From 1cbad0c86e14e903d4eb954018b4600c2eb6174a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 13 Jan 2020 15:45:32 +1100
Subject: [PATCH] SRV_Channel: change function to AP_Int16

this also removes the old parameter conversion code used for when we
first added the SERVO parameters. This was needed for conversion from
Copter 3.4 and Plane 3.7
---
 libraries/SRV_Channel/SRV_Channel.h       |   7 +-
 libraries/SRV_Channel/SRV_Channel_aux.cpp | 179 +---------------------
 2 files changed, 10 insertions(+), 176 deletions(-)

diff --git a/libraries/SRV_Channel/SRV_Channel.h b/libraries/SRV_Channel/SRV_Channel.h
index b2b612b5bf..966fb5980c 100644
--- a/libraries/SRV_Channel/SRV_Channel.h
+++ b/libraries/SRV_Channel/SRV_Channel.h
@@ -241,7 +241,7 @@ private:
     AP_Int16 servo_trim;
     // reversal, following convention that 1 means reversed, 0 means normal
     AP_Int8 reversed;
-    AP_Int8 function;
+    AP_Int16 function;
 
     // a pending output value as PWM
     uint16_t output_pwm;
@@ -455,9 +455,8 @@ public:
         return i<NUM_SERVO_CHANNELS?&channels[i]:nullptr;
     }
 
-    // upgrade RC* parameters into SERVO* parameters
-    static bool upgrade_parameters(const uint8_t old_keys[14], uint16_t aux_channel_mask, RCMapper *rcmap);
-    static void upgrade_motors_servo(uint8_t ap_motors_key, uint8_t ap_motors_idx, uint8_t new_channel);
+    // SERVO* parameters
+    static void upgrade_parameters(void);
 
     // given a zero-based motor channel, return the k_motor function for that channel
     static SRV_Channel::Aux_servo_function_t get_motor_function(uint8_t channel) {
diff --git a/libraries/SRV_Channel/SRV_Channel_aux.cpp b/libraries/SRV_Channel/SRV_Channel_aux.cpp
index c2dd37907b..8cea156b41 100644
--- a/libraries/SRV_Channel/SRV_Channel_aux.cpp
+++ b/libraries/SRV_Channel/SRV_Channel_aux.cpp
@@ -711,181 +711,16 @@ void SRV_Channels::constrain_pwm(SRV_Channel::Aux_servo_function_t function)
 }
 
 /*
-  upgrade RC* parameters into SERVO* parameters. This does the following:
+  upgrade SERVO* parameters. This does the following:
 
