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Plane: added custom conversion of Q_FRAME_CLASS parameter

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Andrew Tridgell 2016-12-31 10:50:01 +11:00 committed by Randy Mackay
parent 0d6801fbe6
commit 1c4bf77cf6
1 changed files with 34 additions and 2 deletions
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36
ArduPlane/quadplane.cpp
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@ -208,12 +208,14 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Increment: 1
AP_GROUPINFO("TRAN_PIT_MAX", 29, QuadPlane, transition_pitch_max, 3),
// frame class was moved from 30 when consolidating AP_Motors classes
#define FRAME_CLASS_OLD_IDX 30
// @Param: FRAME_CLASS
// @DisplayName: Frame Class
// @Description: Controls major frame class for multicopter component
// @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 7:Tri
// @User: Standard
AP_GROUPINFO("FRAME_CLASS", 30, QuadPlane, frame_class, 1),
AP_GROUPINFO("FRAME_CLASS", 46, QuadPlane, frame_class, 1),
// @Param: FRAME_TYPE
// @DisplayName: Frame Type (+, X or V)
@ -366,6 +368,36 @@ bool QuadPlane::setup(void)
return false;
}
float loop_delta_t = 1.0 / plane.scheduler.get_loop_rate_hz();
#if FRAME_CONFIG != TRI_FRAME
/*
cope with upgrade from old AP_Motors values for frame_class
*/
AP_Int8 old_class;
const AP_Param::ConversionInfo cinfo { Parameters::k_param_quadplane, FRAME_CLASS_OLD_IDX, AP_PARAM_INT8, nullptr };
if (AP_Param::find_old_parameter(&cinfo, &old_class) && !frame_class.load()) {
uint8_t new_value = 0;
// map from old values to new values
switch (old_class.get()) {
case 0:
new_value = AP_Motors::MOTOR_FRAME_QUAD;
break;
case 1:
new_value = AP_Motors::MOTOR_FRAME_HEXA;
break;
case 2:
new_value = AP_Motors::MOTOR_FRAME_OCTA;
break;
case 3:
new_value = AP_Motors::MOTOR_FRAME_OCTAQUAD;
break;
case 4:
new_value = AP_Motors::MOTOR_FRAME_Y6;
break;
}
frame_class.set_and_save(new_value);
}
#endif
if (hal.util->available_memory() <
4096 + sizeof(*motors) + sizeof(*attitude_control) + sizeof(*pos_control) + sizeof(*wp_nav)) {
@ -378,7 +410,7 @@ bool QuadPlane::setup(void)
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor2, CH_6);
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor4, CH_8);
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor7, CH_11);
frame_class = AP_Motors::MOTOR_FRAME_TRI;
frame_class.set(AP_Motors::MOTOR_FRAME_TRI);
motors = new AP_MOTORS_CLASS(plane.scheduler.get_loop_rate_hz());
#else
/*