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AP_Airspeed: add param conversion to per-instance

This commit is contained in:
Iampete1 2022-11-26 15:19:22 +00:00 committed by Andrew Tridgell
parent e8802d1858
commit 0bb7e8a789
2 changed files with 73 additions and 0 deletions
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70
libraries/AP_Airspeed/AP_Airspeed.cpp
View File

@ -215,6 +215,74 @@ bool AP_Airspeed::add_backend(AP_Airspeed_Backend *backend)
if (num_sensors == AIRSPEED_MAX_SENSORS) { return; } \
} while (0)
// convet params to per instance param table
// PARAMETER_CONVERSION - Added: Dec-2022
void AP_Airspeed::convert_per_instance()
{
AP_Param::ConversionInfo info;
#ifndef HAL_BUILD_AP_PERIPH
// Vehicle conversion
if (!AP_Param::find_key_by_pointer(this, info.old_key)) {
return;
}
const struct convert_table {
uint32_t element[2];
ap_var_type type;
const char* name;
} conversion_table[] = {
{ {4042, 714}, AP_PARAM_INT8, "TYPE" }, // ARSPD_TYPE, ARSPD2_TYPE
{ {74, 778}, AP_PARAM_INT8, "USE" }, // ARSPD_USE, ARSPD2_USE
{ {138, 842}, AP_PARAM_FLOAT, "OFFSET" }, // ARSPD_OFFSET, ARSPD2_OFFSET
{ {202, 906}, AP_PARAM_FLOAT, "RATIO" }, // ARSPD_RATIO, ARSPD2_RATIO
{ {266, 970}, AP_PARAM_INT8, "PIN" }, // ARSPD_PIN, ARSPD2_PIN
#if AP_AIRSPEED_AUTOCAL_ENABLE
{ {330, 1034}, AP_PARAM_INT8, "AUTOCAL" }, // ARSPD_AUTOCAL, ARSPD2_AUTOCAL
#endif
{ {394, 1098}, AP_PARAM_INT8, "TUBE_ORDR" }, // ARSPD_TUBE_ORDER, ARSPD2_TUBE_ORDR
{ {458, 1162}, AP_PARAM_INT8, "SKIP_CAL" }, // ARSPD_SKIP_CAL, ARSPD2_SKIP_CAL
{ {522, 1226}, AP_PARAM_FLOAT, "PSI_RANGE" }, // ARSPD_PSI_RANGE, ARSPD2_PSI_RANGE
{ {586, 1290}, AP_PARAM_INT8, "BUS" }, // ARSPD_BUS, ARSPD2_BUS
{ {1546, 1610}, AP_PARAM_INT32, "DEVID" }, // ARSPD_DEVID, ARSPD2_DEVID
};
#else
// Periph conversion
if (!AP_Param::find_top_level_key_by_pointer(this, info.old_key)) {
return;
}
const struct convert_table {
uint32_t element[2];
ap_var_type type;
const char* name;
} conversion_table[] = {
{ {0, 11}, AP_PARAM_INT8, "TYPE" }, // ARSPD_TYPE, ARSPD2_TYPE
#if AP_AIRSPEED_AUTOCAL_ENABLE
{ {5, 16}, AP_PARAM_INT8, "AUTOCAL" }, // ARSPD_AUTOCAL, ARSPD2_AUTOCAL
#endif
{ {8, 19}, AP_PARAM_FLOAT, "PSI_RANGE" }, // ARSPD_PSI_RANGE, ARSPD2_PSI_RANGE
{ {24, 25}, AP_PARAM_INT32, "DEVID" }, // ARSPD_DEVID, ARSPD2_DEVID
};
#endif
char param_name[17] {};
info.new_name = param_name;
for (const auto & elem : conversion_table) {
info.type = elem.type;
for (uint8_t i=0; i < MIN(AIRSPEED_MAX_SENSORS,2); i++) {
info.old_group_element = elem.element[i];
if (i == 0) {
hal.util->snprintf(param_name, sizeof(param_name), "ARSPD_%s", elem.name);
} else {
hal.util->snprintf(param_name, sizeof(param_name), "ARSPD%i_%s", i+1, elem.name);
}
AP_Param::convert_old_parameter(&info, 1.0, 0);
}
}
}
void AP_Airspeed::init()
{
@ -225,6 +293,8 @@ void AP_Airspeed::init()
param[0].pin.set_default(ARSPD_DEFAULT_PIN);
#endif
convert_per_instance();
if (sensor[0] != nullptr) {
// already initialised
return;

3
libraries/AP_Airspeed/AP_Airspeed.h
View File

@ -305,6 +305,9 @@ private:
bool add_backend(AP_Airspeed_Backend *backend);
const AP_FixedWing *fixed_wing_parameters;
void convert_per_instance();
};
namespace AP {