AP_MotorsHeli: Add param conversion for RSC_AROT params

MattKear · Sep 23, 2024 · 454062a · 454062a
1 parent 3cb4d51
commit 454062a
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Showing 3 changed files with 20 additions and 1 deletion.
diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp
@@ -628,3 +628,19 @@ float AP_MotorsHeli::get_cyclic_angle_scaler(void) const {
     return ((float)(_collective_max-_collective_min))*1e-3 * (_collective_max_deg.get() - _collective_min_deg.get()) * 2.0;
 }
 #endif
+
+// Helper function for param conversions to be done in motors class
+void AP_MotorsHeli::heli_motors_param_conversions(void)
+{
+    // PARAMETER_CONVERSION - Added: Sep-2024
+    // move autorotation related parameters within the RSC into their own class
+    const AP_Param::ConversionInfo rsc_arot_conversion_info[] = {
+        { 90, 108096, AP_PARAM_INT8,  "H_RSC_AROT_ENBL" },
+        { 90, 104000, AP_PARAM_INT8,  "H_RSC_AROT_RAMP" },
+        { 90, 112192, AP_PARAM_INT16,  "H_RSC_AROT_IDLE" },
+    };
+    uint8_t table_size = ARRAY_SIZE(rsc_arot_conversion_info);
+    for (uint8_t i=0; i<table_size; i++) {
+        AP_Param::convert_old_parameter(&rsc_arot_conversion_info[i], 1.0);
+    }
+}
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -154,7 +154,7 @@ class AP_MotorsHeli : public AP_Motors {
     void _output_test_seq(uint8_t motor_seq, int16_t pwm) override {};
 
     // Helper function for param conversions to be done in motors class
-    virtual void heli_motors_param_conversions(void) { return; }
+    virtual void heli_motors_param_conversions(void);
 
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];

diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -633,6 +633,9 @@ bool AP_MotorsHeli_Single::arming_checks(size_t buflen, char *buffer) const
 // Called from system.cpp
 void AP_MotorsHeli_Single::heli_motors_param_conversions(void)
 {
+    // Run common conversions from base class
+    AP_MotorsHeli::heli_motors_param_conversions();
+
     // PARAMETER_CONVERSION - Added: Nov-2023
     // Convert trim for DDFP tails
     // Previous DDFP configs used servo trim for setting the yaw trim, which no longer works with thrust linearisation. Convert servo trim