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AP_BattMonitor: remove old parameter conversion to allow setting BATT_MONITOR to 0

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This commit is contained in:
Josh Henderson 2021-11-15 14:13:01 -05:00 committed by Andrew Tridgell
parent 5811a62bc6
commit fb28b39206
2 changed files with 1 additions and 79 deletions
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79
libraries/AP_BattMonitor/AP_BattMonitor.cpp
View File

@ -195,13 +195,8 @@ AP_BattMonitor::init()
_highest_failsafe_priority = INT8_MAX;
convert_params();
#ifdef HAL_BATT_MONITOR_DEFAULT
if (_params[0]._type == 0) {
// we can't use set_default() as the type is used as a flag for parameter conversion
_params[0]._type.set(int8_t(HAL_BATT_MONITOR_DEFAULT));
}
_params[0]._type.set_default(int8_t(HAL_BATT_MONITOR_DEFAULT));
#endif
// create each instance
@ -375,78 +370,6 @@ void AP_BattMonitor::convert_dynamic_param_groups(uint8_t instance)
}
}
void AP_BattMonitor::convert_params(void) {
if (_params[0]._type.configured_in_storage()) {
// _params[0]._type will always be configured in storage after conversion is done the first time
return;
}
#define SECOND_BATT_CONVERT_MASK 0x80
const struct ConversionTable {
uint8_t old_element;
uint8_t new_index; // upper bit used to indicate if its the first or second instance
}conversionTable[22] = {
{ 0, 0 }, // _MONITOR
{ 1, 1 }, // _VOLT_PIN
{ 2, 2 }, // _CURR_PIN
{ 3, 3 }, // _VOLT_MULT
{ 4, 4 }, // _AMP_PERVOLT
{ 5, 5 }, // _AMP_OFFSET
{ 6, 6 }, // _CAPACITY
{ 9, 7 }, // _WATT_MAX
{10, 8 }, // _SERIAL_NUM
{11, (SECOND_BATT_CONVERT_MASK | 0)}, // 2_MONITOR
{12, (SECOND_BATT_CONVERT_MASK | 1)}, // 2_VOLT_PIN
{13, (SECOND_BATT_CONVERT_MASK | 2)}, // 2_CURR_PIN
{14, (SECOND_BATT_CONVERT_MASK | 3)}, // 2_VOLT_MULT
{15, (SECOND_BATT_CONVERT_MASK | 4)}, // 2_AMP_PERVOLT
{16, (SECOND_BATT_CONVERT_MASK | 5)}, // 2_AMP_OFFSET
{17, (SECOND_BATT_CONVERT_MASK | 6)}, // 2_CAPACITY
{18, (SECOND_BATT_CONVERT_MASK | 7)}, // 2_WATT_MAX
{20, (SECOND_BATT_CONVERT_MASK | 8)}, // 2_SERIAL_NUM
{21, 9 }, // _LOW_TIMER
{22, 10 }, // _LOW_TYPE
{21, (SECOND_BATT_CONVERT_MASK | 9)}, // 2_LOW_TIMER
{22, (SECOND_BATT_CONVERT_MASK |10)}, // 2_LOW_TYPE
};
char param_name[17];
AP_Param::ConversionInfo info;
info.new_name = param_name;
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
info.old_key = 166;
#elif APM_BUILD_COPTER_OR_HELI
info.old_key = 36;
#elif APM_BUILD_TYPE(APM_BUILD_ArduSub)
info.old_key = 33;
#elif APM_BUILD_TYPE(APM_BUILD_Rover)
info.old_key = 145;
#else
_params[0]._type.save(true);
return; // no conversion is supported on this platform
#endif
for (uint8_t i = 0; i < ARRAY_SIZE(conversionTable); i++) {
uint8_t param_instance = conversionTable[i].new_index >> 7;
uint8_t destination_index = 0x7F & conversionTable[i].new_index;
info.old_group_element = conversionTable[i].old_element;
info.type = (ap_var_type)AP_BattMonitor_Params::var_info[destination_index].type;
if (param_instance) {
hal.util->snprintf(param_name, sizeof(param_name), "BATT2_%s", AP_BattMonitor_Params::var_info[destination_index].name);
} else {
hal.util->snprintf(param_name, sizeof(param_name), "BATT_%s", AP_BattMonitor_Params::var_info[destination_index].name);
}
AP_Param::convert_old_parameter(&info, 1.0f, 0);
}
// force _params[0]._type into storage to flag that conversion has been done
_params[0]._type.save(true);
}
// read - For all active instances read voltage & current; log BAT, BCL, POWR
void AP_BattMonitor::read()
{

1
libraries/AP_BattMonitor/AP_BattMonitor.h
View File

@ -256,7 +256,6 @@ private:
uint32_t _log_battery_bit;
uint8_t _num_instances; /// number of monitors
void convert_params(void);
void convert_dynamic_param_groups(uint8_t instance);
/// returns the failsafe state of the battery