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Copter: auto-convert landing gear PWM parameters

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This commit is contained in:
Andrew Tridgell 2018-11-09 17:36:42 +11:00
parent ac920633af
commit 2f79932611
2 changed files with 87 additions and 0 deletions
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1
ArduCopter/Copter.h
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@ -811,6 +811,7 @@ private:
// Parameters.cpp
void load_parameters(void);
void convert_pid_parameters(void);
void convert_lgr_parameters(void);
// position_vector.cpp
Vector3f pv_location_to_vector(const Location& loc);

86
ArduCopter/Parameters.cpp
View File

@ -1079,6 +1079,10 @@ void Copter::load_parameters(void)
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
// convert landing gear parameters
convert_lgr_parameters();
hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
// setup AP_Param frame type flags
@ -1204,3 +1208,85 @@ void Copter::convert_pid_parameters(void)
upgrading_frame_params = true;
}
}
/*
convert landing gear parameters
*/
void Copter::convert_lgr_parameters(void)
{
// convert landing gear PWM values
uint8_t chan;
if (!SRV_Channels::find_channel(SRV_Channel::k_landing_gear_control, chan)) {
return;
}
// parameter names are 1 based
chan += 1;
char pname[17];
AP_Int16 *servo_min, *servo_max, *servo_trim;
AP_Int16 *servo_reversed;
enum ap_var_type ptype;
// get pointers to the servo min, max and trim parameters
snprintf(pname, sizeof(pname), "SERVO%u_MIN", chan);
servo_min = (AP_Int16 *)AP_Param::find(pname, &ptype);
snprintf(pname, sizeof(pname), "SERVO%u_MAX", chan);
servo_max = (AP_Int16 *)AP_Param::find(pname, &ptype);
snprintf(pname, sizeof(pname), "SERVO%u_TRIM", chan);
servo_trim = (AP_Int16 *)AP_Param::find(pname, &ptype);
snprintf(pname, sizeof(pname), "SERVO%u_REVERSED", chan);
servo_reversed = (AP_Int16 *)AP_Param::find(pname, &ptype);
if (!servo_min || !servo_max || !servo_trim || !servo_reversed) {
// this shouldn't happen
return;
}
if (servo_min->configured_in_storage() ||
servo_max->configured_in_storage() ||
servo_trim->configured_in_storage() ||
servo_reversed->configured_in_storage()) {
// has been previously saved, don't upgrade
return;
}
// get the old PWM values
AP_Int16 old_pwm;
uint16_t old_retract=0, old_deploy=0;
const AP_Param::ConversionInfo cinfo_ret { Parameters::k_param_landinggear, 0, AP_PARAM_INT16, nullptr };
const AP_Param::ConversionInfo cinfo_dep { Parameters::k_param_landinggear, 1, AP_PARAM_INT16, nullptr };
if (AP_Param::find_old_parameter(&cinfo_ret, &old_pwm)) {
old_retract = (uint16_t)old_pwm.get();
}
if (AP_Param::find_old_parameter(&cinfo_dep, &old_pwm)) {
old_deploy = (uint16_t)old_pwm.get();
}
if (old_retract == 0 && old_deploy == 0) {
// old parameters were never set
return;
}
// use old defaults
if (old_retract == 0) {
old_retract = 1250;
}
if (old_deploy == 0) {
old_deploy = 1750;
}
// set and save correct values on the servo
if (old_retract <= old_deploy) {
servo_max->set_and_save(old_deploy);
servo_min->set_and_save(old_retract);
servo_trim->set_and_save(old_retract);
servo_reversed->set_and_save_ifchanged(0);
} else {
servo_max->set_and_save(old_retract);
servo_min->set_and_save(old_deploy);
servo_trim->set_and_save(old_deploy);
servo_reversed->set_and_save_ifchanged(1);
}
}