From 8638dfad0d17d9ff2edf77e6348c679264808d3c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 27 Aug 2026 13:49:47 +1000
Subject: [PATCH] ArduSub: annotate and correct parameter conversion comments

Adds the missing PARAMETER_CONVERSION annotation to the conversion_table
(battery failsafe parameters, Mar-2018, and COMPASS_ENABLE, Apr-2019)
and to the attitude control _FILT to FLTE conversion (Jul-2019).
Remaining changes are date format corrections.  No functional change.

Also annotates the ARMDISARM_UNUSED to ARMDISARM rewrite of stored
RCn_OPTION values, which calls set_and_save() directly rather than going
through an AP_Param::convert_* helper and so was missed by an audit
anchored on those helpers.  It went in during Sep-2021, but Sub has no
4.2 to 4.4 releases, so established by content it first shipped in
ArduSub-4.5.0.
---
 ArduSub/Parameters.cpp | 7 +++++--
 ArduSub/system.cpp     | 1 +
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index dff1b9f2e25..48731cb3cbc 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -784,9 +784,11 @@ ParametersG2::ParametersG2()
 }
 
 const AP_Param::ConversionInfo conversion_table[] = {
+    // PARAMETER_CONVERSION - Added: Mar-2018 for ArduSub-4.0
     { Parameters::k_param_fs_batt_voltage,   0,      AP_PARAM_FLOAT,  "BATT_LOW_VOLT" },
     { Parameters::k_param_fs_batt_mah,       0,      AP_PARAM_FLOAT,  "BATT_LOW_MAH" },
     { Parameters::k_param_failsafe_battery_enabled,       0,      AP_PARAM_INT8,  "BATT_FS_LOW_ACT" },
+    // PARAMETER_CONVERSION - Added: Apr-2019 for ArduSub-4.0
     { Parameters::k_param_compass_enabled_deprecated,       0,      AP_PARAM_INT8, "COMPASS_ENABLE" },
 };
 
@@ -808,14 +810,14 @@ void Sub::load_parameters()
     AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, true);
 #endif
 
-    // PARAMETER_CONVERSION - Added: July-2025 for ArduPilot-4.7
+    // PARAMETER_CONVERSION - Added: Jul-2025 for ArduPilot-4.7
 #if AP_RPM_ENABLED
     AP_Param::convert_class(g.k_param_rpm_sensor_old, &rpm_sensor, rpm_sensor.var_info, 0, true, true);
 #endif
 
     static const AP_Param::G2ObjectConversion g2_conversions[] {
 #if AP_AIRSPEED_ENABLED
-    // PARAMETER_CONVERSION - Added: JAN-2022
+    // PARAMETER_CONVERSION - Added: Jan-2022 for ArduSub-4.5
         { &airspeed, airspeed.var_info, 19 },
 #endif
 #if AP_STATS_ENABLED
@@ -886,6 +888,7 @@ void Sub::load_parameters()
 void Sub::convert_old_parameters()
 {
     // attitude control filter parameter changes from _FILT to FLTE or FLTD
+    // PARAMETER_CONVERSION - Added: Jul-2019 for ArduSub-4.0
     const AP_Param::ConversionInfo filt_conversion_info[] = {
         // move ATC_RAT_RLL/PIT_FILT to FLTD, move ATC_RAT_YAW_FILT to FLTE
         { Parameters::k_param_attitude_control, 385, AP_PARAM_FLOAT, "ATC_RAT_RLL_FLTE" },
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index fbb9db76067..6bd897a5576 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -48,6 +48,7 @@ void Sub::init_ardupilot()
     gcs().setup_uarts();
 
     // initialise rc channels including setting mode
+    // PARAMETER_CONVERSION - Added: Sep-2021 for ArduSub-4.5
     rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
     rc().init();