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Copter: Add param conversion for heli swashplate servo linearisation

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Gone4Dirt 2024-04-24 14:54:21 +01:00 committed by MattKear
parent ec22aff60f
commit a3a82bdda0
1 changed files with 14 additions and 0 deletions
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14
ArduCopter/Parameters.cpp
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@ -1833,5 +1833,19 @@ void Copter::convert_tradheli_parameters(void) const
AP_Param::convert_old_parameter(&collhelipct_conversion_info[i], 0.1f);
}
// PARAMETER_CONVERSION - Added: Apr-2024
// Convert swash servo linearisation params from an on/off to max angle
const AP_Param::ConversionInfo swash_lin_conversion_info[] = {
{ Parameters::k_param_motors, 212, AP_PARAM_INT8, "H_SW_LIN_SV_ANG" },
{ Parameters::k_param_motors, 213, AP_PARAM_INT8, "H_SW2_LIN_SV_ANG" },
};
table_size = ARRAY_SIZE(swash_lin_conversion_info);
for (uint8_t i=0; i<table_size; i++) {
// If the old param is not the default it should be either 0 or 1
// If it is 0 scaling by 50 will stil give zero so will remain disabled
// If it is 1 scaling by 50 will give the previously assumed servo range so there will be no change in behaviour
// If user had accidently set > 1 then there is a prearm to catch out of range linearisation angles
AP_Param::convert_old_parameter(&swash_lin_conversion_info[i], 50.0);
}
}
#endif