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Rover: convert ch7_option param to rc7_option

This commit is contained in:
Randy Mackay 2019-01-23 13:48:35 +09:00
parent 2c909cf83b
commit ac773ccd79
2 changed files with 12 additions and 1 deletions
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11
APMrover2/Parameters.cpp
View File

@ -805,6 +805,17 @@ void Rover::load_parameters(void)
// set a more reasonable default NAVL1_PERIOD for rovers
L1_controller.set_default_period(NAVL1_PERIOD);
// convert CH7_OPTION to RC7_OPTION for Rover-3.4 to 3.5 upgrade
const AP_Param::ConversionInfo ch7_option_info = { Parameters::k_param_ch7_option, 0, AP_PARAM_INT8, "RC7_OPTION" };
AP_Int8 ch7_opt_old;
if (AP_Param::find_old_parameter(&ch7_option_info, &ch7_opt_old)) {
const uint8_t ch7_opt_map[] = {0,7,50,41,51,52,53,54,16,4,42,55,56};
const uint8_t ch7_opt_old_val = (uint8_t)ch7_opt_old.get();
if (ch7_opt_old_val < ARRAY_SIZE(ch7_opt_map)) {
AP_Param::set_default_by_name(ch7_option_info.new_name, ch7_opt_map[ch7_opt_old_val]);
}
}
// configure safety switch to allow stopping the motors while armed
#if HAL_HAVE_SAFETY_SWITCH
AP_Param::set_default_by_name("BRD_SAFETYOPTION", AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF|

2
APMrover2/Parameters.h
View File

@ -108,7 +108,7 @@ public:
k_param_speed_cruise,
k_param_speed_turn_gain, // unused
k_param_speed_turn_dist, // unused
k_param_ch7_option,
k_param_ch7_option, // unused
k_param_auto_trigger_pin,
k_param_auto_kickstart,
k_param_turn_circle, // unused