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Copter: Change STAB_COL params to percent

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bnsgeyer 2019-12-13 11:16:52 -05:00 committed by Andrew Tridgell
parent 78376e45a5
commit 5131431d23
2 changed files with 22 additions and 0 deletions
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8
ArduCopter/AP_Arming.cpp
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@ -191,6 +191,14 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Heli motors checks failed"); check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Heli motors checks failed");
return false; return false;
} }
char fail_msg[50];
// check input mangager parameters
if (!copter.input_manager.parameter_check(fail_msg, ARRAY_SIZE(fail_msg))) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "%s", fail_msg);
return false;
}
// Inverted flight feature disabled for Heli Single and Dual frames // Inverted flight feature disabled for Heli Single and Dual frames
if (copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_QUAD && if (copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_QUAD &&
rc().find_channel_for_option(RC_Channel::aux_func_t::INVERTED) != nullptr) { rc().find_channel_for_option(RC_Channel::aux_func_t::INVERTED) != nullptr) {

14
ArduCopter/Parameters.cpp
View File

@ -1548,6 +1548,20 @@ void Copter::convert_tradheli_parameters(void)
AP_Param::set_and_save_by_name("H_TAIL_SPEED", tailspeed_pct ); AP_Param::set_and_save_by_name("H_TAIL_SPEED", tailspeed_pct );
} }
// table of stabilize collective parameters to be converted with scaling
const AP_Param::ConversionInfo collhelipct_conversion_info[] = {
{ Parameters::k_param_input_manager, 1, AP_PARAM_INT16, "IM_STB_COL_1" },
{ Parameters::k_param_input_manager, 2, AP_PARAM_INT16, "IM_STB_COL_2" },
{ Parameters::k_param_input_manager, 3, AP_PARAM_INT16, "IM_STB_COL_3" },
{ Parameters::k_param_input_manager, 4, AP_PARAM_INT16, "IM_STB_COL_4" },
};
// convert stabilize collective parameters with scaling
table_size = ARRAY_SIZE(collhelipct_conversion_info);
for (uint8_t i=0; i<table_size; i++) {
AP_Param::convert_old_parameter(&collhelipct_conversion_info[i], 0.1f);
}
} }
#endif #endif