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Plane: remove ancient parameter conversion code

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upgrading from 3.7 to 4.6 will not work as well as it otherwise might after this...
This commit is contained in:
Peter Barker 2024-08-01 12:48:05 +10:00 committed by Andrew Tridgell
parent cbdbbf436c
commit 2fd10d5ff2
1 changed files with 1 additions and 29 deletions
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30
ArduPlane/quadplane.cpp
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@ -150,7 +150,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
AP_GROUPINFO("TRAN_PIT_MAX", 29, QuadPlane, transition_pitch_max, 3), AP_GROUPINFO("TRAN_PIT_MAX", 29, QuadPlane, transition_pitch_max, 3),
// frame class was moved from 30 when consolidating AP_Motors classes // frame class was moved from 30 when consolidating AP_Motors classes
#define FRAME_CLASS_OLD_IDX 30
// @Param: FRAME_CLASS // @Param: FRAME_CLASS
// @DisplayName: Frame Class // @DisplayName: Frame Class
// @Description: Controls major frame class for multicopter component // @Description: Controls major frame class for multicopter component
@ -671,34 +671,6 @@ bool QuadPlane::setup(void)
return false; return false;
} }
/*
cope with upgrade from old AP_Motors values for frame_class
*/
AP_Int8 old_class;
const AP_Param::ConversionInfo cinfo { Parameters::k_param_quadplane, FRAME_CLASS_OLD_IDX, AP_PARAM_INT8, nullptr };
if (AP_Param::find_old_parameter(&cinfo, &old_class) && !frame_class.load()) {
uint8_t new_value = 0;
// map from old values to new values
switch (old_class.get()) {
case 0:
new_value = AP_Motors::MOTOR_FRAME_QUAD;
break;
case 1:
new_value = AP_Motors::MOTOR_FRAME_HEXA;
break;
case 2:
new_value = AP_Motors::MOTOR_FRAME_OCTA;
break;
case 3:
new_value = AP_Motors::MOTOR_FRAME_OCTAQUAD;
break;
case 4:
new_value = AP_Motors::MOTOR_FRAME_Y6;
break;
}
frame_class.set_and_save(new_value);
}
if (hal.util->available_memory() < if (hal.util->available_memory() <
4096 + sizeof(*motors) + sizeof(*attitude_control) + sizeof(*pos_control) + sizeof(*wp_nav) + sizeof(*ahrs_view) + sizeof(*loiter_nav) + sizeof(*weathervane)) { 4096 + sizeof(*motors) + sizeof(*attitude_control) + sizeof(*pos_control) + sizeof(*wp_nav) + sizeof(*ahrs_view) + sizeof(*loiter_nav) + sizeof(*weathervane)) {
AP_BoardConfig::config_error("Not enough memory for quadplane"); AP_BoardConfig::config_error("Not enough memory for quadplane");