AP_Param: added support for frame specific parameters

this allows for libraries that have parameters that are only activated
on particular frame types

libraries/AP_Param/AP_Param.cpp

@@ -71,6 +71,8 @@ uint16_t AP_Param::num_param_overrides = 0;
 // storage object
 StorageAccess AP_Param::_storage(StorageManager::StorageParam);
 
+// flags indicating frame type
+uint16_t AP_Param::_frame_type_flags;
 
 // write to EEPROM
 void AP_Param::eeprom_write_check(const void *ptr, uint16_t ofs, uint8_t size)
@@ -127,7 +129,22 @@ uint32_t AP_Param::group_id(const struct GroupInfo *grpinfo, uint32_t base, uint
     }
     return base + (grpinfo[i].idx<<shift);
 }
- 
+
+
+/*
+  check if a frame type should be included. A frame is included if
+  either there are no frame type flags on a parameter or if at least
+  one of the flags has been set by set_frame_type_flags()
+ */
+bool AP_Param::check_frame_type(uint16_t flags)
+{
+    uint16_t frame_flags = flags >> AP_PARAM_FRAME_TYPE_SHIFT;
+    if (frame_flags == 0) {
+        return true;
+    }
+    return (frame_flags & _frame_type_flags) != 0;
+}
+
 // validate a group info table
 bool AP_Param::check_group_info(const struct AP_Param::GroupInfo *  group_info,
                                 uint16_t *                          total_size,
@@ -1316,6 +1333,9 @@ AP_Param *AP_Param::next_group(uint16_t vindex, const struct GroupInfo *group_in
     for (uint8_t i=0;
          (type=(enum ap_var_type)group_info[i].type) != AP_PARAM_NONE;
          i++) {
+        if (!check_frame_type(group_info[i].flags)) {
+            continue;
+        }
         if (type == AP_PARAM_GROUP) {
             // a nested group
             const struct GroupInfo *ginfo = group_info[i].group_info;
@@ -1396,6 +1416,9 @@ AP_Param *AP_Param::next(ParamToken *token, enum ap_var_type *ptype)
         found_current = true;
     }
     for (; i<_num_vars; i++) {
+        if (!check_frame_type(_var_info[i].flags)) {
+            continue;
+        }
         type = (enum ap_var_type)_var_info[i].type;
         if (type == AP_PARAM_GROUP) {
             const struct GroupInfo *group_info = _var_info[i].group_info;

libraries/AP_Param/AP_Param.h

@@ -49,6 +49,20 @@
 // no conflict with the parent
 #define AP_PARAM_NO_SHIFT           8
 
+// vehicle and frame type flags, used to hide parameters when not
+// relevent to a vehicle type. Use AP_Param::set_frame_type_flags() to
+// enable parameters flagged in this way. frame type flags are stored
+// in flags field, shifted by AP_PARAM_FRAME_TYPE_SHIFT.
+#define AP_PARAM_FRAME_TYPE_SHIFT   4
+
+// supported frame types for parameters
+#define AP_PARAM_FRAME_COPTER       (1<<0)
+#define AP_PARAM_FRAME_ROVER        (1<<1)
+#define AP_PARAM_FRAME_PLANE        (1<<2)
+#define AP_PARAM_FRAME_SUB          (1<<3)
+#define AP_PARAM_FRAME_TRICOPTER    (1<<4)
+#define AP_PARAM_FRAME_HELI         (1<<5)
+
 // a variant of offsetof() to work around C++ restrictions.
 // this can only be used when the offset of a variable in a object
 // is constant and known at compile time
@@ -60,6 +74,12 @@
 // declare a group var_info line
 #define AP_GROUPINFO_FLAGS(name, idx, clazz, element, def, flags) { AP_CLASSTYPE(clazz, element), idx, name, AP_VAROFFSET(clazz, element), {def_value : def}, flags }
 
+// declare a group var_info line with a frame type mask
+#define AP_GROUPINFO_FRAME(name, idx, clazz, element, def, frame_flags) AP_GROUPINFO_FLAGS(name, idx, clazz, element, def, (frame_flags)<<AP_PARAM_FRAME_TYPE_SHIFT )
+
+// declare a group var_info line with both flags and frame type mask
+#define AP_GROUPINFO_FLAGS_FRAME(name, idx, clazz, element, def, flags, frame_flags) AP_GROUPINFO_FLAGS(name, idx, clazz, element, def, flags|((frame_flags)<<AP_PARAM_FRAME_TYPE_SHIFT) )
+
 // declare a group var_info line
 #define AP_GROUPINFO(name, idx, clazz, element, def) AP_GROUPINFO_FLAGS(name, idx, clazz, element, def, 0)
 
@@ -106,7 +126,7 @@ public:
             const struct GroupInfo *group_info;
             const float def_value;
         };
-        uint8_t flags;
+        uint16_t flags;
     };
     struct Info {
         uint8_t type; // AP_PARAM_*
@@ -117,7 +137,7 @@ public:
             const struct GroupInfo *group_info;
             const float def_value;
         };
-        uint8_t flags;
+        uint16_t flags;
     };
     struct ConversionInfo {
         uint16_t old_key; // k_param_*
@@ -363,6 +383,14 @@ public:
 
     static void set_hide_disabled_groups(bool value) { _hide_disabled_groups = value; }
 
+    // set frame type flags. Used to unhide frame specific parameters
+    static void set_frame_type_flags(uint16_t flags_to_set) {
+        _frame_type_flags |= flags_to_set;
+    }
+
+    // check if a given frame type should be included
+    static bool check_frame_type(uint16_t flags);
+    
 private:
     /// EEPROM header
     ///
@@ -403,6 +431,8 @@ private:
     static const uint8_t        _sentinal_type  = 0x1F;
     static const uint8_t        _sentinal_group = 0xFF;
 
+    static uint16_t             _frame_type_flags;
+
     static bool                 check_group_info(const struct GroupInfo *group_info, uint16_t *total_size, 
                                                  uint8_t max_bits, uint8_t prefix_length);
     static bool                 duplicate_key(uint16_t vindex, uint16_t key);