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Copter: fix PSC_ACCZ_FILT to _FLTE param conversion

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This commit is contained in:
Randy Mackay 2019-10-29 10:15:25 +09:00
parent 2ffca3fe6b
commit c2a1ab988d
1 changed files with 5 additions and 3 deletions
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8
ArduCopter/Parameters.cpp
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@ -1110,7 +1110,7 @@ void Copter::load_parameters(void)
} }
// handle conversion of PID gains from Copter-3.3 to Copter-3.4 // handle conversion of PID gains
void Copter::convert_pid_parameters(void) void Copter::convert_pid_parameters(void)
{ {
// conversion info // conversion info
@ -1140,6 +1140,7 @@ void Copter::convert_pid_parameters(void)
{ Parameters::k_param_pid_rate_yaw, 7, AP_PARAM_FLOAT, "ATC_RAT_YAW_ILMI" }, { Parameters::k_param_pid_rate_yaw, 7, AP_PARAM_FLOAT, "ATC_RAT_YAW_ILMI" },
#endif #endif
}; };
// conversion from Copter-3.3 to Copter-3.4
const AP_Param::ConversionInfo angle_and_filt_conversion_info[] = { const AP_Param::ConversionInfo angle_and_filt_conversion_info[] = {
{ Parameters::k_param_p_stabilize_roll, 0, AP_PARAM_FLOAT, "ATC_ANG_RLL_P" }, { Parameters::k_param_p_stabilize_roll, 0, AP_PARAM_FLOAT, "ATC_ANG_RLL_P" },
{ Parameters::k_param_p_stabilize_pitch, 0, AP_PARAM_FLOAT, "ATC_ANG_PIT_P" }, { Parameters::k_param_p_stabilize_pitch, 0, AP_PARAM_FLOAT, "ATC_ANG_PIT_P" },
@ -1156,7 +1157,7 @@ void Copter::convert_pid_parameters(void)
{ Parameters::k_param_pid_accel_z, 1, AP_PARAM_FLOAT, "PSC_ACCZ_I" }, { Parameters::k_param_pid_accel_z, 1, AP_PARAM_FLOAT, "PSC_ACCZ_I" },
{ Parameters::k_param_pid_accel_z, 2, AP_PARAM_FLOAT, "PSC_ACCZ_D" }, { Parameters::k_param_pid_accel_z, 2, AP_PARAM_FLOAT, "PSC_ACCZ_D" },
{ Parameters::k_param_pid_accel_z, 5, AP_PARAM_FLOAT, "PSC_ACCZ_IMAX" }, { Parameters::k_param_pid_accel_z, 5, AP_PARAM_FLOAT, "PSC_ACCZ_IMAX" },
{ Parameters::k_param_pid_accel_z, 6, AP_PARAM_FLOAT, "PSC_ACCZ_FILT" }, { Parameters::k_param_pid_accel_z, 6, AP_PARAM_FLOAT, "PSC_ACCZ_FLTE" },
{ Parameters::k_param_p_alt_hold, 0, AP_PARAM_FLOAT, "PSC_POSZ_P" }, { Parameters::k_param_p_alt_hold, 0, AP_PARAM_FLOAT, "PSC_POSZ_P" },
{ Parameters::k_param_p_pos_xy, 0, AP_PARAM_FLOAT, "PSC_POSXY_P" }, { Parameters::k_param_p_pos_xy, 0, AP_PARAM_FLOAT, "PSC_POSXY_P" },
}; };
@ -1233,7 +1234,7 @@ void Copter::convert_pid_parameters(void)
AP_Param::set_defaults_from_table(heli_defaults_table, ARRAY_SIZE(heli_defaults_table)); AP_Param::set_defaults_from_table(heli_defaults_table, ARRAY_SIZE(heli_defaults_table));
#endif #endif
// attitude control filter parameter changes (from _FILT to FLTD, FLTE, FLTT) for Copter-4.0 // attitude and position control filter parameter changes (from _FILT to FLTD, FLTE, FLTT) for Copter-4.0
// magic numbers shown below are discovered by setting AP_PARAM_KEY_DUMP = 1 // magic numbers shown below are discovered by setting AP_PARAM_KEY_DUMP = 1
const AP_Param::ConversionInfo ff_and_filt_conversion_info[] = { const AP_Param::ConversionInfo ff_and_filt_conversion_info[] = {
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
@ -1252,6 +1253,7 @@ void Copter::convert_pid_parameters(void)
{ Parameters::k_param_attitude_control, 450, AP_PARAM_FLOAT, "ATC_RAT_PIT_FF" }, { Parameters::k_param_attitude_control, 450, AP_PARAM_FLOAT, "ATC_RAT_PIT_FF" },
{ Parameters::k_param_attitude_control, 451, AP_PARAM_FLOAT, "ATC_RAT_YAW_FF" }, { Parameters::k_param_attitude_control, 451, AP_PARAM_FLOAT, "ATC_RAT_YAW_FF" },
#endif #endif
{ Parameters::k_param_pos_control, 388, AP_PARAM_FLOAT, "PSC_ACCZ_FLTE" },
}; };
uint8_t filt_table_size = ARRAY_SIZE(ff_and_filt_conversion_info); uint8_t filt_table_size = ARRAY_SIZE(ff_and_filt_conversion_info);
for (uint8_t i=0; i<filt_table_size; i++) { for (uint8_t i=0; i<filt_table_size; i++) {