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Copter: convert THR_MIN to MOT_SPIN_MIN, THR_MID to MOT_THST_HOVER

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This commit is contained in:
Randy Mackay 2016-06-04 13:32:34 +09:00
parent 48eb4cf674
commit 901e8cc23f
1 changed files with 9 additions and 0 deletions
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9
ArduCopter/Parameters.cpp
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@ -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_pitch, 6, AP_PARAM_FLOAT, "ATC_RAT_PIT_FILT" },
{ Parameters::k_param_pid_rate_yaw, 6, AP_PARAM_FLOAT, "ATC_RAT_YAW_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 // 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 // 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++) { for (uint8_t i=0; i<table_size; i++) {
AP_Param::convert_old_parameter(&angle_and_filt_conversion_info[i], 1.0f); 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);
}
} }