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Copter: tradheli-convert swash parameters on firmware upgrade

This commit is contained in:
bnsgeyer 2019-02-27 19:03:24 -05:00 committed by Randy Mackay
parent 8c46fe1c61
commit 2fc942ac24
3 changed files with 44 additions and 0 deletions
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1
ArduCopter/Copter.h
View File

@ -768,6 +768,7 @@ private:
void load_parameters(void);
void convert_pid_parameters(void);
void convert_lgr_parameters(void);
void convert_tradheli_parameters(void);
// precision_landing.cpp
void init_precland();

40
ArduCopter/Parameters.cpp
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@ -1300,3 +1300,43 @@ void Copter::convert_lgr_parameters(void)
servo_reversed->set_and_save_ifchanged(1);
}
}
#if FRAME_CONFIG == HELI_FRAME
// handle conversion of tradheli parameters from Copter-3.6 to Copter-3.7
void Copter::convert_tradheli_parameters(void)
{
if (g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI) {
// single heli conversion info
const AP_Param::ConversionInfo singleheli_conversion_info[] = {
{ Parameters::k_param_motors, 1, AP_PARAM_INT16, "H_SW_H3_SV1_POS" },
{ Parameters::k_param_motors, 2, AP_PARAM_INT16, "H_SW_H3_SV2_POS" },
{ Parameters::k_param_motors, 3, AP_PARAM_INT16, "H_SW_H3_SV3_POS" },
{ Parameters::k_param_motors, 7, AP_PARAM_INT16, "H_SW_H3_PHANG" },
};
// convert single heli paramters without scaling
uint8_t table_size = ARRAY_SIZE(singleheli_conversion_info);
for (uint8_t i=0; i<table_size; i++) {
AP_Param::convert_old_parameter(&singleheli_conversion_info[i], 1.0f);
}
} else if (g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI_DUAL) {
// dual heli conversion info
const AP_Param::ConversionInfo dualheli_conversion_info[] = {
{ Parameters::k_param_motors, 1, AP_PARAM_INT16, "H_SW1_H3_SV1_POS" },
{ Parameters::k_param_motors, 2, AP_PARAM_INT16, "H_SW1_H3_SV2_POS" },
{ Parameters::k_param_motors, 3, AP_PARAM_INT16, "H_SW1_H3_SV3_POS" },
{ Parameters::k_param_motors, 4, AP_PARAM_INT16, "H_SW2_H3_SV1_POS" },
{ Parameters::k_param_motors, 5, AP_PARAM_INT16, "H_SW2_H3_SV2_POS" },
{ Parameters::k_param_motors, 6, AP_PARAM_INT16, "H_SW2_H3_SV3_POS" },
{ Parameters::k_param_motors, 7, AP_PARAM_INT16, "H_SW1_H3_PHANG" },
{ Parameters::k_param_motors, 8, AP_PARAM_INT16, "H_SW2_H3_PHANG" },
};
// convert dual heli parameters without scaling
uint8_t table_size = ARRAY_SIZE(dualheli_conversion_info);
for (uint8_t i=0; i<table_size; i++) {
AP_Param::convert_old_parameter(&dualheli_conversion_info[i], 1.0f);
}
}
}
#endif

3
ArduCopter/system.cpp
View File

@ -639,6 +639,9 @@ void Copter::allocate_motors(void)
// upgrade parameters. This must be done after allocating the objects
convert_pid_parameters();
#if FRAME_CONFIG == HELI_FRAME
convert_tradheli_parameters();
#endif
}
bool Copter::is_tradheli() const