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AP_GPS: add GPS parameter conversion functions

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Peter Barker 2024-03-12 23:32:17 +11:00 committed by Peter Barker
parent 89bdb14916
commit 50c36de6a4
2 changed files with 49 additions and 0 deletions
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48
libraries/AP_GPS/AP_GPS.cpp
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@ -320,6 +320,8 @@ void AP_GPS::init()
// set the default for the first GPS according to define: // set the default for the first GPS according to define:
params[0].type.set_default(HAL_GPS_TYPE_DEFAULT); params[0].type.set_default(HAL_GPS_TYPE_DEFAULT);
convert_parameters();
// Set new primary param based on old auto_switch use second option // Set new primary param based on old auto_switch use second option
if ((_auto_switch.get() == 3) && !_primary.configured()) { if ((_auto_switch.get() == 3) && !_primary.configured()) {
_primary.set_and_save(1); _primary.set_and_save(1);
@ -351,6 +353,52 @@ void AP_GPS::init()
} }
} }
void AP_GPS::convert_parameters()
{
// find GPS's top level key
uint16_t k_param_gps_key;
if (!AP_Param::find_top_level_key_by_pointer(this, k_param_gps_key)) {
return;
}
// table parameters to convert without scaling
static const AP_Param::ConversionInfo conversion_info[] {
// PARAMETER_CONVERSION - Added: Mar-2024 for 4.6
{ k_param_gps_key, 0, AP_PARAM_INT8, "GPS_TYPE" },
{ k_param_gps_key, 1, AP_PARAM_INT8, "GPS2_TYPE" },
{ k_param_gps_key, 10, AP_PARAM_INT8, "GPS_GNSS_MODE" },
{ k_param_gps_key, 12, AP_PARAM_INT8, "GPS2_GNSS_MODE" },
{ k_param_gps_key, 14, AP_PARAM_INT16, "GPS_RATE_MS" },
{ k_param_gps_key, 15, AP_PARAM_INT16, "GPS2_RATE_MS" },
{ k_param_gps_key, 16, AP_PARAM_VECTOR3F, "GPS_POS" },
{ k_param_gps_key, 17, AP_PARAM_VECTOR3F, "GPS2_POS" },
{ k_param_gps_key, 18, AP_PARAM_INT16, "GPS_DELAY_MS" },
{ k_param_gps_key, 19, AP_PARAM_INT16, "GPS2_DELAY_MS" },
#if AP_GPS_SBF_ENABLED
{ k_param_gps_key, 23, AP_PARAM_INT8, "GPS_COM_PORT" },
{ k_param_gps_key, 24, AP_PARAM_INT8, "GPS2_COM_PORT" },
#endif
#if HAL_ENABLE_DRONECAN_DRIVERS
{ k_param_gps_key, 28, AP_PARAM_INT32, "GPS_CAN_NODEID" },
{ k_param_gps_key, 29, AP_PARAM_INT32, "GPS2_CAN_NODEID" },
{ k_param_gps_key, 30, AP_PARAM_INT32, "GPS_CAN_OVRIDE" },
{ k_param_gps_key, 31, AP_PARAM_INT32, "GPS2_CAN_OVRIDE" },
#endif
};
AP_Param::convert_old_parameters(conversion_info, ARRAY_SIZE(conversion_info));
#if GPS_MOVING_BASELINE
// convert old MovingBaseline parameters
// PARAMETER_CONVERSION - Added: Mar-2024 for 4.6
for (uint8_t i=0; i<MIN(2, GPS_MAX_RECEIVERS); i++) {
// the old _MB parameters were 25 and 26:
const uint8_t old_index = 25 + i;
AP_Param::convert_class(k_param_gps_key, &params[i].mb_params, params[i].mb_params.var_info, old_index, false);
}
#endif // GPS_MOVING_BASELINE
}
// return number of active GPS sensors. Note that if the first GPS // return number of active GPS sensors. Note that if the first GPS
// is not present but the 2nd is then we return 2. Note that a blended // is not present but the 2nd is then we return 2. Note that a blended
// GPS solution is treated as an additional sensor. // GPS solution is treated as an additional sensor.

1
libraries/AP_GPS/AP_GPS.h
View File

@ -821,6 +821,7 @@ private:
bool parse_rtcm_injection(mavlink_channel_t chan, const mavlink_gps_rtcm_data_t &pkt); bool parse_rtcm_injection(mavlink_channel_t chan, const mavlink_gps_rtcm_data_t &pkt);
#endif #endif
void convert_parameters();
}; };
namespace AP { namespace AP {