-  - copies MIN/MAX/TRIM values from old RC parameters into new RC* parameters and SERVO* parameters. 
-  - copies RCn_FUNCTION to SERVOn_FUNCTION
-  - maps old RCn_REV to SERVOn_REVERSE and RCn_REVERSE
-
-  aux_channel_mask is a bitmask of which channels were RC_Channel_aux channels
-
-  Note that this code is highly dependent on the parameter indexing of
-  the old RC_Channel and RC_Channel_aux objects.
-
-  If rcmap is passed in then the vehicle code also wants functions for
-  the first 4 output channels to be remapped
-
-  We return true if an upgrade has been done. This allows the caller
-  to make any vehicle specific upgrades that may be needed
+   - update to 16 bit FUNCTION from AP_Int8
 */
-bool SRV_Channels::upgrade_parameters(const uint8_t rc_keys[14], uint16_t aux_channel_mask, RCMapper *rcmap)
+void SRV_Channels::upgrade_parameters(void)
 {
-    // use SERVO16_FUNCTION as a marker to say that we have run the upgrade already
-    if (channels[15].function.configured_in_storage()) {
-        // upgrade already done
-        return false;
-    }
-
-    // old system had 14 RC channels
-    for (uint8_t i=0; i<14; i++) {
-        uint8_t k = rc_keys[i];
-        if (k == 0) {
-            // missing parameter. Some vehicle types didn't have all parameters
-            continue;
-        }
-        SRV_Channel &srv_chan = channels[i];
-        RC_Channel *rc_chan = rc().channel(i);
-        enum {
-            FLAG_NONE=0,
-            FLAG_IS_REVERSE=1,
-            FLAG_AUX_ONLY=2
-        };
-        const struct mapping {
-            uint8_t old_index;
-            AP_Param *new_srv_param;
-            AP_Param *new_rc_param;
-            enum ap_var_type type;
-            uint8_t flags;
-        } mapping[] = {
-            { 0, &srv_chan.servo_min,  &rc_chan->radio_min,  AP_PARAM_INT16, FLAG_NONE },
-            { 1, &srv_chan.servo_trim, &rc_chan->radio_trim, AP_PARAM_INT16, FLAG_NONE },
-            { 2, &srv_chan.servo_max,  &rc_chan->radio_max,  AP_PARAM_INT16, FLAG_NONE },
-            { 3, &srv_chan.reversed,   &rc_chan->reversed,   AP_PARAM_INT8,  FLAG_IS_REVERSE },
-            { 1, &srv_chan.function,   nullptr,             AP_PARAM_INT8,  FLAG_AUX_ONLY },
-        };
-        bool is_aux = aux_channel_mask & (1U<<i);
-
-        for (uint8_t j=0; j<ARRAY_SIZE(mapping); j++) {
-            const struct mapping &m = mapping[j];
-            AP_Param::ConversionInfo info;
-            AP_Int8 v8;
-            AP_Int16 v16;
-            AP_Param *v = m.type == AP_PARAM_INT16?(AP_Param*)&v16:(AP_Param*)&v8;
-            bool aux_only = (m.flags & FLAG_AUX_ONLY)!=0;
-            if (!is_aux && aux_only) {
-                continue;
-            }
-            info.old_key = k;
-            info.type = m.type;
-            info.new_name = nullptr;
-
-            // if this was an aux channel we need to shift by 6 bits, but not for RCn_FUNCTION
-            info.old_group_element = (is_aux && !aux_only)?(m.old_index<<6):m.old_index;
-
-            if (!AP_Param::find_old_parameter(&info, v)) {
-                // the parameter wasn't set in the old eeprom
-                continue;
-            }
-
-            if (m.flags & FLAG_IS_REVERSE) {
-                // special mapping from RCn_REV to RCn_REVERSED
-                v8.set(v8.get() == -1?1:0);
-            }
-
-            if (!m.new_srv_param->configured_in_storage()) {
-                // not configured yet in new eeprom
-                if (m.type == AP_PARAM_INT16) {
-                    ((AP_Int16 *)m.new_srv_param)->set_and_save_ifchanged(v16.get());
-                } else {
-                    ((AP_Int8 *)m.new_srv_param)->set_and_save_ifchanged(v8.get());
-                }
-            }
-            if (m.new_rc_param && !m.new_rc_param->configured_in_storage()) {
-                // not configured yet in new eeprom
-                if (m.type == AP_PARAM_INT16) {
-                    ((AP_Int16 *)m.new_rc_param)->set_and_save_ifchanged(v16.get());
-                } else {
-                    ((AP_Int8 *)m.new_rc_param)->set_and_save_ifchanged(v8.get());
-                }
-            }
-        }
-    }
-
-    if (rcmap != nullptr) {
-        // we need to make the output functions from the rcmapped inputs
-        const int8_t func_map[4] = { channels[0].function.get(),
-                                     channels[1].function.get(),
-                                     channels[2].function.get(),
-                                     channels[3].function.get() };
-        const uint8_t map[4] = { rcmap->roll(), rcmap->pitch(), rcmap->throttle(), rcmap->yaw() };
-        for (uint8_t i=0; i<4; i++) {
-            uint8_t m = uint8_t(map[i]-1);
-            if (m != i && m < 4) {
-                channels[m].function.set_and_save_ifchanged(func_map[i]);
-            }
-        }
-    }
-
-    // mark the upgrade as having been done
-    channels[15].function.set_and_save(channels[15].function.get());
-
-    return true;
-}
-
-/*
-  Upgrade servo MIN/MAX/TRIM/REVERSE parameters for a single AP_Motors
-  RC_Channel servo from previous firmwares, setting the equivalent
-  parameter in the new SRV_Channels object
-*/
-void SRV_Channels::upgrade_motors_servo(uint8_t ap_motors_key, uint8_t ap_motors_idx, uint8_t new_channel)
-{
-    SRV_Channel &srv_chan = channels[new_channel];
-    enum {
-        FLAG_NONE=0,
-        FLAG_IS_REVERSE=1
-    };
-    const struct mapping {
-        uint8_t old_index;
-        AP_Param *new_srv_param;
-        enum ap_var_type type;
-        uint8_t flags;
-    } mapping[] = {
-            { 0, &srv_chan.servo_min,  AP_PARAM_INT16, FLAG_NONE },
-            { 1, &srv_chan.servo_trim, AP_PARAM_INT16, FLAG_NONE },
-            { 2, &srv_chan.servo_max,  AP_PARAM_INT16, FLAG_NONE },
-            { 3, &srv_chan.reversed,   AP_PARAM_INT8,  FLAG_IS_REVERSE },
-    };
-
-    for (uint8_t j=0; j<ARRAY_SIZE(mapping); j++) {
-        const struct mapping &m = mapping[j];
-        AP_Param::ConversionInfo info;
-        AP_Int8 v8;
-        AP_Int16 v16;
-        AP_Param *v = m.type == AP_PARAM_INT16?(AP_Param*)&v16:(AP_Param*)&v8;
-
-        info.old_key = ap_motors_key;
-        info.type = m.type;
-        info.new_name = nullptr;
-        info.old_group_element = ap_motors_idx | (m.old_index<<6);
-
-        if (!AP_Param::find_old_parameter(&info, v)) {
-            // the parameter wasn't set in the old eeprom
-            continue;
-        }
-
-        if (m.flags & FLAG_IS_REVERSE) {
-            // special mapping from RCn_REV to RCn_REVERSED
-            v8.set(v8.get() == -1?1:0);
-        }
-
-        // we save even if there is already a value in the new eeprom,
-        // as that may come from the equivalent RC channel, not the
-        // old motor servo channel
-        if (m.type == AP_PARAM_INT16) {
-            ((AP_Int16 *)m.new_srv_param)->set_and_save_ifchanged(v16.get());
-        } else {
-            ((AP_Int8 *)m.new_srv_param)->set_and_save_ifchanged(v8.get());
-        }
+    for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
+        SRV_Channel &c = channels[i];
+        // convert from AP_Int8 to AP_Int16
+        c.function.convert_parameter_width(AP_PARAM_INT8);
     }
 }