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Permalink Reply by Michael Pursifull on June 15, 2012 at 1:31am

I'm not very familure with the code, but I believe most of that is in there to support handling failure cases, to ensure the relay does not get left "on" during certain failure conditions. I suspect some of the code was borrowed from previous work, since this hardware is most useful for APM2 users. One of several differences between APM1 and APM2 is APM2 does not include this relay onboard. 

You want some kind of watchdog and failure handling in case things go haywire. You don't want to keep the relay "on" if it is used for heavy draw components like an LED strip, or if it were used as part of a camera trigger w/ transistors or directly wired to a circuit when you lose RX signal. At least, I think that is the idea. Someone else can confirm when they see your message. 

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