Copter: fixed parameter handling for pointer objects

fixed loading of default files and use of POINTER flag on object
groups

ArduCopter/APM_Config.h

@@ -3,19 +3,6 @@
 // If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer
 // valid! You should switch to using a HAL_BOARD flag in your local config.mk.
 
-//#define FRAME_CONFIG QUAD_FRAME
-/*  options:
- *  QUAD_FRAME
- *  TRI_FRAME
- *  HEXA_FRAME
- *  Y6_FRAME
- *  OCTA_FRAME
- *  OCTA_QUAD_FRAME
- *  HELI_FRAME
- *  SINGLE_FRAME
- *  COAX_FRAME
- */
-
 // uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
 //#define LOGGING_ENABLED       DISABLED            // disable dataflash logging to save 11K of flash space
 //#define MOUNT                 DISABLED            // disable the camera gimbal to save 8K of flash space

ArduCopter/Parameters.cpp

@@ -24,6 +24,7 @@
 #define ASCALAR(v, name, def) { copter.aparm.v.vtype, name, Parameters::k_param_ ## v, (const void *)&copter.aparm.v, {def_value : def} }
 #define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &copter.g.v, {group_info : class::var_info} }
 #define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info : class::var_info} }
+#define GOBJECTPTR(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info : class::var_info}, AP_PARAM_FLAG_POINTER }
 #define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&copter.v, {group_info : class::var_info} }
 
 const AP_Param::Info Copter::var_info[] = {
@@ -683,23 +684,19 @@ const AP_Param::Info Copter::var_info[] = {
 
     // @Group: WPNAV_
     // @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
-    GOBJECT(wp_nav, "WPNAV_",       AC_WPNav),
+    GOBJECTPTR(wp_nav, "WPNAV_",       AC_WPNav),
 
     // @Group: CIRCLE_
     // @Path: ../libraries/AC_WPNav/AC_Circle.cpp
-    GOBJECT(circle_nav, "CIRCLE_",  AC_Circle),
+    GOBJECTPTR(circle_nav, "CIRCLE_",  AC_Circle),
 
-#if FRAME_CONFIG == HELI_FRAME
-    GOBJECT(attitude_control, "ATC_", AC_AttitudeControl_Heli),
-#else
     // @Group: ATC_
     // @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
-    GOBJECT(attitude_control, "ATC_", AC_AttitudeControl_Multi),
+    GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Multi),
-#endif
 
     // @Group: POSCON_
     // @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
-    GOBJECT(pos_control, "PSC", AC_PosControl),
+    GOBJECTPTR(pos_control, "PSC", AC_PosControl),
 
     // @Group: SR0_
     // @Path: GCS_Mavlink.cpp
@@ -783,21 +780,11 @@ const AP_Param::Info Copter::var_info[] = {
 #if FRAME_CONFIG == HELI_FRAME
     // @Group: H_
     // @Path: ../libraries/AP_Motors/AP_MotorsHeli_Single.cpp
-    GOBJECT(motors, "H_",           AP_MotorsHeli_Single),
+    GOBJECTPTR(motors, "H_",           AP_MotorsHeli_Single),
-
-#elif FRAME_CONFIG == SINGLE_FRAME
-    GOBJECT(motors, "MOT_",           AP_MotorsSingle),
-
-#elif FRAME_CONFIG == COAX_FRAME
-    GOBJECT(motors, "MOT_",           AP_MotorsCoax),
-
-#elif FRAME_CONFIG == TRI_FRAME
-    GOBJECT(motors, "MOT_",           AP_MotorsTri),
-
 #else
     // @Group: MOT_
     // @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
-    GOBJECT(motors, "MOT_",         AP_MotorsMulticopter),
+    GOBJECTPTR(motors, "MOT_",         AP_MotorsMulticopter),
 #endif
 
