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https://github.com/ArduPilot/ardupilot.git
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AC_AttitudeControl: place PosControl parameter conversion tables in rodata
This commit is contained in:
Peter Barker
committed by
Andrew Tridgell
Andrew Tridgell
parent
a526f304a5
commit
a4e55aa914
@@ -1823,95 +1823,99 @@ void AC_PosControl::convert_parameters()
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// PARAMETER_CONVERSION - Added: Nov-2025 for ArduPilot-4.7
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// parameters that are simply moved
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#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
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static const AP_Param::ConversionInfo conversion_info[] = {
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{ k_param_psc_key, 258257, AP_PARAM_FLOAT, "Q_P_D_VEL_P" }, // Q_P_VELZ_P moved to Q_P_D_VEL_P
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{ k_param_psc_key, 4305, AP_PARAM_FLOAT, "Q_P_D_VEL_I" }, // Q_P_VELZ_I moved to Q_P_D_VEL_I
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{ k_param_psc_key, 16593, AP_PARAM_FLOAT, "Q_P_D_VEL_D" }, // Q_P_VELZ_D moved to Q_P_D_VEL_D
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{ k_param_psc_key, 12497, AP_PARAM_FLOAT, "Q_P_D_VEL_FLTE" }, // Q_P_VELZ_FLTE moved to Q_P_D_VEL_FLTE
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{ k_param_psc_key, 20689, AP_PARAM_FLOAT, "Q_P_D_VEL_FLTD" }, // Q_P_VELZ_FLTD moved to Q_P_D_VEL_FLTD
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{ k_param_psc_key, 24785, AP_PARAM_FLOAT, "Q_P_D_VEL_FF" }, // Q_P_VELZ_FF moved to Q_P_D_VEL_FF
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{ k_param_psc_key, 16657, AP_PARAM_FLOAT, "Q_P_D_ACC_FF" }, // Q_P_ACCZ_FF moved to Q_P_D_ACC_FF
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{ k_param_psc_key, 37137, AP_PARAM_FLOAT, "Q_P_D_ACC_FLTT" }, // Q_P_ACCZ_FLTT moved to Q_P_D_ACC_FLTT
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{ k_param_psc_key, 41233, AP_PARAM_FLOAT, "Q_P_D_ACC_FLTE" }, // Q_P_ACCZ_FLTE moved to Q_P_D_ACC_FLTE
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{ k_param_psc_key, 45329, AP_PARAM_FLOAT, "Q_P_D_ACC_FLTD" }, // Q_P_ACCZ_FLTD moved to Q_P_D_ACC_FLTD
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{ k_param_psc_key, 49425, AP_PARAM_FLOAT, "Q_P_D_ACC_SMAX" }, // Q_P_ACCZ_SMAX moved to Q_P_D_ACC_SMAX
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{ k_param_psc_key, 53521, AP_PARAM_FLOAT, "Q_P_D_ACC_PDMX" }, // Q_P_ACCZ_PDMX moved to Q_P_D_ACC_PDMX
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{ k_param_psc_key, 57617, AP_PARAM_FLOAT, "Q_P_D_ACC_D_FF" }, // Q_P_ACCZ_D_FF moved to Q_P_D_ACC_D_FF
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{ k_param_psc_key, 65809, AP_PARAM_INT8, "Q_P_D_ACC_NEF" }, // Q_P_ACCZ_NEF moved to Q_P_D_ACC_NEF
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{ k_param_psc_key, 61713, AP_PARAM_INT8, "Q_P_D_ACC_NTF" }, // Q_P_ACCZ_NTF moved to Q_P_D_ACC_NTF
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{ k_param_psc_key, 258449, AP_PARAM_FLOAT, "Q_P_NE_VEL_P" }, // Q_P_VELXY_P moved to Q_P_NE_VEL_P
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{ k_param_psc_key, 4497, AP_PARAM_FLOAT, "Q_P_NE_VEL_I" }, // Q_P_VELXY_I moved to Q_P_NE_VEL_I
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{ k_param_psc_key, 16785, AP_PARAM_FLOAT, "Q_P_NE_VEL_D" }, // Q_P_VELXY_D moved to Q_P_NE_VEL_D
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{ k_param_psc_key, 12689, AP_PARAM_FLOAT, "Q_P_NE_VEL_FLTE" },// Q_P_VELXY_FLTE moved to Q_P_NE_VEL_FLTE
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{ k_param_psc_key, 20881, AP_PARAM_FLOAT, "Q_P_NE_VEL_FLTD" },// Q_P_VELXY_FLTD moved to Q_P_NE_VEL_FLTD
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{ k_param_psc_key, 24977, AP_PARAM_FLOAT, "Q_P_NE_VEL_FF" }, // Q_P_VELXY_FF moved to Q_P_NE_VEL_FF
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static const AP_Param::ConversionInfoNoKey conversion_info[] = {
