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Copter: fixed scaling of old heli parms

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This commit is contained in:
Andrew Tridgell 2016-05-12 17:34:36 +10:00
parent cf08c46f30
commit 75d76ac3bd
1 changed files with 11 additions and 1 deletions
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12
ArduCopter/Parameters.cpp
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@ -1043,11 +1043,21 @@ void Copter::convert_pid_parameters(void)
{ Parameters::k_param_pid_rate_yaw, 0, AP_PARAM_FLOAT, "ATC_RAT_YAW_P" },
{ Parameters::k_param_pid_rate_yaw, 1, AP_PARAM_FLOAT, "ATC_RAT_YAW_I" },
{ Parameters::k_param_pid_rate_yaw, 2, AP_PARAM_FLOAT, "ATC_RAT_YAW_D" },
#if FRAME_CONFIG == HELI_FRAME
{ Parameters::k_param_pid_rate_roll, 4, AP_PARAM_FLOAT, "ATC_RAT_RLL_VFF" },
{ Parameters::k_param_pid_rate_pitch, 4, AP_PARAM_FLOAT, "ATC_RAT_PIT_VFF" },
{ Parameters::k_param_pid_rate_yaw , 4, AP_PARAM_FLOAT, "ATC_RAT_YAW_VFF" },
#endif
};
AP_Param::ConversionInfo imax_conversion_info[] = {
{ Parameters::k_param_pid_rate_roll, 5, AP_PARAM_FLOAT, "ATC_RAT_RLL_IMAX" },
{ Parameters::k_param_pid_rate_pitch, 5, AP_PARAM_FLOAT, "ATC_RAT_PIT_IMAX" },
{ Parameters::k_param_pid_rate_yaw, 5, AP_PARAM_FLOAT, "ATC_RAT_YAW_IMAX" }
{ Parameters::k_param_pid_rate_yaw, 5, AP_PARAM_FLOAT, "ATC_RAT_YAW_IMAX" },
#if FRAME_CONFIG == HELI_FRAME
{ Parameters::k_param_pid_rate_roll, 7, AP_PARAM_FLOAT, "ATC_RAT_RLL_ILMI" },
{ Parameters::k_param_pid_rate_pitch, 7, AP_PARAM_FLOAT, "ATC_RAT_PIT_ILMI" },
{ Parameters::k_param_pid_rate_yaw, 7, AP_PARAM_FLOAT, "ATC_RAT_YAW_ILMI" },
#endif
};
AP_Param::ConversionInfo filt_conversion_info[] = {
{ Parameters::k_param_pid_rate_roll, 6, AP_PARAM_FLOAT, "ATC_RAT_RLL_FILT" },