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AP_RangeFinder: param conversion fix 

This resolves an issue with the parameter conversion when moving from Copter-3.6.x to 4.0 (and similar moves for other vehicle types)
This commit is contained in:
Randy Mackay 2019-11-28 16:00:03 +09:00
parent 952517cb40
commit 1b84c8132e
1 changed files with 28 additions and 36 deletions
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64
libraries/AP_RangeFinder/AP_RangeFinder.cpp
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@ -180,6 +180,7 @@ void RangeFinder::convert_params(void) {
}; };
const struct ConversionTable conversionTable[] = { const struct ConversionTable conversionTable[] = {
// rangefinder 1
{0, 0, 0}, //0, TYPE 1 {0, 0, 0}, //0, TYPE 1
{1, 1, 0}, //1, PIN 1 {1, 1, 0}, //1, PIN 1
{2, 2, 0}, //2, SCALING 1 {2, 2, 0}, //2, SCALING 1
@ -188,16 +189,14 @@ void RangeFinder::convert_params(void) {
{5, 5, 0}, //5, MIN_CM 1 {5, 5, 0}, //5, MIN_CM 1
{6, 6, 0}, //6, MAX_CM 1 {6, 6, 0}, //6, MAX_CM 1
{7, 7, 0}, //7, STOP_PIN 1 {7, 7, 0}, //7, STOP_PIN 1
{8, 8, 0}, //8, SETTLE 1 {9, 8, 0}, //9, RMETRIC 1
{9, 9, 0}, //9, RMETRIC 1 {10, 9, 0}, //10, PWRRNG 1 (previously existed only once for all sensors)
{10, 10, 0}, //10, PWRRNG 1 (previously existed only once for all sensors) {11, 10, 0}, //11, GNDCLEAR 1
{11, 11, 0}, //11, GNDCLEAR 1 {23, 11, 0}, //23, ADDR 1
{23, 12, 0}, //23, ADDR 1 {49, 12, 0}, //49, POS 1
{49, 13, 0}, //49, POS 1 {53, 13, 0}, //53, ORIENT 1
{53, 14, 0}, //53, ORIENT 1
//{57, 1, 0}, //57, backend 1
// rangefinder 2
{12, 0, 1}, //12, TYPE 2 {12, 0, 1}, //12, TYPE 2
{13, 1, 1}, //13, PIN 2 {13, 1, 1}, //13, PIN 2
{14, 2, 1}, //14, SCALING 2 {14, 2, 1}, //14, SCALING 2
@ -206,16 +205,14 @@ void RangeFinder::convert_params(void) {
{17, 5, 1}, //17, MIN_CM 2 {17, 5, 1}, //17, MIN_CM 2
{18, 6, 1}, //18, MAX_CM 2 {18, 6, 1}, //18, MAX_CM 2
{19, 7, 1}, //19, STOP_PIN 2 {19, 7, 1}, //19, STOP_PIN 2
{20, 8, 1}, //20, SETTLE 2 {21, 8, 1}, //21, RMETRIC 2
{21, 9, 1}, //21, RMETRIC 2 {10, 9, 1}, //10, PWRRNG 1 (previously existed only once for all sensors)
//{, 10, 1}, //PWRRNG 2 (previously existed only once for all sensors) {22, 10, 1}, //22, GNDCLEAR 2
{22, 11, 1}, //22, GNDCLEAR 2 {24, 11, 1}, //24, ADDR 2
{24, 12, 1}, //24, ADDR 2 {50, 12, 1}, //50, POS 2
{50, 13, 1}, //50, POS 2 {54, 13, 1}, //54, ORIENT 2
{54, 14, 1}, //54, ORIENT 2
//{58, 3, 1}, //58, backend 2
// rangefinder 3
{25, 0, 2}, //25, TYPE 3 {25, 0, 2}, //25, TYPE 3
{26, 1, 2}, //26, PIN 3 {26, 1, 2}, //26, PIN 3
{27, 2, 2}, //27, SCALING 3 {27, 2, 2}, //27, SCALING 3
@ -224,16 +221,14 @@ void RangeFinder::convert_params(void) {
{30, 5, 2}, //30, MIN_CM 3 {30, 5, 2}, //30, MIN_CM 3
{31, 6, 2}, //31, MAX_CM 3 {31, 6, 2}, //31, MAX_CM 3
{32, 7, 2}, //32, STOP_PIN 3 {32, 7, 2}, //32, STOP_PIN 3
{33, 8, 2}, //33, SETTLE 3 {34, 8, 2}, //34, RMETRIC 3
{34, 9, 2}, //34, RMETRIC 3 {10, 9, 2}, //10, PWRRNG 1 (previously existed only once for all sensors)
//{, 10, 2}, //PWRRNG 3 (previously existed only once for all sensors) {35, 10, 2}, //35, GNDCLEAR 3
{35, 11, 2}, //35, GNDCLEAR 3 {36, 11, 2}, //36, ADDR 3
{36, 12, 2}, //36, ADDR 3 {51, 12, 2}, //51, POS 3
{51, 13, 2}, //51, POS 3 {55, 13, 2}, //55, ORIENT 3
{55, 14, 2}, //55, ORIENT 3
//{59, 5, 2}, //59, backend 3
// rangefinder 4
{37, 0, 3}, //37, TYPE 4 {37, 0, 3}, //37, TYPE 4
{38, 1, 3}, //38, PIN 4 {38, 1, 3}, //38, PIN 4
{39, 2, 3}, //39, SCALING 4 {39, 2, 3}, //39, SCALING 4
@ -242,15 +237,12 @@ void RangeFinder::convert_params(void) {
{42, 5, 3}, //42, MIN_CM 4 {42, 5, 3}, //42, MIN_CM 4
{43, 6, 3}, //43, MAX_CM 4 {43, 6, 3}, //43, MAX_CM 4
{44, 7, 3}, //44, STOP_PIN 4 {44, 7, 3}, //44, STOP_PIN 4
{45, 8, 3}, //45, SETTLE 4 {46, 8, 3}, //46, RMETRIC 4
{46, 9, 3}, //46, RMETRIC 4 {10, 9, 3}, //10, PWRRNG 1 (previously existed only once for all sensors)
//{, 10, 3}, //PWRRNG 4 (previously existed only once for all sensors) {47, 10, 3}, //47, GNDCLEAR 4
{47, 11, 3}, //47, GNDCLEAR 4 {48, 11, 3}, //48, ADDR 4
{48, 12, 3}, //48, ADDR 4 {52, 12, 3}, //52, POS 4
{52, 13, 3}, //52, POS 4 {56, 13, 3}, //56, ORIENT 4
{56, 14, 3}, //56, ORIENT 4
//{60, 7, 3}, //60, backend 4
}; };
char param_name[17] = {0}; char param_name[17] = {0};