`RELAY2_FUNCTION<RELAY2_FUNCTION>`: the control of the relay pin can be assigned as a normal relay, controlled by GCS or RC switch, or as the output of other features like parachute release, camera, brushed motor reversing relay, etc.. See table below for values. A non-zero value will show the remaining parameters after a parameter refresh.

Expand All @@ -33,7 +33,8 @@ RELAYx_FUNCTION FUNCTION
=============== ========

- :ref:`RELAY2_PIN<RELAY2_PIN>`: the autopilot designated GPIO pin to be used for the function. See the :ref:`common-gpios` page for information on how to determine the pin numbers and setup for using autopilot servo/motor outputs. DroneCAN peripherals with remote relay outputs have pin numbers in the 1000 to 1015 range. Consult the peripheral's documentation for proper pin number to use.
- :ref:`RELAY2_DEFAULT<RELAY2_DEFAULT>`: After boot up, should the relay default to on or off. This only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters.
- :ref:`RELAY2_DEFAULT<RELAY2_DEFAULT>`: After boot up, should the relay default to ON (1) or OFF (0, default), or 2 = no change from bootloader state for the relay output pin. This only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters.
- :ref:`RELAY2_INVERTED<RELAY2_INVERTED>`: this parameter controls the actual output voltage level corresponding to the "ON" state. If set to "1", the ON will actually be a low output, versus the normal high output voltage level. Will also impact the :ref:`RELAY2_DEFAULT<RELAY2_DEFAULT>` output voltage level.


.. note:: any change to relay pin setup requires a reboot to take effect.
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