From 901e8cc23f5d12f31b6d636509529cfa1fe84878 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 4 Jun 2016 13:32:34 +0900
Subject: [PATCH] Copter: convert THR_MIN to MOT_SPIN_MIN, THR_MID to
 MOT_THST_HOVER

---
 ArduCopter/Parameters.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 3d6424381b..362bf81a25 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1049,6 +1049,10 @@ void Copter::convert_pid_parameters(void)
         { Parameters::k_param_pid_rate_pitch, 6, AP_PARAM_FLOAT, "ATC_RAT_PIT_FILT" },
         { Parameters::k_param_pid_rate_yaw, 6, AP_PARAM_FLOAT, "ATC_RAT_YAW_FILT" }
     };
+    AP_Param::ConversionInfo throttle_conversion_info[] = {
+        { Parameters::k_param_throttle_min, 0, AP_PARAM_FLOAT, "MOT_SPIN_MIN" },
+        { Parameters::k_param_throttle_mid, 0, AP_PARAM_FLOAT, "MOT_THST_HOVER" }
+    };
 
     // gains increase by 27% due to attitude controller's switch to use radians instead of centi-degrees
     // and motor libraries switch to accept inputs in -1 to +1 range instead of -4500 ~ +4500
@@ -1076,4 +1080,9 @@ void Copter::convert_pid_parameters(void)
     for (uint8_t i=0; i<table_size; i++) {
         AP_Param::convert_old_parameter(&angle_and_filt_conversion_info[i], 1.0f);
     }
+    // convert throttle parameters (multicopter only)
+    table_size = ARRAY_SIZE(throttle_conversion_info);
+    for (uint8_t i=0; i<table_size; i++) {
+        AP_Param::convert_old_parameter(&throttle_conversion_info[i], 0.001f);
+    }
 }