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AP_Compass: add param conversion

This commit is contained in:
Iampete1 2021-11-02 20:20:55 +00:00 committed by Randy Mackay
parent e818decc39
commit 6ba87dfe9a
2 changed files with 46 additions and 0 deletions
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43
libraries/AP_Compass/AP_Compass.cpp
View File

@ -379,6 +379,8 @@ void Compass::init()
}
#endif // COMPASS_MAX_INSTANCES
convert_per_instance();
// cache expected dev ids for use during runtime detection
for (StateIndex i(0); i<COMPASS_MAX_INSTANCES; i++) {
_state[i].expected_dev_id = _state[i].params.dev_id;
@ -443,6 +445,47 @@ void Compass::init()
init_done = true;
}
// convet params to per instance param table
// PARAMETER_CONVERSION - Added: Nov-2021
void Compass::convert_per_instance()
{
AP_Param::ConversionInfo info;
if (!AP_Param::find_top_level_key_by_pointer(this, info.old_key)) {
return;
}
const struct convert_table {
uint8_t element[3];
ap_var_type type;
const char* name;
} conversion_table[] = {
{ {8,19,22}, AP_PARAM_INT8, "ORIENT" }, // COMPASS_ORIENT, COMPASS_ORIENT2, COMPASS_ORIENT3
{ {4,18,21}, AP_PARAM_INT8, "USE" }, // COMPASS_USE, COMPASS_USE2, COMPASS_USE3
{ {9,20,23}, AP_PARAM_INT8, "EXTERN" }, // COMPASS_EXTERNAL, COMPASS_EXTERN2, COMPASS_EXTERN3
{ {40,41,42}, AP_PARAM_FLOAT, "SCALE" }, // COMPASS_SCALE, COMPASS_SCALE2, COMPASS_SCALE3
{ {1,10,13}, AP_PARAM_VECTOR3F, "OFS" }, // COMPASS_OFS_X/Y/Z, COMPASS_OFS2_X/Y/Z, COMPASS_OFS3_X/Y/Z
#ifndef HAL_BUILD_AP_PERIPH
{ {24,26,28}, AP_PARAM_VECTOR3F, "DIA" }, // COMPASS_DIA_X/Y/Z, COMPASS_DIA2_X/Y/Z, COMPASS_DIA3_X/Y/Z
{ {25,27,29}, AP_PARAM_VECTOR3F, "ODI" }, // COMPASS_ODI_X/Y/Z, COMPASS_ODI2_X/Y/Z, COMPASS_ODI3_X/Y/Z
#endif
#if COMPASS_MOT_ENABLED
{ {7,11,14}, AP_PARAM_VECTOR3F, "MOT" }, // COMPASS_MOT_X/Y/Z, COMPASS_MOT2_X/Y/Z, COMPASS_MOT3_X/Y/Z
#endif
};
char param_name[17] {};
info.new_name = param_name;
for (const auto & elem : conversion_table) {
info.type = elem.type;
for (uint8_t i=0; i < MIN(COMPASS_MAX_INSTANCES,3); i++) {
info.old_group_element = elem.element[i];
hal.util->snprintf(param_name, sizeof(param_name), "COMPASS%i_%s", i+1, elem.name);
AP_Param::convert_old_parameter(&info, 1.0f, 0);
}
}
}
#if COMPASS_MAX_INSTANCES > 1 || COMPASS_MAX_UNREG_DEV
// Update Priority List for Mags, by default, we just
// load them as they come up the first time

3
libraries/AP_Compass/AP_Compass.h
View File

@ -598,6 +598,9 @@ private:
bool init_done;
uint8_t _first_usable; // first compass usable based on COMPASSx_USE param
// convet params to per instance param table
void convert_per_instance();
};
namespace AP {