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{ 258257, AP_PARAM_FLOAT, "Q_P_D_VEL_P" }, // Q_P_VELZ_P moved to Q_P_D_VEL_P
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{ 4305, AP_PARAM_FLOAT, "Q_P_D_VEL_I" }, // Q_P_VELZ_I moved to Q_P_D_VEL_I
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{ 16593, AP_PARAM_FLOAT, "Q_P_D_VEL_D" }, // Q_P_VELZ_D moved to Q_P_D_VEL_D
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{ 12497, AP_PARAM_FLOAT, "Q_P_D_VEL_FLTE" }, // Q_P_VELZ_FLTE moved to Q_P_D_VEL_FLTE
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{ 20689, AP_PARAM_FLOAT, "Q_P_D_VEL_FLTD" }, // Q_P_VELZ_FLTD moved to Q_P_D_VEL_FLTD
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{ 24785, AP_PARAM_FLOAT, "Q_P_D_VEL_FF" }, // Q_P_VELZ_FF moved to Q_P_D_VEL_FF
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{ 16657, AP_PARAM_FLOAT, "Q_P_D_ACC_FF" }, // Q_P_ACCZ_FF moved to Q_P_D_ACC_FF
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{ 37137, AP_PARAM_FLOAT, "Q_P_D_ACC_FLTT" }, // Q_P_ACCZ_FLTT moved to Q_P_D_ACC_FLTT
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{ 41233, AP_PARAM_FLOAT, "Q_P_D_ACC_FLTE" }, // Q_P_ACCZ_FLTE moved to Q_P_D_ACC_FLTE
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{ 45329, AP_PARAM_FLOAT, "Q_P_D_ACC_FLTD" }, // Q_P_ACCZ_FLTD moved to Q_P_D_ACC_FLTD
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{ 49425, AP_PARAM_FLOAT, "Q_P_D_ACC_SMAX" }, // Q_P_ACCZ_SMAX moved to Q_P_D_ACC_SMAX
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{ 53521, AP_PARAM_FLOAT, "Q_P_D_ACC_PDMX" }, // Q_P_ACCZ_PDMX moved to Q_P_D_ACC_PDMX
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{ 57617, AP_PARAM_FLOAT, "Q_P_D_ACC_D_FF" }, // Q_P_ACCZ_D_FF moved to Q_P_D_ACC_D_FF
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{ 65809, AP_PARAM_INT8, "Q_P_D_ACC_NEF" }, // Q_P_ACCZ_NEF moved to Q_P_D_ACC_NEF
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{ 61713, AP_PARAM_INT8, "Q_P_D_ACC_NTF" }, // Q_P_ACCZ_NTF moved to Q_P_D_ACC_NTF
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{ 258449, AP_PARAM_FLOAT, "Q_P_NE_VEL_P" }, // Q_P_VELXY_P moved to Q_P_NE_VEL_P
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{ 4497, AP_PARAM_FLOAT, "Q_P_NE_VEL_I" }, // Q_P_VELXY_I moved to Q_P_NE_VEL_I
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{ 16785, AP_PARAM_FLOAT, "Q_P_NE_VEL_D" }, // Q_P_VELXY_D moved to Q_P_NE_VEL_D
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{ 12689, AP_PARAM_FLOAT, "Q_P_NE_VEL_FLTE" },// Q_P_VELXY_FLTE moved to Q_P_NE_VEL_FLTE
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{ 20881, AP_PARAM_FLOAT, "Q_P_NE_VEL_FLTD" },// Q_P_VELXY_FLTD moved to Q_P_NE_VEL_FLTD
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{ 24977, AP_PARAM_FLOAT, "Q_P_NE_VEL_FF" }, // Q_P_VELXY_FF moved to Q_P_NE_VEL_FF
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};
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#else
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static const AP_Param::ConversionInfo conversion_info[] = {
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{ k_param_psc_key, 4035, AP_PARAM_FLOAT, "PSC_D_VEL_P" }, // PSC_VELZ_P moved to PSC_D_VEL_P
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{ k_param_psc_key, 67, AP_PARAM_FLOAT, "PSC_D_VEL_I" }, // PSC_VELZ_I moved to PSC_D_VEL_I
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{ k_param_psc_key, 259, AP_PARAM_FLOAT, "PSC_D_VEL_D" }, // PSC_VELZ_D moved to PSC_D_VEL_D
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{ k_param_psc_key, 195, AP_PARAM_FLOAT, "PSC_D_VEL_FLTE" }, // PSC_VELZ_FLTE moved to PSC_D_VEL_FLTE
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{ k_param_psc_key, 323, AP_PARAM_FLOAT, "PSC_D_VEL_FLTD" }, // PSC_VELZ_FLTD moved to PSC_D_VEL_FLTD
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{ k_param_psc_key, 387, AP_PARAM_FLOAT, "PSC_D_VEL_FF" }, // PSC_VELZ_FF moved to PSC_D_VEL_FF
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{ k_param_psc_key, 260, AP_PARAM_FLOAT, "PSC_D_ACC_FF" }, // PSC_ACCZ_FF moved to PSC_D_ACC_FF
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{ k_param_psc_key, 580, AP_PARAM_FLOAT, "PSC_D_ACC_FLTT" }, // PSC_ACCZ_FLTT moved to PSC_D_ACC_FLTT
