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AP_Param: convert_old_parameter becomes public and accepts scaling

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Randy Mackay 2016-02-17 11:29:47 +09:00 committed by Andrew Tridgell
parent 12067b27b3
commit c15fa950c0
2 changed files with 8 additions and 9 deletions
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11
libraries/AP_Param/AP_Param.cpp
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@ -1436,9 +1436,8 @@ void AP_Param::show_all(AP_HAL::BetterStream *port, bool showKeyValues)
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat"
// convert one old vehicle parameter to new object parameter
void AP_Param::convert_old_parameter(const struct ConversionInfo *info)
void AP_Param::convert_old_parameter(const struct ConversionInfo *info, float scaler)
{
// find the old value in EEPROM.
uint16_t pofs;
AP_Param::Param_header header;
@ -1473,8 +1472,8 @@ void AP_Param::convert_old_parameter(const struct ConversionInfo *info)
return;
}
// see if they are the same type
if (ptype == (ap_var_type)header.type) {
// see if they are the same type and no scaling applied
if (ptype == (ap_var_type)header.type && is_equal(scaler, 1.0f)) {
// copy the value over only if the new parameter does not already
// have the old value (via a default).
if (memcmp(ap2, ap, sizeof(old_value)) != 0) {
@ -1487,7 +1486,7 @@ void AP_Param::convert_old_parameter(const struct ConversionInfo *info)
float v = ap->cast_to_float((enum ap_var_type)header.type);
if (!is_equal(v,ap2->cast_to_float(ptype))) {
// the value needs to change
set_value(ptype, ap2, v);
set_value(ptype, ap2, v * scaler);
ap2->save();
}
} else {
@ -1502,7 +1501,7 @@ void AP_Param::convert_old_parameter(const struct ConversionInfo *info)
void AP_Param::convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size)
{
for (uint8_t i=0; i<table_size; i++) {
convert_old_parameter(&conversion_table[i]);
convert_old_parameter(&conversion_table[i], 1.0f);
}
}

6
libraries/AP_Param/AP_Param.h
View File

@ -277,6 +277,9 @@ public:
// convert old vehicle parameters to new object parameters
static void convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size);
// convert a single parameter with scaling
static void convert_old_parameter(const struct ConversionInfo *info, float scaler);
/// Erase all variables in EEPROM.
///
static void erase_all(void);
@ -475,9 +478,6 @@ private:
static const uint8_t k_EEPROM_magic0 = 0x50;
static const uint8_t k_EEPROM_magic1 = 0x41; ///< "AP"
static const uint8_t k_EEPROM_revision = 6; ///< current format revision
// convert old vehicle parameters to new object parameters
static void convert_old_parameter(const struct ConversionInfo *info);
};
/// Template class for scalar variables.