From cae10797474d080d23d3c9cb387ac63c0a81535b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 30 May 2013 21:47:20 +1000
Subject: [PATCH] Plane: auto-convert the old RLL2SRV* parameters to the new
 CTL_RLL_* parameters

---
 ArduPlane/Parameters.pde | 20 +++++++++++++++++++-
 1 file changed, 19 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde
index dd5f7721ae..68be46d130 100644
--- a/ArduPlane/Parameters.pde
+++ b/ArduPlane/Parameters.pde
@@ -837,6 +837,24 @@ const AP_Param::Info var_info[] PROGMEM = {
     AP_VAREND
 };
 
+/*
+  This is a conversion table from old parameter values to new
+  parameter names. The startup code looks for saved values of the old
+  parameters and will copy them across to the new parameters if the
+  new parameter does not yet have a saved value. It then saves the new
+  value.
+
+  Note that this works even if the old parameter has been removed. It
+  relies on the old k_param index not being removed
+
+  The second column below is the index in the var_info[] table for the
+  old object. This should be zero for top level parameters.
+ */
+const AP_Param::ConversionInfo conversion_table[] PROGMEM = {
+    { Parameters::k_param_pidServoRoll, 0, AP_PARAM_FLOAT, "CTL_RLL_K_P" },
+    { Parameters::k_param_pidServoRoll, 1, AP_PARAM_FLOAT, "CTL_RLL_K_I" },
+    { Parameters::k_param_pidServoRoll, 2, AP_PARAM_FLOAT, "CTL_RLL_K_D" },
+};
 
 static void load_parameters(void)
 {
@@ -854,7 +872,7 @@ static void load_parameters(void)
         uint32_t before = micros();
         // Load all auto-loaded EEPROM variables
         AP_Param::load_all();
-
+        AP_Param::convert_old_parameters(&conversion_table[0], sizeof(conversion_table)/sizeof(conversion_table[0]));
         cliSerial->printf_P(PSTR("load_all took %luus\n"), micros() - before);
     }
 }