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{ k_param_psc_key, 644, AP_PARAM_FLOAT, "PSC_D_ACC_FLTE" }, // PSC_ACCZ_FLTE moved to PSC_D_ACC_FLTE
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{ k_param_psc_key, 708, AP_PARAM_FLOAT, "PSC_D_ACC_FLTD" }, // PSC_ACCZ_FLTD moved to PSC_D_ACC_FLTD
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{ k_param_psc_key, 772, AP_PARAM_FLOAT, "PSC_D_ACC_SMAX" }, // PSC_ACCZ_SMAX moved to PSC_D_ACC_SMAX
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{ k_param_psc_key, 836, AP_PARAM_FLOAT, "PSC_D_ACC_PDMX" }, // PSC_ACCZ_PDMX moved to PSC_D_ACC_PDMX
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{ k_param_psc_key, 900, AP_PARAM_FLOAT, "PSC_D_ACC_D_FF" }, // PSC_ACCZ_D_FF moved to PSC_D_ACC_D_FF
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{ k_param_psc_key, 1028, AP_PARAM_INT8, "PSC_D_ACC_NEF" }, // PSC_ACCZ_NEF moved to PSC_D_ACC_NEF
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{ k_param_psc_key, 964, AP_PARAM_INT8, "PSC_D_ACC_NTF" }, // PSC_ACCZ_NTF moved to PSC_D_ACC_NTF
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{ k_param_psc_key, 4038, AP_PARAM_FLOAT, "PSC_NE_VEL_P" }, // PSC_VELXY_P moved to PSC_NE_VEL_P
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{ k_param_psc_key, 70, AP_PARAM_FLOAT, "PSC_NE_VEL_I" }, // PSC_VELXY_I moved to PSC_NE_VEL_I
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{ k_param_psc_key, 262, AP_PARAM_FLOAT, "PSC_NE_VEL_D" }, // PSC_VELXY_D moved to PSC_NE_VEL_D
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{ k_param_psc_key, 198, AP_PARAM_FLOAT, "PSC_NE_VEL_FLTE" },// PSC_VELXY_FLTE moved to PSC_NE_VEL_FLTE
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{ k_param_psc_key, 326, AP_PARAM_FLOAT, "PSC_NE_VEL_FLTD" },// PSC_VELXY_FLTD moved to PSC_NE_VEL_FLTD
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{ k_param_psc_key, 390, AP_PARAM_FLOAT, "PSC_NE_VEL_FF" }, // PSC_VELXY_FF moved to PSC_NE_VEL_FF
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static const AP_Param::ConversionInfoNoKey conversion_info[] = {
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{ 4035, AP_PARAM_FLOAT, "PSC_D_VEL_P" }, // PSC_VELZ_P moved to PSC_D_VEL_P
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{ 67, AP_PARAM_FLOAT, "PSC_D_VEL_I" }, // PSC_VELZ_I moved to PSC_D_VEL_I
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{ 259, AP_PARAM_FLOAT, "PSC_D_VEL_D" }, // PSC_VELZ_D moved to PSC_D_VEL_D
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{ 195, AP_PARAM_FLOAT, "PSC_D_VEL_FLTE" }, // PSC_VELZ_FLTE moved to PSC_D_VEL_FLTE
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{ 323, AP_PARAM_FLOAT, "PSC_D_VEL_FLTD" }, // PSC_VELZ_FLTD moved to PSC_D_VEL_FLTD
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{ 387, AP_PARAM_FLOAT, "PSC_D_VEL_FF" }, // PSC_VELZ_FF moved to PSC_D_VEL_FF
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{ 260, AP_PARAM_FLOAT, "PSC_D_ACC_FF" }, // PSC_ACCZ_FF moved to PSC_D_ACC_FF
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{ 580, AP_PARAM_FLOAT, "PSC_D_ACC_FLTT" }, // PSC_ACCZ_FLTT moved to PSC_D_ACC_FLTT
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{ 644, AP_PARAM_FLOAT, "PSC_D_ACC_FLTE" }, // PSC_ACCZ_FLTE moved to PSC_D_ACC_FLTE
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{ 708, AP_PARAM_FLOAT, "PSC_D_ACC_FLTD" }, // PSC_ACCZ_FLTD moved to PSC_D_ACC_FLTD
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{ 772, AP_PARAM_FLOAT, "PSC_D_ACC_SMAX" }, // PSC_ACCZ_SMAX moved to PSC_D_ACC_SMAX
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{ 836, AP_PARAM_FLOAT, "PSC_D_ACC_PDMX" }, // PSC_ACCZ_PDMX moved to PSC_D_ACC_PDMX
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{ 900, AP_PARAM_FLOAT, "PSC_D_ACC_D_FF" }, // PSC_ACCZ_D_FF moved to PSC_D_ACC_D_FF
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{ 1028, AP_PARAM_INT8, "PSC_D_ACC_NEF" }, // PSC_ACCZ_NEF moved to PSC_D_ACC_NEF
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{ 964, AP_PARAM_INT8, "PSC_D_ACC_NTF" }, // PSC_ACCZ_NTF moved to PSC_D_ACC_NTF
