diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp index 882ecd42fd7..0aa8197ca4f 100644 --- a/Rover/Parameters.cpp +++ b/Rover/Parameters.cpp @@ -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|