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Copter: use iterators in parameter conversion

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Peter Barker 2019-05-28 10:57:41 +10:00 committed by Randy Mackay
parent 3582b69e9c
commit 9e7a0e6267
1 changed files with 10 additions and 15 deletions
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25
ArduCopter/Parameters.cpp
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@ -1241,24 +1241,20 @@ void Copter::convert_pid_parameters(void)
#endif
// scale PID gains
uint8_t table_size = ARRAY_SIZE(pid_conversion_info);
for (uint8_t i=0; i<table_size; i++) {
AP_Param::convert_old_parameter(&pid_conversion_info[i], pid_scaler);
for (const auto &info : pid_conversion_info) {
AP_Param::convert_old_parameter(&info, pid_scaler);
}
// reduce IMAX into -1 ~ +1 range
table_size = ARRAY_SIZE(imax_conversion_info);
for (uint8_t i=0; i<table_size; i++) {
AP_Param::convert_old_parameter(&imax_conversion_info[i], 1.0f/4500.0f);
for (const auto &info : imax_conversion_info) {
AP_Param::convert_old_parameter(&info, 1.0f/4500.0f);
}
// convert angle controller gain and filter without scaling
table_size = ARRAY_SIZE(angle_and_filt_conversion_info);
for (uint8_t i=0; i<table_size; i++) {
AP_Param::convert_old_parameter(&angle_and_filt_conversion_info[i], 1.0f);
for (const auto &info : angle_and_filt_conversion_info) {
AP_Param::convert_old_parameter(&info, 1.0f);
}
// convert throttle parameters (multicopter only)
table_size = ARRAY_SIZE(throttle_conversion_info);
for (uint8_t i=0; i<table_size; i++) {
AP_Param::convert_old_parameter(&throttle_conversion_info[i], 0.001f);
for (const auto &info : throttle_conversion_info) {
AP_Param::convert_old_parameter(&info, 0.001f);
}
// convert RC_FEEL_RP to ATC_INPUT_TC
const AP_Param::ConversionInfo rc_feel_rp_conversion_info = { Parameters::k_param_rc_feel_rp, 0, AP_PARAM_INT8, "ATC_INPUT_TC" };
@ -1267,9 +1263,8 @@ void Copter::convert_pid_parameters(void)
AP_Param::set_default_by_name(rc_feel_rp_conversion_info.new_name, (1.0f / (2.0f + rc_feel_rp_old.get() * 0.1f)));
}
// convert loiter parameters
table_size = ARRAY_SIZE(loiter_conversion_info);
for (uint8_t i=0; i<table_size; i++) {
AP_Param::convert_old_parameter(&loiter_conversion_info[i], 1.0f);
for (const auto &info : loiter_conversion_info) {
AP_Param::convert_old_parameter(&info, 1.0f);
}
// TradHeli default parameters