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Rover: remove parameter conversions from before 4.3

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Trims conversion_table down to just the TRQ1_ block, which was added
May-2024 and so is still required.  Everything above it - battery
(Oct-2013), serial baud (Jan-2015), MOT_THR (Aug-2017), COMPASS_ENABLE
(Apr-2019), WP_RADIUS (May-2019), sailboat (May-2019), ATC_TURN_MAX_G
(May-2021), WP_PIVOT (Dec-2021) and PRX1_ (Aug-2022) - is present in
Rover-4.4.0, the oldest release a Rover user can be moving from once the
migration floor is 4.3, as Rover has no 4.3.

Also removes the WP_SPEED/CRUISE_SPEED conversion (May-2019) and the
attitude control FF/FILT conversion (Jul-2019) on the same grounds.
This commit is contained in:
Peter Barker
2026-09-01 20:49:36 +10:00
committed by Peter Barker
parent 118088422e
commit d2af33604b
1 changed files with 0 additions and 71 deletions
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Rover/Parameters.cpp
-71
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@@ -718,50 +718,6 @@ ParametersG2::ParametersG2(void)
old object. This should be zero for top level parameters.
*/
const AP_Param::ConversionInfo conversion_table[] = {
// PARAMETER_CONVERSION - Added: Oct-2013 for APMrover2-2.44
{ Parameters::k_param_battery_monitoring, 0, AP_PARAM_INT8, "BATT_MONITOR" },
{ Parameters::k_param_battery_volt_pin, 0, AP_PARAM_INT8, "BATT_VOLT_PIN" },
{ Parameters::k_param_battery_curr_pin, 0, AP_PARAM_INT8, "BATT_CURR_PIN" },
{ Parameters::k_param_volt_div_ratio, 0, AP_PARAM_FLOAT, "BATT_VOLT_MULT" },
{ Parameters::k_param_curr_amp_per_volt, 0, AP_PARAM_FLOAT, "BATT_AMP_PERVOLT" },
{ Parameters::k_param_pack_capacity, 0, AP_PARAM_INT32, "BATT_CAPACITY" },
// PARAMETER_CONVERSION - Added: Jan-2015 for APMrover2-2.49
{ Parameters::k_param_serial0_baud, 0, AP_PARAM_INT16, "SERIAL0_BAUD" },
{ Parameters::k_param_serial1_baud, 0, AP_PARAM_INT16, "SERIAL1_BAUD" },
{ Parameters::k_param_serial2_baud, 0, AP_PARAM_INT16, "SERIAL2_BAUD" },
// PARAMETER_CONVERSION - Added: Aug-2017 for Rover-3.2
{ Parameters::k_param_throttle_min_old, 0, AP_PARAM_INT8, "MOT_THR_MIN" },
{ Parameters::k_param_throttle_max_old, 0, AP_PARAM_INT8, "MOT_THR_MAX" },
// PARAMETER_CONVERSION - Added: Apr-2019 for Rover-4.0
{ Parameters::k_param_compass_enabled_deprecated, 0, AP_PARAM_INT8, "COMPASS_ENABLE" },
// PARAMETER_CONVERSION - Added: May-2019 for Rover-4.0
{ Parameters::k_param_waypoint_radius_old, 0, AP_PARAM_FLOAT, "WP_RADIUS" },
// PARAMETER_CONVERSION - Added: Dec-2021 for Rover-4.4
{ Parameters::k_param_g2, 299, AP_PARAM_INT16, "WP_PIVOT_ANGLE" },
{ Parameters::k_param_g2, 363, AP_PARAM_INT16, "WP_PIVOT_RATE" },
{ Parameters::k_param_g2, 491, AP_PARAM_FLOAT, "WP_PIVOT_DELAY" },
// PARAMETER_CONVERSION - Added: May-2019 for Rover-4.0
{ Parameters::k_param_g2, 32, AP_PARAM_FLOAT, "SAIL_ANGLE_MIN" },
{ Parameters::k_param_g2, 33, AP_PARAM_FLOAT, "SAIL_ANGLE_MAX" },
{ Parameters::k_param_g2, 34, AP_PARAM_FLOAT, "SAIL_ANGLE_IDEAL" },
{ Parameters::k_param_g2, 35, AP_PARAM_FLOAT, "SAIL_HEEL_MAX" },
