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AP_Param: added CONVERT_FLAG_REVERSE and CONVERT_FLAG_FORCE

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This commit is contained in:
Andrew Tridgell 2017-01-10 17:07:53 +11:00
parent a3220944d8
commit 05e9462a9c
2 changed files with 15 additions and 7 deletions
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14
libraries/AP_Param/AP_Param.cpp
View File

@ -1592,7 +1592,7 @@ bool AP_Param::find_old_parameter(const struct ConversionInfo *info, AP_Param *v
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat"
// convert one old vehicle parameter to new object parameter
void AP_Param::convert_old_parameter(const struct ConversionInfo *info, float scaler)
void AP_Param::convert_old_parameter(const struct ConversionInfo *info, float scaler, uint8_t flags)
{
uint8_t old_value[type_size(info->type)];
AP_Param *ap = (AP_Param *)&old_value[0];
@ -1614,14 +1614,14 @@ void AP_Param::convert_old_parameter(const struct ConversionInfo *info, float sc
}
// see if we can load it from EEPROM
if (ap2->load()) {
if (!(flags & CONVERT_FLAG_FORCE) && ap2->configured_in_storage()) {
// the new parameter already has a value set by the user, or
// has already been converted
return;
}
// see if they are the same type and no scaling applied
if (ptype == info->type && is_equal(scaler, 1.0f)) {
if (ptype == info->type && is_equal(scaler, 1.0f) && flags == 0) {
// copy the value over only if the new parameter does not already
// have the old value (via a default).
if (memcmp(ap2, ap, sizeof(old_value)) != 0) {
@ -1632,6 +1632,10 @@ void AP_Param::convert_old_parameter(const struct ConversionInfo *info, float sc
} else if (ptype <= AP_PARAM_FLOAT && info->type <= AP_PARAM_FLOAT) {
// perform scalar->scalar conversion
float v = ap->cast_to_float(info->type);
if (flags & CONVERT_FLAG_REVERSE) {
// convert a _REV parameter to a _REVERSED parameter
v = is_equal(v, -1.0f)?1:0;
}
if (!is_equal(v,ap2->cast_to_float(ptype))) {
// the value needs to change
set_value(ptype, ap2, v * scaler);
@ -1646,10 +1650,10 @@ void AP_Param::convert_old_parameter(const struct ConversionInfo *info, float sc
// convert old vehicle parameters to new object parametersv
void AP_Param::convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size)
void AP_Param::convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size, uint8_t flags)
{
for (uint8_t i=0; i<table_size; i++) {
convert_old_parameter(&conversion_table[i], 1.0f);
convert_old_parameter(&conversion_table[i], 1.0f, flags);
}
}

8
libraries/AP_Param/AP_Param.h
View File

@ -296,10 +296,14 @@ public:
static bool find_old_parameter(const struct ConversionInfo *info, AP_Param *value);
// convert old vehicle parameters to new object parameters
static void convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size);
static void convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size, uint8_t flags=0);
// convert a single parameter with scaling
static void convert_old_parameter(const struct ConversionInfo *info, float scaler);
enum {
CONVERT_FLAG_REVERSE=1, // handle _REV -> _REVERSED conversion
CONVERT_FLAG_FORCE=2 // store new value even if configured in eeprom already
};
static void convert_old_parameter(const struct ConversionInfo *info, float scaler, uint8_t flags=0);
/// Erase all variables in EEPROM.
///