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ArduPlane: Improvements to parameter upgrading between versions

This commit is contained in:
James O'Shannessy 2021-03-03 22:36:58 +11:00 committed by Peter Barker
parent dac5996d93
commit 2c66e164d0
1 changed files with 51 additions and 2 deletions
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53
ArduPlane/Parameters.cpp
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@ -1336,7 +1336,6 @@ const AP_Param::ConversionInfo conversion_table[] = {
{ Parameters::k_param_fence_maxalt, 0, AP_PARAM_INT16, "FENCE_ALT_MAX"},
{ Parameters::k_param_fence_retalt, 0, AP_PARAM_INT16, "FENCE_RET_ALT"},
{ Parameters::k_param_fence_ret_rally, 0, AP_PARAM_INT8, "FENCE_RET_RALLY"},
// { Parameters::k_param_fence_action, 0, AP_PARAM_INT8, "FENCE_ACTION"},
{ Parameters::k_param_fence_autoenable, 0, AP_PARAM_INT8, "FENCE_AUTOENABLE"},
};
@ -1427,6 +1426,42 @@ void Plane::load_parameters(void)
}
}
enum ap_var_type ptype_fence_type;
AP_Int8 *fence_type_new = (AP_Int8*)AP_Param::find("FENCE_TYPE", &ptype_fence_type);
if (fence_type_new && !fence_type_new->configured()) {
// If we find the new parameter and it hasn't been configured
// attempt to upgrade the altitude fences.
int8_t fence_type_new_val = AC_FENCE_TYPE_POLYGON;
AP_Int16 fence_alt_min_old;
AP_Param::ConversionInfo fence_alt_min_info_old = {
Parameters::k_param_fence_minalt,
0,
AP_PARAM_INT16,
nullptr
};
if (AP_Param::find_old_parameter(&fence_alt_min_info_old, &fence_alt_min_old)) {
if (fence_alt_min_old.configured()) {
//
fence_type_new_val |= AC_FENCE_TYPE_ALT_MIN;
}
}
AP_Int16 fence_alt_max_old;
AP_Param::ConversionInfo fence_alt_max_info_old = {
Parameters::k_param_fence_maxalt,
0,
AP_PARAM_INT16,
nullptr
};
if (AP_Param::find_old_parameter(&fence_alt_max_info_old, &fence_alt_max_old)) {
if (fence_alt_max_old.configured()) {
fence_type_new_val |= AC_FENCE_TYPE_ALT_MAX;
}
}
fence_type_new->set_and_save((int8_t)fence_type_new_val);
}
AP_Int8 fence_action_old;
AP_Param::ConversionInfo fence_action_info_old = {
Parameters::k_param_fence_action,
@ -1438,7 +1473,7 @@ void Plane::load_parameters(void)
enum ap_var_type ptype;
AP_Int8 *fence_action_new = (AP_Int8*)AP_Param::find(&fence_action_info_old.new_name[0], &ptype);
uint8_t fence_action_new_val;
if(fence_action_new && !fence_action_new->configured()) {
if (fence_action_new && !fence_action_new->configured()) {
switch(fence_action_old.get()) {
case 0: // FENCE_ACTION_NONE
case 2: // FENCE_ACTION_REPORT_ONLY
@ -1451,8 +1486,22 @@ void Plane::load_parameters(void)
case 3: // FENCE_ACTION_GUIDED_THR_PASS
fence_action_new_val = AC_FENCE_ACTION_GUIDED_THROTTLE_PASS;
break;
case 4: // FENCE_ACTION_RTL
fence_action_new_val = AC_FENCE_ACTION_RTL_AND_LAND;
break;
}
fence_action_new->set_and_save((int8_t)fence_action_new_val);
// Now upgrade the new fence enable at the same time
enum ap_var_type ptype_fence_enable;
AP_Int8 *fence_enable = (AP_Int8*)AP_Param::find("FENCE_ENABLE", &ptype_fence_enable);
// fences were used if there was a count, and the old fence action was not zero
bool fences_exist = AP::fence()->polyfence().total_fence_count() > 0;
bool fences_used = fence_action_old.get() != 0;
if (fence_enable && !fence_enable->configured()) {
// The fence enable parameter exists, so now set it accordingly
fence_enable->set_and_save(fences_exist && fences_used);
}
}
}