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Plane: auto-convert the old RLL2SRV* parameters to the new CTL_RLL_* parameters

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This commit is contained in:
Andrew Tridgell 2013-05-30 21:47:20 +10:00
parent 53d3ce7d2c
commit cae1079747
1 changed files with 19 additions and 1 deletions
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20
ArduPlane/Parameters.pde
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@ -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);
}
}