From 8fcd42d1040708d9f4aa62b6ae218edf90ff8fe1 Mon Sep 17 00:00:00 2001
From: rishabsingh3003 <rishabh.singh100358@gmail.com>
Date: Sun, 21 Aug 2022 22:56:44 +0530
Subject: [PATCH] Copter: Convert PRX_ parameters to PRX1_

---
 ArduCopter/Copter.h       |  3 +++
 ArduCopter/Parameters.cpp | 26 ++++++++++++++++++++++++++
 ArduCopter/system.cpp     |  5 +++++
 3 files changed, 34 insertions(+)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 7aa514ac69..230aa8f762 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -855,6 +855,9 @@ private:
     // Parameters.cpp
     void load_parameters(void) override;
     void convert_pid_parameters(void);
+#if HAL_PROXIMITY_ENABLED
+    void convert_prx_parameters();
+#endif
     void convert_lgr_parameters(void);
     void convert_tradheli_parameters(void) const;
     void convert_fs_options_params(void) const;
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 641d527c64..22a539f203 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1514,6 +1514,32 @@ void Copter::convert_pid_parameters(void)
     SRV_Channels::upgrade_parameters();
 }
 
+#if HAL_PROXIMITY_ENABLED
+void Copter::convert_prx_parameters()
+{
+    // convert PRX to PRX1_ parameters for Copter-4.3
+    // PARAMETER_CONVERSION - Added: Aug-2022
+    const AP_Param::ConversionInfo prx_conversion_info[] = {
+        { Parameters::k_param_g2, 72, AP_PARAM_INT8, "PRX1_TYPE" },
+        { Parameters::k_param_g2, 136, AP_PARAM_INT8, "PRX1_ORIENT" },
+        { Parameters::k_param_g2, 200, AP_PARAM_INT16, "PRX1_YAW_CORR" },
+        { Parameters::k_param_g2, 264, AP_PARAM_INT16, "PRX1_IGN_ANG1" },
+        { Parameters::k_param_g2, 328, AP_PARAM_INT8, "PRX1_IGN_WID1" },
+        { Parameters::k_param_g2, 392, AP_PARAM_INT16, "PRX1_IGN_ANG2" },
+        { Parameters::k_param_g2, 456, AP_PARAM_INT8, "PRX1_IGN_WID2" },
+        { Parameters::k_param_g2, 520, AP_PARAM_INT16, "PRX1_IGN_ANG3" },
+        { Parameters::k_param_g2, 584, AP_PARAM_INT8, "PRX1_IGN_WID3" },
+        { Parameters::k_param_g2, 648, AP_PARAM_INT16, "PRX1_IGN_ANG4" },
+        { Parameters::k_param_g2, 712, AP_PARAM_INT8, "PRX1_IGN_WID4" },
+        { Parameters::k_param_g2, 1224, AP_PARAM_FLOAT, "PRX1_MIN" },
+        { Parameters::k_param_g2, 1288, AP_PARAM_FLOAT, "PRX1_MAX" },
+    };
+    for (const auto &info : prx_conversion_info) {
+        AP_Param::convert_old_parameter(&info, 1.0);
+    }
+}
+#endif
+
 #if LANDING_GEAR_ENABLED == ENABLED
 /*
   convert landing gear parameters
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 0c0143a3a9..6bea6eae8d 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -521,6 +521,11 @@ void Copter::allocate_motors(void)
     convert_tradheli_parameters();
 #endif
 
+#if HAL_PROXIMITY_ENABLED
+    // convert PRX to PRX1_ parameters
+    convert_prx_parameters();
+#endif
+
     // param count could have changed
     AP_Param::invalidate_count();
 }