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Copter: added conversion of tricopter tail servo parameters

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This commit is contained in:
Andrew Tridgell 2017-01-10 17:08:12 +11:00
parent 05e9462a9c
commit 7aee3500e1
1 changed files with 14 additions and 1 deletions
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15
ArduCopter/Parameters.cpp
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@ -1164,12 +1164,25 @@ void Copter::convert_pid_parameters(void)
const uint16_t old_aux_chan_mask = 0x3FF0; const uint16_t old_aux_chan_mask = 0x3FF0;
// note that we don't pass in rcmap as we don't want output channel functions changed based on rcmap // note that we don't pass in rcmap as we don't want output channel functions changed based on rcmap
if (SRV_Channels::upgrade_parameters(old_rc_keys, old_aux_chan_mask, nullptr)) { if (SRV_Channels::upgrade_parameters(old_rc_keys, old_aux_chan_mask, nullptr)) {
// do frame specific upgrade // do frame specific upgrade. This is only done the first time we run the new firmware
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 12, CH_1); SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 12, CH_1);
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 13, CH_2); SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 13, CH_2);
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 14, CH_3); SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 14, CH_3);
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 15, CH_4); SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 15, CH_4);
#else
if (g2.frame_class == AP_Motors::MOTOR_FRAME_TRI) {
const AP_Param::ConversionInfo tri_conversion_info[] = {
{ Parameters::k_param_motors, 32, AP_PARAM_INT16, "SERVO7_TRIM" },
{ Parameters::k_param_motors, 33, AP_PARAM_INT16, "SERVO7_MIN" },
{ Parameters::k_param_motors, 34, AP_PARAM_INT16, "SERVO7_MAX" },
{ Parameters::k_param_motors, 35, AP_PARAM_FLOAT, "MOT_YAW_SV_ANGLE" },
};
// we need to use CONVERT_FLAG_FORCE as the SERVO7_* parameters will already be set from RC7_*
AP_Param::convert_old_parameters(tri_conversion_info, ARRAY_SIZE(tri_conversion_info), AP_Param::CONVERT_FLAG_FORCE);
const AP_Param::ConversionInfo tri_conversion_info_rev { Parameters::k_param_motors, 31, AP_PARAM_INT8, "SERVO7_REVERSED" };
AP_Param::convert_old_parameter(&tri_conversion_info_rev, 1, AP_Param::CONVERT_FLAG_REVERSE | AP_Param::CONVERT_FLAG_FORCE);
}
#endif #endif
} }
} }