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Copter: convert the rest of motors class for tricopter

This commit is contained in:
Andrew Tridgell 2017-01-10 17:48:51 +11:00
parent d005cbffd8
commit 1297a7dedb
3 changed files with 30 additions and 20 deletions
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3
ArduCopter/Copter.h
View File

@ -608,6 +608,9 @@ private:
float takeoff_alt_cm;
} gndeffect_state;
// set when we are upgrading parameters from 3.4
bool upgrading_frame_params;
static const AP_Scheduler::Task scheduler_tasks[];
static const AP_Param::Info var_info[];
static const struct LogStructure log_structure[];

22
ArduCopter/Parameters.cpp
View File

@ -1164,25 +1164,7 @@ void Copter::convert_pid_parameters(void)
const uint16_t old_aux_chan_mask = 0x3FF0;
// note that we don't pass in rcmap as we don't want output channel functions changed based on rcmap
if (SRV_Channels::upgrade_parameters(old_rc_keys, old_aux_chan_mask, nullptr)) {
// do frame specific upgrade. This is only done the first time we run the new firmware
#if FRAME_CONFIG == HELI_FRAME
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 12, CH_1);
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 13, CH_2);
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 14, CH_3);
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 15, CH_4);
#else
if (g2.frame_class == AP_Motors::MOTOR_FRAME_TRI) {
const AP_Param::ConversionInfo tri_conversion_info[] = {
{ Parameters::k_param_motors, 32, AP_PARAM_INT16, "SERVO7_TRIM" },
{ Parameters::k_param_motors, 33, AP_PARAM_INT16, "SERVO7_MIN" },
{ Parameters::k_param_motors, 34, AP_PARAM_INT16, "SERVO7_MAX" },
{ Parameters::k_param_motors, 35, AP_PARAM_FLOAT, "MOT_YAW_SV_ANGLE" },
};
// we need to use CONVERT_FLAG_FORCE as the SERVO7_* parameters will already be set from RC7_*
AP_Param::convert_old_parameters(tri_conversion_info, ARRAY_SIZE(tri_conversion_info), AP_Param::CONVERT_FLAG_FORCE);
const AP_Param::ConversionInfo tri_conversion_info_rev { Parameters::k_param_motors, 31, AP_PARAM_INT8, "SERVO7_REVERSED" };
AP_Param::convert_old_parameter(&tri_conversion_info_rev, 1, AP_Param::CONVERT_FLAG_REVERSE | AP_Param::CONVERT_FLAG_FORCE);
}
#endif
// the rest needs to be done after motors allocation
upgrading_frame_params = true;
}
}

25
ArduCopter/system.cpp
View File

@ -615,4 +615,29 @@ void Copter::allocate_motors(void)
default:
break;
}
if (upgrading_frame_params) {
// do frame specific upgrade. This is only done the first time we run the new firmware
#if FRAME_CONFIG == HELI_FRAME
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 12, CH_1);
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 13, CH_2);
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 14, CH_3);
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 15, CH_4);
#else
if (g2.frame_class == AP_Motors::MOTOR_FRAME_TRI) {
const AP_Param::ConversionInfo tri_conversion_info[] = {
{ Parameters::k_param_motors, 32, AP_PARAM_INT16, "SERVO7_TRIM" },
{ Parameters::k_param_motors, 33, AP_PARAM_INT16, "SERVO7_MIN" },
{ Parameters::k_param_motors, 34, AP_PARAM_INT16, "SERVO7_MAX" },
{ Parameters::k_param_motors, 35, AP_PARAM_FLOAT, "MOT_YAW_SV_ANGLE" },
};
// we need to use CONVERT_FLAG_FORCE as the SERVO7_* parameters will already be set from RC7_*
AP_Param::convert_old_parameters(tri_conversion_info, ARRAY_SIZE(tri_conversion_info), AP_Param::CONVERT_FLAG_FORCE);
const AP_Param::ConversionInfo tri_conversion_info_rev { Parameters::k_param_motors, 31, AP_PARAM_INT8, "SERVO7_REVERSED" };
AP_Param::convert_old_parameter(&tri_conversion_info_rev, 1, AP_Param::CONVERT_FLAG_REVERSE | AP_Param::CONVERT_FLAG_FORCE);
// AP_MotorsTri was converted from having nested var_info to one level
AP_Param::convert_parent_class(Parameters::k_param_motors, motors, motors->var_info);
}
#endif
}
}