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AP_RangeFinder: remove conversion code from 2019

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Peter Barker 2022-10-19 18:37:05 +11:00 committed by Andrew Tridgell
parent 1eb8b6d499
commit 1b7ced4e2e
2 changed files with 0 additions and 86 deletions
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84
libraries/AP_RangeFinder/AP_RangeFinder.cpp
View File

@ -176,88 +176,6 @@ RangeFinder::RangeFinder()
_singleton = this;
}
void RangeFinder::convert_params(void) {
if (params[0].type.configured()) {
// _params[0]._type will always be configured after conversion is done the first time
// or the user has set a type in a defaults.parm file or via apj tool
return;
}
struct ConversionTable {
uint8_t old_element;
uint8_t new_index;
uint8_t instance;
};
const struct ConversionTable conversionTable[] = {
// PARAMETER_CONVERSION - Added: Feb-2019
// rangefinder 1
{0, 0, 0}, //0, TYPE 1
{1, 1, 0}, //1, PIN 1
{2, 2, 0}, //2, SCALING 1
{3, 3, 0}, //3, OFFSET 1
{4, 4, 0}, //4, FUNCTION 1
{5, 5, 0}, //5, MIN_CM 1
{6, 6, 0}, //6, MAX_CM 1
{7, 7, 0}, //7, STOP_PIN 1
{9, 8, 0}, //9, RMETRIC 1
{10, 9, 0}, //10, PWRRNG 1 (previously existed only once for all sensors)
{11, 10, 0}, //11, GNDCLEAR 1
{23, 11, 0}, //23, ADDR 1
{49, 12, 0}, //49, POS 1
{53, 13, 0}, //53, ORIENT 1
// rangefinder 2
{12, 0, 1}, //12, TYPE 2
{13, 1, 1}, //13, PIN 2
{14, 2, 1}, //14, SCALING 2
{15, 3, 1}, //15, OFFSET 2
{16, 4, 1}, //16, FUNCTION 2
{17, 5, 1}, //17, MIN_CM 2
{18, 6, 1}, //18, MAX_CM 2
{19, 7, 1}, //19, STOP_PIN 2
{21, 8, 1}, //21, RMETRIC 2
{10, 9, 1}, //10, PWRRNG 1 (previously existed only once for all sensors)
{22, 10, 1}, //22, GNDCLEAR 2
{24, 11, 1}, //24, ADDR 2
{50, 12, 1}, //50, POS 2
{54, 13, 1}, //54, ORIENT 2
};
char param_name[17] = {0};
AP_Param::ConversionInfo info;
info.new_name = param_name;
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
info.old_key = 71;
#elif APM_BUILD_COPTER_OR_HELI
info.old_key = 53;
#elif APM_BUILD_TYPE(APM_BUILD_ArduSub)
info.old_key = 35;
#elif APM_BUILD_TYPE(APM_BUILD_Rover)
info.old_key = 197;
#else
params[0].type.save(true);
return; // no conversion is supported on this platform
#endif
for (uint8_t i = 0; i < ARRAY_SIZE(conversionTable); i++) {
uint8_t param_instance = conversionTable[i].instance + 1;
uint8_t destination_index = conversionTable[i].new_index;
info.old_group_element = conversionTable[i].old_element;
info.type = (ap_var_type)AP_RangeFinder_Params::var_info[destination_index].type;
hal.util->snprintf(param_name, sizeof(param_name), "RNGFND%X_%s", param_instance, AP_RangeFinder_Params::var_info[destination_index].name);
param_name[sizeof(param_name)-1] = '\0';
AP_Param::convert_old_parameter(&info, 1.0f, 0);
}
// force _params[0]._type into storage to flag that conversion has been done
params[0].type.save(true);
}
/*
initialise the RangeFinder class. We do detection of attached range
finders here. For now we won't allow for hot-plugging of
@ -271,8 +189,6 @@ void RangeFinder::init(enum Rotation orientation_default)
}
init_done = true;
convert_params();
// set orientation defaults
for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
params[i].orientation.set_default(orientation_default);

2
libraries/AP_RangeFinder/AP_RangeFinder.h
View File

@ -223,8 +223,6 @@ private:
float estimated_terrain_height;
Vector3f pos_offset_zero; // allows returning position offsets of zero for invalid requests
void convert_params(void);
void detect_instance(uint8_t instance, uint8_t& serial_instance);
bool _add_backend(AP_RangeFinder_Backend *driver, uint8_t instance, uint8_t serial_instance=0);