     // @Group: RCMAP_
@@ -1080,7 +1067,7 @@ void Copter::load_parameters(void)
 
     uint32_t before = micros();
     // Load all auto-loaded EEPROM variables
-    AP_Param::load_all();
+    AP_Param::load_all(false);
     AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
     cliSerial->printf("load_all took %uus\n", (unsigned)(micros() - before));
 
@@ -1135,7 +1122,7 @@ void Copter::convert_pid_parameters(void)
     // and motor libraries switch to accept inputs in -1 to +1 range instead of -4500 ~ +4500
     float pid_scaler = 1.27f;
 
-#if FRAME_CONFIG == QUAD_FRAME || FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME  || FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
+#if FRAME_CONFIG != HELI_FRAME
     // Multicopter x-frame gains are 40% lower because -1 or +1 input to motors now results in maximum rotation
     if (g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_X || g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_V || g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_H) {
         pid_scaler = 0.9f;

ArduCopter/config.h

@@ -61,7 +61,7 @@
 // FRAME_CONFIG
 //
 #ifndef FRAME_CONFIG
- # define FRAME_CONFIG   QUAD_FRAME
+ # define FRAME_CONFIG   MULTICOPTER_FRAME
 #endif
 
 /////////////////////////////////////////////////////////////////////////////////
@@ -73,23 +73,6 @@
   # define AUTOTUNE_ENABLED                     DISABLED
 #endif
 
-/////////////////////////////////////////////////////////////////////////////////
-// Y6 defaults
-#if FRAME_CONFIG == Y6_FRAME
-  # define RATE_ROLL_P                  0.1f
-  # define RATE_ROLL_D                  0.006f
-  # define RATE_PITCH_P                 0.1f
-  # define RATE_PITCH_D                 0.006f
-  # define RATE_YAW_P                   0.150f
-  # define RATE_YAW_I                   0.015f
-#endif
-
-/////////////////////////////////////////////////////////////////////////////////
-// Tri defaults
-#if FRAME_CONFIG == TRI_FRAME
-  # define RATE_YAW_FILT_HZ             100.0f
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // PWM control
 // default RC speed in Hz

ArduCopter/defines.h

@@ -75,15 +75,8 @@ enum aux_sw_func {
 
 // Frame types
 #define UNDEFINED_FRAME 0
-#define QUAD_FRAME 1
+#define MULTICOPTER_FRAME 1
-#define TRI_FRAME 2
+#define HELI_FRAME 2
-#define HEXA_FRAME 3
-#define Y6_FRAME 4
-#define OCTA_FRAME 5
-#define HELI_FRAME 6
-#define OCTA_QUAD_FRAME 7
-#define SINGLE_FRAME 8
-#define COAX_FRAME 9
 
 // HIL enumerations
 #define HIL_MODE_DISABLED               0

ArduCopter/system.cpp

@@ -590,4 +590,24 @@ void Copter::allocate_motors(void)
     if (wp_nav == nullptr) {
         AP_HAL::panic("Unable to allocate CircleNav");
     }
+
+    // reload lines from the defaults file that may now be accessible
+    AP_Param::reload_defaults_file();
+    
+    // now setup some frame-class specific defaults
+    switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {
+    case AP_Motors::MOTOR_FRAME_Y6:
+        attitude_control->get_rate_roll_pid().kP().set_default(0.1);
+        attitude_control->get_rate_roll_pid().kD().set_default(0.006);
+        attitude_control->get_rate_pitch_pid().kP().set_default(0.1);
+        attitude_control->get_rate_pitch_pid().kD().set_default(0.006);
+        attitude_control->get_rate_yaw_pid().kP().set_default(0.15);
+        attitude_control->get_rate_yaw_pid().kI().set_default(0.015);
+        break;
+    case AP_Motors::MOTOR_FRAME_TRI:
+        attitude_control->get_rate_yaw_pid().filt_hz().set_default(100);
+        break;
+    default:
+        break;
+    }
 }