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{ 4038, AP_PARAM_FLOAT, "PSC_NE_VEL_P" }, // PSC_VELXY_P moved to PSC_NE_VEL_P
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{ 70, AP_PARAM_FLOAT, "PSC_NE_VEL_I" }, // PSC_VELXY_I moved to PSC_NE_VEL_I
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{ 262, AP_PARAM_FLOAT, "PSC_NE_VEL_D" }, // PSC_VELXY_D moved to PSC_NE_VEL_D
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{ 198, AP_PARAM_FLOAT, "PSC_NE_VEL_FLTE" },// PSC_VELXY_FLTE moved to PSC_NE_VEL_FLTE
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{ 326, AP_PARAM_FLOAT, "PSC_NE_VEL_FLTD" },// PSC_VELXY_FLTD moved to PSC_NE_VEL_FLTD
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{ 390, AP_PARAM_FLOAT, "PSC_NE_VEL_FF" }, // PSC_VELXY_FF moved to PSC_NE_VEL_FF
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};
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#endif
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AP_Param::convert_old_parameters(conversion_info, ARRAY_SIZE(conversion_info));
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AP_Param::convert_old_parameters(k_param_psc_key, conversion_info, ARRAY_SIZE(conversion_info));
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// parameters moved and scaled by 0.1
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#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
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static const AP_Param::ConversionInfo conversion_info_01[] = {
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{ k_param_psc_key, 258321, AP_PARAM_FLOAT, "Q_P_D_ACC_P" }, // Q_P_ACCZ_P moved to Q_P_D_ACC_P
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{ k_param_psc_key, 4369, AP_PARAM_FLOAT, "Q_P_D_ACC_I" }, // Q_P_ACCZ_I moved to Q_P_D_ACC_I
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{ k_param_psc_key, 8465, AP_PARAM_FLOAT, "Q_P_D_ACC_D" }, // Q_P_ACCZ_D moved to Q_P_D_ACC_D
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static const AP_Param::ConversionInfoNoKey conversion_info_01[] = {
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{ 258321, AP_PARAM_FLOAT, "Q_P_D_ACC_P" }, // Q_P_ACCZ_P moved to Q_P_D_ACC_P
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{ 4369, AP_PARAM_FLOAT, "Q_P_D_ACC_I" }, // Q_P_ACCZ_I moved to Q_P_D_ACC_I
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{ 8465, AP_PARAM_FLOAT, "Q_P_D_ACC_D" }, // Q_P_ACCZ_D moved to Q_P_D_ACC_D
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};
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#else
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static const AP_Param::ConversionInfo conversion_info_01[] = {
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{ k_param_psc_key, 4036, AP_PARAM_FLOAT, "PSC_D_ACC_P" }, // PSC_ACCZ_P moved to PSC_D_ACC_P
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{ k_param_psc_key, 68, AP_PARAM_FLOAT, "PSC_D_ACC_I" }, // PSC_ACCZ_I moved to PSC_D_ACC_I
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{ k_param_psc_key, 132, AP_PARAM_FLOAT, "PSC_D_ACC_D" }, // PSC_ACCZ_D moved to PSC_D_ACC_D
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static const AP_Param::ConversionInfoNoKey conversion_info_01[] = {
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{ 4036, AP_PARAM_FLOAT, "PSC_D_ACC_P" }, // PSC_ACCZ_P moved to PSC_D_ACC_P
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{ 68, AP_PARAM_FLOAT, "PSC_D_ACC_I" }, // PSC_ACCZ_I moved to PSC_D_ACC_I
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{ 132, AP_PARAM_FLOAT, "PSC_D_ACC_D" }, // PSC_ACCZ_D moved to PSC_D_ACC_D
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};
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#endif
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AP_Param::convert_old_parameters_scaled(conversion_info_01, ARRAY_SIZE(conversion_info_01), 0.1, 0);
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AP_Param::convert_old_parameters_scaled(k_param_psc_key, conversion_info_01, ARRAY_SIZE(conversion_info_01), 0.1, 0);
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// store PSC_D_ACC_P as flag that parameter conversion was completed
