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Copter: update for changed INS_NOTCH parameter name

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This commit is contained in:
Andrew Tridgell 2022-04-13 13:44:27 +10:00
parent c1d841dd93
commit c03436b5e4
1 changed files with 4 additions and 2 deletions
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6
ArduCopter/Parameters.cpp
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@ -1387,7 +1387,8 @@ void Copter::convert_pid_parameters(void)
AP_Param::convert_old_parameters(&ff_and_filt_conversion_info[i], 1.0f); AP_Param::convert_old_parameters(&ff_and_filt_conversion_info[i], 1.0f);
} }
if (!ins.gyro_notch_enabled()) { #if HAL_INS_NUM_HARMONIC_NOTCH_FILTERS > 1
if (!ins.gyro_harmonic_notch_enabled(1)) {
// notch filter parameter conversions (moved to INS_HNTC2) for 4.2.x, converted from fixed notch // notch filter parameter conversions (moved to INS_HNTC2) for 4.2.x, converted from fixed notch
const AP_Param::ConversionInfo notchfilt_conversion_info[] { const AP_Param::ConversionInfo notchfilt_conversion_info[] {
{ Parameters::k_param_ins, 101, AP_PARAM_INT8, "INS_HNTC2_ENABLE" }, { Parameters::k_param_ins, 101, AP_PARAM_INT8, "INS_HNTC2_ENABLE" },
@ -1399,11 +1400,12 @@ void Copter::convert_pid_parameters(void)
for (uint8_t i=0; i<notchfilt_table_size; i++) { for (uint8_t i=0; i<notchfilt_table_size; i++) {
AP_Param::convert_old_parameters(&notchfilt_conversion_info[i], 1.0f); AP_Param::convert_old_parameters(&notchfilt_conversion_info[i], 1.0f);
} }
if (ins.gyro_notch_enabled()) { if (ins.gyro_harmonic_notch_enabled(1)) {
AP_Param::set_default_by_name("INS_HNTC2_MODE", 0); AP_Param::set_default_by_name("INS_HNTC2_MODE", 0);
AP_Param::set_default_by_name("INS_HNTC2_HMNCS", 1); AP_Param::set_default_by_name("INS_HNTC2_HMNCS", 1);
} }
} }
#endif
// ACRO_RP_P and ACRO_Y_P replaced with ACRO_RP_RATE and ACRO_Y_RATE for Copter-4.2 // ACRO_RP_P and ACRO_Y_P replaced with ACRO_RP_RATE and ACRO_Y_RATE for Copter-4.2
const AP_Param::ConversionInfo acro_rpy_conversion_info[] = { const AP_Param::ConversionInfo acro_rpy_conversion_info[] = {