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Copter: param conversion for INS_NOTCH to INS_HNTC2

This commit is contained in:
Andrew Tridgell 2022-04-15 15:02:48 +10:00
parent dcda807464
commit 330e8c6993
1 changed files with 16 additions and 8 deletions
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24
ArduCopter/Parameters.cpp
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@ -1387,14 +1387,22 @@ void Copter::convert_pid_parameters(void)
AP_Param::convert_old_parameters(&ff_and_filt_conversion_info[i], 1.0f);
}
// notch filter parameter conversions (changed position and type) for Copter-3.7
const AP_Param::ConversionInfo notchfilt_conversion_info[] = {
{ Parameters::k_param_ins, 165, AP_PARAM_INT16, "INS_NOTCH_FREQ" },
{ Parameters::k_param_ins, 229, AP_PARAM_INT16, "INS_NOTCH_BW" },
};
uint8_t notchfilt_table_size = ARRAY_SIZE(notchfilt_conversion_info);
for (uint8_t i=0; i<notchfilt_table_size; i++) {
AP_Param::convert_old_parameters(&notchfilt_conversion_info[i], 1.0f);
if (!ins.gyro_notch_enabled()) {
// notch filter parameter conversions (moved to INS_HNTC2) for 4.2.x, converted from fixed notch
const AP_Param::ConversionInfo notchfilt_conversion_info[] {
{ Parameters::k_param_ins, 101, AP_PARAM_INT8, "INS_HNTC2_ENABLE" },
{ Parameters::k_param_ins, 293, AP_PARAM_FLOAT, "INS_HNTC2_ATT" },
{ Parameters::k_param_ins, 357, AP_PARAM_FLOAT, "INS_HNTC2_FREQ" },
{ Parameters::k_param_ins, 421, AP_PARAM_FLOAT, "INS_HNTC2_BW" },
};
uint8_t notchfilt_table_size = ARRAY_SIZE(notchfilt_conversion_info);
for (uint8_t i=0; i<notchfilt_table_size; i++) {
AP_Param::convert_old_parameters(&notchfilt_conversion_info[i], 1.0f);
}
if (ins.gyro_notch_enabled()) {
AP_Param::set_default_by_name("INS_HNTC2_MODE", 0);
AP_Param::set_default_by_name("INS_HNTC2_HMNCS", 1);
}
}
// ACRO_RP_P and ACRO_Y_P replaced with ACRO_RP_RATE and ACRO_Y_RATE for Copter-4.2