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ArduCopter: move parameter storage formatting up to AP_Vehicle

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Peter Barker 2024-02-10 15:38:50 +11:00 committed by Peter Barker
parent 23aeef4bfe
commit 00356e0eb4
1 changed files with 1 additions and 21 deletions
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22
ArduCopter/Parameters.cpp
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@ -1338,25 +1338,8 @@ const AP_Param::ConversionInfo conversion_table[] = {
void Copter::load_parameters(void) void Copter::load_parameters(void)
{ {
hal.util->set_soft_armed(false); AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
DEV_PRINTF("Firmware change: erasing EEPROM...\n");
StorageManager::erase();
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
DEV_PRINTF("done.\n");
}
g.format_version.set_default(Parameters::k_format_version);
uint32_t before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table)); AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
#if AP_LANDINGGEAR_ENABLED #if AP_LANDINGGEAR_ENABLED
@ -1409,11 +1392,8 @@ void Copter::load_parameters(void)
AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true); AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
#endif #endif
hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
// setup AP_Param frame type flags // setup AP_Param frame type flags
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER); AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER);
} }
// handle conversion of PID gains // handle conversion of PID gains