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Copter: tradheli-singleheli swashplate type upgrade conversion fix

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bnsgeyer 2019-09-06 11:13:12 -04:00 committed by Randy Mackay
parent 8fc55b9678
commit a849aab4c7
1 changed files with 31 additions and 11 deletions
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42
ArduCopter/Parameters.cpp
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@ -1344,7 +1344,6 @@ void Copter::convert_tradheli_parameters(void)
{ Parameters::k_param_motors, 1, AP_PARAM_INT16, "H_SW_H3_SV1_POS" }, { Parameters::k_param_motors, 1, AP_PARAM_INT16, "H_SW_H3_SV1_POS" },
{ Parameters::k_param_motors, 2, AP_PARAM_INT16, "H_SW_H3_SV2_POS" }, { Parameters::k_param_motors, 2, AP_PARAM_INT16, "H_SW_H3_SV2_POS" },
{ Parameters::k_param_motors, 3, AP_PARAM_INT16, "H_SW_H3_SV3_POS" }, { Parameters::k_param_motors, 3, AP_PARAM_INT16, "H_SW_H3_SV3_POS" },
{ Parameters::k_param_motors, 5, AP_PARAM_INT8, "H_SW_TYPE" },
{ Parameters::k_param_motors, 7, AP_PARAM_INT16, "H_SW_H3_PHANG" }, { Parameters::k_param_motors, 7, AP_PARAM_INT16, "H_SW_H3_PHANG" },
{ Parameters::k_param_motors, 19, AP_PARAM_INT8, "H_SW_COL_DIR" }, { Parameters::k_param_motors, 19, AP_PARAM_INT8, "H_SW_COL_DIR" },
}; };
@ -1356,17 +1355,38 @@ void Copter::convert_tradheli_parameters(void)
} }
// convert to known swash type for setups that match // convert to known swash type for setups that match
AP_Int16 *swash_pos_1, *swash_pos_2, *swash_pos_3, *swash_phang, *swash_type; AP_Int16 swash_pos_1, swash_pos_2, swash_pos_3, swash_phang;
enum ap_var_type ptype; AP_Int8 swash_type;
swash_pos_1 = (AP_Int16 *)AP_Param::find("H_SW_H3_SV1_POS", &ptype); bool swash_pos1_exist = AP_Param::find_old_parameter(&singleheli_conversion_info[0], &swash_pos_1);
swash_pos_2 = (AP_Int16 *)AP_Param::find("H_SW_H3_SV2_POS", &ptype); bool swash_pos2_exist = AP_Param::find_old_parameter(&singleheli_conversion_info[1], &swash_pos_2);
swash_pos_3 = (AP_Int16 *)AP_Param::find("H_SW_H3_SV3_POS", &ptype); bool swash_pos3_exist = AP_Param::find_old_parameter(&singleheli_conversion_info[2], &swash_pos_3);
swash_phang = (AP_Int16 *)AP_Param::find("H_SW_H3_PHANG", &ptype); bool swash_phang_exist = AP_Param::find_old_parameter(&singleheli_conversion_info[3], &swash_phang);
swash_type = (AP_Int16 *)AP_Param::find("H_SW_TYPE", &ptype); const AP_Param::ConversionInfo swash_type_info { Parameters::k_param_motors, 5, AP_PARAM_INT8, "H_SW_TYPE" };
if (swash_pos_1->get() == -60 && swash_pos_2->get() == 60 && swash_pos_3->get() == 180 && swash_phang->get() == 0 && swash_type->get() == 0) { bool swash_type_exists = AP_Param::find_old_parameter(&swash_type_info, &swash_type);
AP_Param::set_default_by_name("H_SW_TYPE", SwashPlateType::SWASHPLATE_TYPE_H3_120);
}
if (swash_type_exists) {
// convert swash type to new parameter
AP_Param::convert_old_parameter(&swash_type_info, 1.0f);
} else {
// old swash type is not in eeprom and thus type is default value of generic swash
if (swash_pos1_exist || swash_pos2_exist || swash_pos3_exist || swash_phang_exist) {
// if any params exist with the generic swash then the upgraded swash type must be generic
// find the new variable in the variable structures
enum ap_var_type ptype;
AP_Param *ap2;
ap2 = AP_Param::find("H_SW_TYPE", &ptype);
// make sure the pointer is valid
if (ap2 != nullptr) {
// see if we can load it from EEPROM
if (!ap2->configured_in_storage()) {
// the new parameter is not in storage so set generic swash
AP_Param::set_and_save_by_name("H_SW_TYPE", SwashPlateType::SWASHPLATE_TYPE_H3);
}
}
} else {
// none exist so this is either an upgrade or new install and we do nothing
}
}
} else if (g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI_DUAL) { } else if (g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI_DUAL) {
// dual heli conversion info // dual heli conversion info
const AP_Param::ConversionInfo dualheli_conversion_info[] = { const AP_Param::ConversionInfo dualheli_conversion_info[] = {