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Plane: quadplane uses set_defaults_from_table

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This commit is contained in:
Randy Mackay 2018-11-29 09:54:55 +09:00
parent 2ccb9061d9
commit 71708ee4ea
2 changed files with 4 additions and 24 deletions
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27
ArduPlane/quadplane.cpp
View File

@ -380,15 +380,10 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
AP_GROUPEND AP_GROUPEND
}; };
struct defaults_struct {
const char *name;
float value;
};
/* /*
defaults for all quadplanes defaults for all quadplanes
*/ */
static const struct defaults_struct defaults_table[] = { static const struct AP_Param::defaults_table_struct defaults_table[] = {
{ "Q_A_RAT_RLL_P", 0.25 }, { "Q_A_RAT_RLL_P", 0.25 },
{ "Q_A_RAT_RLL_I", 0.25 }, { "Q_A_RAT_RLL_I", 0.25 },
{ "Q_A_RAT_RLL_FILT", 10.0 }, { "Q_A_RAT_RLL_FILT", 10.0 },
@ -406,7 +401,7 @@ static const struct defaults_struct defaults_table[] = {
/* /*
extra defaults for tailsitters extra defaults for tailsitters
*/ */
static const struct defaults_struct defaults_table_tailsitter[] = { static const struct AP_Param::defaults_table_struct defaults_table_tailsitter[] = {
{ "KFF_RDDRMIX", 0.02 }, { "KFF_RDDRMIX", 0.02 },
{ "Q_A_RAT_PIT_FF", 0.2 }, { "Q_A_RAT_PIT_FF", 0.2 },
{ "Q_A_RAT_YAW_FF", 0.2 }, { "Q_A_RAT_YAW_FF", 0.2 },
@ -640,31 +635,17 @@ failed:
return false; return false;
} }
/*
setup default parameters from a defaults_struct table
*/
void QuadPlane::setup_defaults_table(const struct defaults_struct *table, uint8_t count)
{
for (uint8_t i=0; i<count; i++) {
if (!AP_Param::set_default_by_name(table[i].name, table[i].value)) {
gcs().send_text(MAV_SEVERITY_INFO, "QuadPlane setup failure for %s",
table[i].name);
AP_HAL::panic("quadplane bad default %s", table[i].name);
}
}
}
/* /*
setup default parameters from defaults_table setup default parameters from defaults_table
*/ */
void QuadPlane::setup_defaults(void) void QuadPlane::setup_defaults(void)
{ {
setup_defaults_table(defaults_table, ARRAY_SIZE(defaults_table)); AP_Param::set_defaults_from_table(defaults_table, ARRAY_SIZE(defaults_table));
enum AP_Motors::motor_frame_class motor_class; enum AP_Motors::motor_frame_class motor_class;
motor_class = (enum AP_Motors::motor_frame_class)frame_class.get(); motor_class = (enum AP_Motors::motor_frame_class)frame_class.get();
if (motor_class == AP_Motors::MOTOR_FRAME_TAILSITTER) { if (motor_class == AP_Motors::MOTOR_FRAME_TAILSITTER) {
setup_defaults_table(defaults_table_tailsitter, ARRAY_SIZE(defaults_table_tailsitter)); AP_Param::set_defaults_from_table(defaults_table_tailsitter, ARRAY_SIZE(defaults_table_tailsitter));
} }
// reset ESC calibration // reset ESC calibration

1
ArduPlane/quadplane.h
View File

@ -221,7 +221,6 @@ private:
void run_z_controller(void); void run_z_controller(void);
void setup_defaults(void); void setup_defaults(void);
void setup_defaults_table(const struct defaults_struct *defaults, uint8_t count);
// calculate a stopping distance for fixed-wing to vtol transitions // calculate a stopping distance for fixed-wing to vtol transitions
float stopping_distance(void); float stopping_distance(void);