Copter: RELAY output gives short HIGH during boot

[fingadar]

Bug report

Issue details There is a change in RELAY output from 4.4 to 4.5.6. During boot process, the FC outputs a short high level at RELAY(x) pin, even if RELAY(x)_DEFAULT is zero. When booting is complete, the RELAY(x) pin is low again. The effect is reproduceable, V4.4 → output stays low, V4.5.6 output has a short high pulse.

Version 4.5.6

Platform [ ] All [ ] AntennaTracker [X] Copter [ ] Plane [ ] Rover [ ] Submarine

Hardware type Matek H743 slim V3.

[rmackay9]

This might be one for @IamPete1 who I think did some refactoring of the relay code

[IamPete1]

@fingadar Can you post your parameters please, which pin are you using?

[rmackay9]

Hi @IamPete1,

I'm think I've bumped into this issue as well with my Xacti camera which has Relay1 connected to the camera's on/off pin (see wiki here). Pulling the pin high causes the camera to reboot and this happens each time I reboot the autopilot using a mavlink reboot command.

I can manually get around the problem by using MP's Servo/Relay tab and setting the toggle high (to reboot the camera) and then low again but it would be nice if it didn't happen because I need things to go smoothly during my competition in a few weeks.

I went back to check 4.4.4 but my Xacti camera driver was not available then so for me this is not a new problem. I must have lived with this problem at last year's competition anyway.

[fingadar]

@IamPete1 Yes, of course. Do you need the whole parameter file? The important entries are:

RELAY_PIN2,60 RELAY_DEFAULT,0 in 4.4

RELAY2_PIN,60 RELAY2_DEFAULT,0 in 4.5.6

The output is S11 (GPIO60) on a MATEK H743 slim. The high toggle always happens during boot. It happens always at power-on, but also at a reboot using mavlink rebooting command.

In our case, the relay pin works in conjunction with a switching logic for a dual fc configuration, and so, on reboot or power-on, the logic incorrectly switches the second FC active.