{ Parameters::k_param_g2, 36, AP_PARAM_FLOAT, "SAIL_NO_GO_ANGLE" },
// PARAMETER_CONVERSION - Added: May-2021 for Rover-4.1
{ Parameters::k_param_turn_max_g_old, 0, AP_PARAM_FLOAT, "ATC_TURN_MAX_G" },
// PARAMETER_CONVERSION - Added: Aug-2022 for Rover-4.4
{ Parameters::k_param_g2, 82, AP_PARAM_INT8 , "PRX1_TYPE" },
{ Parameters::k_param_g2, 146, AP_PARAM_INT8 , "PRX1_ORIENT" },
{ Parameters::k_param_g2, 210, AP_PARAM_INT16, "PRX1_YAW_CORR" },
{ Parameters::k_param_g2, 274, AP_PARAM_INT16, "PRX1_IGN_ANG1" },
{ Parameters::k_param_g2, 338, AP_PARAM_INT8, "PRX1_IGN_WID1" },
{ Parameters::k_param_g2, 402, AP_PARAM_INT16, "PRX1_IGN_ANG2" },
{ Parameters::k_param_g2, 466, AP_PARAM_INT8, "PRX1_IGN_WID2" },
{ Parameters::k_param_g2, 530, AP_PARAM_INT16, "PRX1_IGN_ANG3" },
{ Parameters::k_param_g2, 594, AP_PARAM_INT8, "PRX1_IGN_WID3" },
{ Parameters::k_param_g2, 658, AP_PARAM_INT16, "PRX1_IGN_ANG4" },
{ Parameters::k_param_g2, 722, AP_PARAM_INT8, "PRX1_IGN_WID4" },
{ Parameters::k_param_g2, 1234, AP_PARAM_FLOAT, "PRX1_MIN" },
{ Parameters::k_param_g2, 1298, AP_PARAM_FLOAT, "PRX1_MAX" },
// PARAMETER_CONVERSION - Added: May-2024 for Rover-4.6
{ Parameters::k_param_g2, 113, AP_PARAM_INT8, "TRQ1_TYPE" },
{ Parameters::k_param_g2, 177, AP_PARAM_INT8, "TRQ1_ONOFF_PIN" },
@@ -788,33 +744,6 @@ void Rover::load_parameters(void)
g2.crash_angle.set_default(30);
}
// set AR_WPNav's WP_SPEED to be old WP_SPEED (if set) or CRUISE_SPEED (if set)
// PARAMETER_CONVERSION - Added: May-2019 for Rover-4.0
const AP_Param::ConversionInfo wp_speed_old_info = { Parameters::k_param_g2, 14, AP_PARAM_FLOAT, "WP_SPEED" };
const AP_Param::ConversionInfo cruise_speed_info = { Parameters::k_param_speed_cruise, 0, AP_PARAM_FLOAT, "WP_SPEED" };
AP_Float wp_speed_old;
if (AP_Param::find_old_parameter(&wp_speed_old_info, &wp_speed_old)) {
// old WP_SPEED parameter value was set so copy to new WP_SPEED
AP_Param::convert_old_parameter(&wp_speed_old_info, 1.0f);
} else {
// copy CRUISE_SPEED to new WP_SPEED
AP_Param::convert_old_parameter(&cruise_speed_info, 1.0f);
}
// attitude control FF and FILT parameter changes for Rover-3.6
// PARAMETER_CONVERSION - Added: Jul-2019 for Rover-4.0
const AP_Param::ConversionInfo ff_and_filt_conversion_info[] = {
{ Parameters::k_param_g2, 24650, AP_PARAM_FLOAT, "ATC_STR_RAT_FLTE" },
{ Parameters::k_param_g2, 28746, AP_PARAM_FLOAT, "ATC_STR_RAT_FF" },
{ Parameters::k_param_g2, 24714, AP_PARAM_FLOAT, "ATC_SPEED_FLTE" },
{ Parameters::k_param_g2, 28810, AP_PARAM_FLOAT, "ATC_SPEED_FF" },
{ Parameters::k_param_g2, 25226, AP_PARAM_FLOAT, "ATC_BAL_FLTE" },
{ Parameters::k_param_g2, 29322, AP_PARAM_FLOAT, "ATC_BAL_FF" },
{ Parameters::k_param_g2, 25354, AP_PARAM_FLOAT, "ATC_SAIL_FLTE" },
{ Parameters::k_param_g2, 29450, AP_PARAM_FLOAT, "ATC_SAIL_FF" },
};
AP_Param::convert_old_parameters(&ff_and_filt_conversion_info[0], ARRAY_SIZE(ff_and_filt_conversion_info));
// configure safety switch to allow stopping the motors while armed
#if HAL_HAVE_SAFETY_SWITCH
AP_Param::set_default_by_name("BRD_SAFETYOPTION", AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF|