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Plane: added conversion code for PID layout change 

this copes with the move of multicopter PIDs inside the position
controller
This commit is contained in:
Andrew Tridgell 2018-01-24 15:40:49 +11:00
parent a6ff2cacdd
commit 20b05e4228
1 changed files with 22 additions and 0 deletions
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22
ArduPlane/quadplane.cpp
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@ -382,6 +382,26 @@ static const struct defaults_struct defaults_table_tailsitter[] = {
{ "Q_TRANSITION_MS", 2000 },
};
/*
conversion table for quadplane parameters
*/
const AP_Param::ConversionInfo q_conversion_table[] = {
{ Parameters::k_param_quadplane, 4044, AP_PARAM_FLOAT, "Q_P_POSZ_P" }, // Q_PZ_P
{ Parameters::k_param_quadplane, 4045, AP_PARAM_FLOAT, "Q_P_POSXY_P"}, // Q_PXY_P
{ Parameters::k_param_quadplane, 4046, AP_PARAM_FLOAT, "Q_P_VELXY_P"}, // Q_VXY_P
{ Parameters::k_param_quadplane, 78, AP_PARAM_FLOAT, "Q_P_VELXY_I"}, // Q_VXY_I
{ Parameters::k_param_quadplane, 142, AP_PARAM_FLOAT, "Q_P_VELXY_IMAX"}, // Q_VXY_IMAX
{ Parameters::k_param_quadplane, 206, AP_PARAM_FLOAT, "Q_P_VELXY_FILT"}, // Q_VXY_FILT_HZ
{ Parameters::k_param_quadplane, 4047, AP_PARAM_FLOAT, "Q_P_VELZ_P"}, // Q_VZ_P
{ Parameters::k_param_quadplane, 4048, AP_PARAM_FLOAT, "Q_P_ACCELZ_P"}, // Q_AZ_P
{ Parameters::k_param_quadplane, 80, AP_PARAM_FLOAT, "Q_P_ACCELZ_I"}, // Q_AZ_I
{ Parameters::k_param_quadplane, 144, AP_PARAM_FLOAT, "Q_P_ACCELZ_D"}, // Q_AZ_D
{ Parameters::k_param_quadplane, 336, AP_PARAM_FLOAT, "Q_P_ACCELZ_IMAX"}, // Q_AZ_IMAX
{ Parameters::k_param_quadplane, 400, AP_PARAM_FLOAT, "Q_P_ACCELZ_FILT"}, // Q_AZ_FILT
{ Parameters::k_param_quadplane, 464, AP_PARAM_FLOAT, "Q_P_ACCELZ_FF"}, // Q_AZ_FF
};
QuadPlane::QuadPlane(AP_AHRS_NavEKF &_ahrs) :
ahrs(_ahrs)
{
@ -559,6 +579,8 @@ bool QuadPlane::setup(void)
setup_defaults();
AP_Param::convert_old_parameters(&q_conversion_table[0], ARRAY_SIZE(q_conversion_table));
gcs().send_text(MAV_SEVERITY_INFO, "QuadPlane initialised");
initialised = true;