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_pid_accel_d_m.kP().save(true);
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// parameters moved and scaled by 0.01
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#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
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static const AP_Param::ConversionInfo conversion_info_001[] = {
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{ k_param_psc_key, 8401, AP_PARAM_FLOAT, "Q_P_D_VEL_IMAX" }, // Q_P_VELZ_IMAX moved to Q_P_D_VEL_IMAX
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{ k_param_psc_key, 8593, AP_PARAM_FLOAT, "Q_P_NE_VEL_IMAX" }, // Q_P_VELXY_IMAX moved to Q_P_NE_VEL_IMAX
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static const AP_Param::ConversionInfoNoKey conversion_info_001[] = {
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{ 8401, AP_PARAM_FLOAT, "Q_P_D_VEL_IMAX" }, // Q_P_VELZ_IMAX moved to Q_P_D_VEL_IMAX
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{ 8593, AP_PARAM_FLOAT, "Q_P_NE_VEL_IMAX" }, // Q_P_VELXY_IMAX moved to Q_P_NE_VEL_IMAX
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};
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#else
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static const AP_Param::ConversionInfo conversion_info_001[] = {
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{ k_param_psc_key, 131, AP_PARAM_FLOAT, "PSC_D_VEL_IMAX" }, // PSC_VELZ_IMAX moved to PSC_D_VEL_IMAX
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{ k_param_psc_key, 134, AP_PARAM_FLOAT, "PSC_NE_VEL_IMAX" }, // PSC_VELXY_IMAX moved to PSC_NE_VEL_IMAX
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static const AP_Param::ConversionInfoNoKey conversion_info_001[] = {
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{ 131, AP_PARAM_FLOAT, "PSC_D_VEL_IMAX" }, // PSC_VELZ_IMAX moved to PSC_D_VEL_IMAX
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{ 134, AP_PARAM_FLOAT, "PSC_NE_VEL_IMAX" }, // PSC_VELXY_IMAX moved to PSC_NE_VEL_IMAX
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};
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#endif
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AP_Param::convert_old_parameters_scaled(conversion_info_001, ARRAY_SIZE(conversion_info_001), 0.01, 0);
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AP_Param::convert_old_parameters_scaled(k_param_psc_key, conversion_info_001, ARRAY_SIZE(conversion_info_001), 0.01, 0);
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// parameters moved and scaled by 0.001
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// PSC_ACCZ_IMAX replaced by PSC_D_ACC_IMAX
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#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
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static const AP_Param::ConversionInfo psc_d_acc_imax_info = { k_param_psc_key, 20753, AP_PARAM_FLOAT, "Q_P_D_ACC_IMAX" };
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static const AP_Param::ConversionInfoNoKey conversion_info_0001[] = {
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{ 20753, AP_PARAM_FLOAT, "Q_P_D_ACC_IMAX" },
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};
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#else
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static const AP_Param::ConversionInfo psc_d_acc_imax_info = { k_param_psc_key, 324, AP_PARAM_FLOAT, "PSC_D_ACC_IMAX" };
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static const AP_Param::ConversionInfoNoKey conversion_info_0001[] = {
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{ 324, AP_PARAM_FLOAT, "PSC_D_ACC_IMAX" },
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};
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#endif
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AP_Param::convert_old_parameter(&psc_d_acc_imax_info, 0.001f);
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AP_Param::convert_old_parameters_scaled(k_param_psc_key, conversion_info_0001, ARRAY_SIZE(conversion_info_0001), 0.001, 0);
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}
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