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Plane: auto-upgrade old parameters for SRV_Channel split

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This commit is contained in:
Andrew Tridgell 2017-01-09 11:47:58 +11:00
parent 86e0b8a91f
commit 68504dbcbb
1 changed files with 16 additions and 6 deletions
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22
ArduPlane/Parameters.cpp
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@ -1323,16 +1323,26 @@ void Plane::load_parameters(void)
AP_Param::load_all();
AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
if (quadplane.enable) {
// quadplanes needs a higher loop rate
AP_Param::set_default_by_name("SCHED_LOOP_RATE", 300);
}
// setup defaults in SRV_Channels
g2.servo_channels.set_default_function(CH_1, SRV_Channel::k_aileron);
g2.servo_channels.set_default_function(CH_2, SRV_Channel::k_elevator);
g2.servo_channels.set_default_function(CH_3, SRV_Channel::k_throttle);
g2.servo_channels.set_default_function(CH_4, SRV_Channel::k_rudder);
const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old, Parameters::k_param_rc_2_old,
Parameters::k_param_rc_3_old, Parameters::k_param_rc_4_old,
Parameters::k_param_rc_5_old, Parameters::k_param_rc_6_old,
Parameters::k_param_rc_7_old, Parameters::k_param_rc_8_old,
Parameters::k_param_rc_9_old, Parameters::k_param_rc_10_old,
Parameters::k_param_rc_11_old, Parameters::k_param_rc_12_old,
Parameters::k_param_rc_13_old, Parameters::k_param_rc_14_old };
const uint16_t old_aux_chan_mask = 0x3FF0;
SRV_Channels::upgrade_parameters(old_rc_keys, old_aux_chan_mask, &rcmap);
if (quadplane.enable) {
// quadplanes needs a higher loop rate
AP_Param::set_default_by_name("SCHED_LOOP_RATE", 300);
}
cliSerial->printf("load_all took %uus\n", (unsigned)(micros() - before));
}