AP_Relay: check enabled relay mask for passing relay outputs to hardware

joshanne · Sep 4, 2023 · 2b00f09 · 2b00f09
1 parent 3c59a70
commit 2b00f09
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
@@ -157,7 +157,9 @@ void AP_Relay::set(const uint8_t instance, const bool value)
        _last_logged_pin_states = _pin_states;
     }
 #if AP_SIM_ENABLED && (CONFIG_HAL_BOARD != HAL_BOARD_SITL)
-    return;
+    if (!(AP::sitl()->on_hardware_relay_enable_mask & (1U << instance))) {
+        return;
+    }
 #endif
     hal.gpio->pinMode(_pin[instance], HAL_GPIO_OUTPUT);
     hal.gpio->write(_pin[instance], value);