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ArduSub: simplify g2 object conversion

This commit is contained in:
Peter Barker 2024-02-21 22:32:35 +11:00 committed by Peter Barker
parent e9668736b8
commit 620723767d
1 changed files with 14 additions and 51 deletions
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65
ArduSub/Parameters.cpp
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@ -745,68 +745,31 @@ void Sub::load_parameters()
// We should ignore this parameter since ROVs are neutral buoyancy
AP_Param::set_by_name("MOT_THST_HOVER", 0.5);
// PARAMETER_CONVERSION - Added: JAN-2022
#if AP_AIRSPEED_ENABLED
// Find G2's Top Level Key
AP_Param::ConversionInfo info;
if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
return;
}
const uint16_t old_index = 19; // Old parameter index in the tree
const uint16_t old_top_element = 4051; // Old group element in the tree for the first subgroup element
AP_Param::convert_class(info.old_key, &airspeed, airspeed.var_info, old_index, old_top_element, false);
#endif
// PARAMETER_CONVERSION - Added: Mar-2022
#if AP_FENCE_ENABLED
AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, 0, true);
#endif
// PARAMETER_CONVERSION - Added: Jan-2024
static const AP_Param::G2ObjectConversion g2_conversions[] {
#if AP_AIRSPEED_ENABLED
// PARAMETER_CONVERSION - Added: JAN-2022
{ &airspeed, airspeed.var_info, 19, 4051 },
#endif
#if AP_STATS_ENABLED
{
// Find G2's Top Level Key
AP_Param::ConversionInfo stats_info;
if (!AP_Param::find_top_level_key_by_pointer(&g2, stats_info.old_key)) {
return;
}
const uint16_t stats_old_index = 1; // Old parameter index in g2
const uint16_t stats_old_top_element = 4033; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
AP_Param::convert_class(stats_info.old_key, &stats, stats.var_info, stats_old_index, stats_old_top_element, false);
}
#endif
// PARAMETER_CONVERSION - Added: Jan-2024
{ &stats, stats.var_info, 1, 4033 },
#endif
#if AP_SCRIPTING_ENABLED
{
// Find G2's Top Level Key
AP_Param::ConversionInfo scripting_info;
if (!AP_Param::find_top_level_key_by_pointer(&g2, scripting_info.old_key)) {
return;
}
const uint16_t scripting_old_index = 18; // Old parameter index in g2
const uint16_t scripting_old_top_element = 82; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
AP_Param::convert_class(scripting_info.old_key, &scripting, scripting.var_info, scripting_old_index, scripting_old_top_element, false);
}
// PARAMETER_CONVERSION - Added: Jan-2024
{ &scripting, scripting.var_info, 18, 82 },
#endif
// PARAMETER_CONVERSION - Added: Feb-2024
#if AP_GRIPPER_ENABLED
{
// Find G2's Top Level Key
AP_Param::ConversionInfo gripper_info;
if (!AP_Param::find_top_level_key_by_pointer(&g2, gripper_info.old_key)) {
return;
}
const uint16_t old_gripper_index = 3; // Old parameter index in g2
const uint16_t old_gripper_top_element = 4035; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
AP_Param::convert_class(gripper_info.old_key, &gripper, gripper.var_info, old_gripper_index, old_gripper_top_element, false);
}
// PARAMETER_CONVERSION - Added: Feb-2024
{ &gripper, gripper.var_info, 3, 4035 },
#endif
};
AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));
// PARAMETER_CONVERSION - Added: Feb-2024
#if HAL_LOGGING_ENABLED