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Sub: param conversion for attitude control FF and FILT

This commit is contained in:
Leonard Hall 2019-07-16 14:13:36 +09:00 committed by Randy Mackay
parent 35a57d1156
commit ad4b6fdeae
1 changed files with 12 additions and 0 deletions
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12
ArduSub/Parameters.cpp
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@ -705,6 +705,18 @@ void Sub::load_parameters()
void Sub::convert_old_parameters()
{
// attitude control filter parameter changes from _FILT to FLTE or FLTD
const AP_Param::ConversionInfo filt_conversion_info[] = {
// move ATC_RAT_RLL/PIT_FILT to FLTD, move ATC_RAT_YAW_FILT to FLTE
{ Parameters::k_param_attitude_control, 385, AP_PARAM_FLOAT, "ATC_RAT_RLL_FLTE" },
{ Parameters::k_param_attitude_control, 386, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTE" },
{ Parameters::k_param_attitude_control, 387, AP_PARAM_FLOAT, "ATC_RAT_YAW_FLTE" },
};
uint8_t filt_table_size = ARRAY_SIZE(filt_conversion_info);
for (uint8_t i=0; i<filt_table_size; i++) {
AP_Param::convert_old_parameters(&filt_conversion_info[i], 1.0f);
}
const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old, Parameters::k_param_rc_2_old,
Parameters::k_param_rc_3_old, Parameters::k_param_rc_4_old,
Parameters::k_param_rc_5_old, Parameters::k_param_rc_6_old,