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SRV_Channel: added AP_Motors servo channel parameter upgrading

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This commit is contained in:
Andrew Tridgell 2017-01-10 16:09:42 +11:00
parent bf889e01e1
commit e248078401
2 changed files with 78 additions and 8 deletions
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1
libraries/SRV_Channel/SRV_Channel.h
View File

@ -348,6 +348,7 @@ public:
// upgrade RC* parameters into SERVO* parameters // upgrade RC* parameters into SERVO* parameters
static bool upgrade_parameters(const uint8_t old_keys[14], uint16_t aux_channel_mask, RCMapper *rcmap); static bool upgrade_parameters(const uint8_t old_keys[14], uint16_t aux_channel_mask, RCMapper *rcmap);
static void upgrade_motors_servo(uint8_t ap_motors_key, uint8_t ap_motors_idx, uint8_t new_channel);
private: private:
struct { struct {

85
libraries/SRV_Channel/SRV_Channel_aux.cpp
View File

@ -632,18 +632,23 @@ bool SRV_Channels::upgrade_parameters(const uint8_t rc_keys[14], uint16_t aux_ch
} }
SRV_Channel &srv_chan = channels[i]; SRV_Channel &srv_chan = channels[i];
RC_Channel &rc_chan = RC_Channels::channels[i]; RC_Channel &rc_chan = RC_Channels::channels[i];
enum {
FLAG_NONE=0,
FLAG_IS_REVERSE=1,
FLAG_AUX_ONLY=2
};
const struct mapping { const struct mapping {
uint8_t old_index; uint8_t old_index;
AP_Param *new_srv_param; AP_Param *new_srv_param;
AP_Param *new_rc_param; AP_Param *new_rc_param;
enum ap_var_type type; enum ap_var_type type;
bool is_reverse; uint8_t flags;
} mapping[] = { } mapping[] = {
{ 0, &srv_chan.servo_min, &rc_chan.radio_min, AP_PARAM_INT16, false }, { 0, &srv_chan.servo_min, &rc_chan.radio_min, AP_PARAM_INT16, FLAG_NONE },
{ 1, &srv_chan.servo_trim, &rc_chan.radio_trim, AP_PARAM_INT16, false }, { 1, &srv_chan.servo_trim, &rc_chan.radio_trim, AP_PARAM_INT16, FLAG_NONE },
{ 2, &srv_chan.servo_max, &rc_chan.radio_max, AP_PARAM_INT16, false }, { 2, &srv_chan.servo_max, &rc_chan.radio_max, AP_PARAM_INT16, FLAG_NONE },
{ 3, &srv_chan.reversed, &rc_chan.reversed, AP_PARAM_INT8, true }, { 3, &srv_chan.reversed, &rc_chan.reversed, AP_PARAM_INT8, FLAG_IS_REVERSE },
{ 1, &srv_chan.function, nullptr, AP_PARAM_INT8, false }, { 1, &srv_chan.function, nullptr, AP_PARAM_INT8, FLAG_AUX_ONLY },
}; };
bool is_aux = aux_channel_mask & (1U<<i); bool is_aux = aux_channel_mask & (1U<<i);
@ -653,18 +658,23 @@ bool SRV_Channels::upgrade_parameters(const uint8_t rc_keys[14], uint16_t aux_ch
AP_Int8 v8; AP_Int8 v8;
AP_Int16 v16; AP_Int16 v16;
AP_Param *v = m.type == AP_PARAM_INT16?(AP_Param*)&v16:(AP_Param*)&v8; AP_Param *v = m.type == AP_PARAM_INT16?(AP_Param*)&v16:(AP_Param*)&v8;
bool aux_only = (m.flags & FLAG_AUX_ONLY)!=0;
if (!is_aux && aux_only) {
continue;
}
info.old_key = k; info.old_key = k;
info.type = m.type; info.type = m.type;
info.new_name = nullptr; info.new_name = nullptr;
// if this was an aux channel we need to shift by 6 bits, but not for RCn_FUNCTION // if this was an aux channel we need to shift by 6 bits, but not for RCn_FUNCTION
info.old_group_element = (is_aux && m.new_rc_param)?(m.old_index<<6):m.old_index; info.old_group_element = (is_aux && !aux_only)?(m.old_index<<6):m.old_index;
if (!AP_Param::find_old_parameter(&info, v)) { if (!AP_Param::find_old_parameter(&info, v)) {
// the parameter wasn't set in the old eeprom // the parameter wasn't set in the old eeprom
continue; continue;
} }
if (m.is_reverse) { if (m.flags & FLAG_IS_REVERSE) {
// special mapping from RCn_REV to RCn_REVERSED // special mapping from RCn_REV to RCn_REVERSED
v8.set(v8.get() == -1?1:0); v8.set(v8.get() == -1?1:0);
} }
@ -710,3 +720,62 @@ bool SRV_Channels::upgrade_parameters(const uint8_t rc_keys[14], uint16_t aux_ch
return true; return true;
} }
/*
Upgrade servo MIN/MAX/TRIM/REVERSE parameters for a single AP_Motors
RC_Channel servo from previous firmwares, setting the equivalent
parameter in the new SRV_Channels object
*/
void SRV_Channels::upgrade_motors_servo(uint8_t ap_motors_key, uint8_t ap_motors_idx, uint8_t new_channel)
{
SRV_Channel &srv_chan = channels[new_channel];
enum {
FLAG_NONE=0,
FLAG_IS_REVERSE=1
};
const struct mapping {
uint8_t old_index;
AP_Param *new_srv_param;
enum ap_var_type type;
uint8_t flags;
} mapping[] = {
{ 0, &srv_chan.servo_min, AP_PARAM_INT16, FLAG_NONE },
{ 1, &srv_chan.servo_trim, AP_PARAM_INT16, FLAG_NONE },
{ 2, &srv_chan.servo_max, AP_PARAM_INT16, FLAG_NONE },
{ 3, &srv_chan.reversed, AP_PARAM_INT8, FLAG_IS_REVERSE },
};
for (uint8_t j=0; j<ARRAY_SIZE(mapping); j++) {
const struct mapping &m = mapping[j];
AP_Param::ConversionInfo info;
AP_Int8 v8;
AP_Int16 v16;
AP_Param *v = m.type == AP_PARAM_INT16?(AP_Param*)&v16:(AP_Param*)&v8;
info.old_key = ap_motors_key;
info.type = m.type;
info.new_name = nullptr;
info.old_group_element = ap_motors_idx | (m.old_index<<6);
if (!AP_Param::find_old_parameter(&info, v)) {
// the parameter wasn't set in the old eeprom
continue;
}
if (m.flags & FLAG_IS_REVERSE) {
// special mapping from RCn_REV to RCn_REVERSED
v8.set(v8.get() == -1?1:0);
}
// we save even if there is already a value in the new eeprom,
// as that may come from the equivalent RC channel, not the
// old motor servo channel
if (m.type == AP_PARAM_INT16) {
((AP_Int16 *)m.new_srv_param)->set_and_save_ifchanged(v16.get());
} else {
((AP_Int8 *)m.new_srv_param)->set_and_save_ifchanged(v8.get());
}
}
}