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Copter: update for new SRV_Channels parameter conversion call

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Andrew Tridgell 2020-01-13 15:46:05 +11:00 committed by Randy Mackay
parent 72ddcb593b
commit b0ca48bf1d
3 changed files with 2 additions and 41 deletions
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3
ArduCopter/Copter.h
View File

@ -600,9 +600,6 @@ private:
bool standby_active;
// set when we are upgrading parameters from 3.4
bool upgrading_frame_params;
static const AP_Scheduler::Task scheduler_tasks[];
static const AP_Param::Info var_info[];
static const struct LogStructure log_structure[];

15
ArduCopter/Parameters.cpp
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@ -1292,19 +1292,8 @@ void Copter::convert_pid_parameters(void)
AP_Param::convert_old_parameters(&notchfilt_conversion_info[i], 1.0f);
}
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;
// note that we don't pass in rcmap as we don't want output channel functions changed based on rcmap
if (SRV_Channels::upgrade_parameters(old_rc_keys, old_aux_chan_mask, nullptr)) {
// the rest needs to be done after motors allocation
upgrading_frame_params = true;
}
// make any SRV_Channel upgrades needed
SRV_Channels::upgrade_parameters();
}
/*

25
ArduCopter/system.cpp
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@ -642,31 +642,6 @@ void Copter::allocate_motors(void)
g.rc_speed.set_default(16000);
}
if (upgrading_frame_params) {
// do frame specific upgrade. This is only done the first time we run the new firmware
#if FRAME_CONFIG == HELI_FRAME
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 12, CH_1);
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 13, CH_2);
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 14, CH_3);
SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 15, CH_4);
#else
if (g2.frame_class == AP_Motors::MOTOR_FRAME_TRI) {
const AP_Param::ConversionInfo tri_conversion_info[] = {
{ Parameters::k_param_motors, 32, AP_PARAM_INT16, "SERVO7_TRIM" },
{ Parameters::k_param_motors, 33, AP_PARAM_INT16, "SERVO7_MIN" },
{ Parameters::k_param_motors, 34, AP_PARAM_INT16, "SERVO7_MAX" },
{ Parameters::k_param_motors, 35, AP_PARAM_FLOAT, "MOT_YAW_SV_ANGLE" },
};
// we need to use CONVERT_FLAG_FORCE as the SERVO7_* parameters will already be set from RC7_*
AP_Param::convert_old_parameters(tri_conversion_info, ARRAY_SIZE(tri_conversion_info), AP_Param::CONVERT_FLAG_FORCE);
const AP_Param::ConversionInfo tri_conversion_info_rev { Parameters::k_param_motors, 31, AP_PARAM_INT8, "SERVO7_REVERSED" };
AP_Param::convert_old_parameter(&tri_conversion_info_rev, 1, AP_Param::CONVERT_FLAG_REVERSE | AP_Param::CONVERT_FLAG_FORCE);
// AP_MotorsTri was converted from having nested var_info to one level
AP_Param::convert_parent_class(Parameters::k_param_motors, motors, motors->var_info);
}
#endif
}
// upgrade parameters. This must be done after allocating the objects
convert_pid_parameters();
#if FRAME_CONFIG == HELI_FRAME