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.
Added in 2019 for the Rover-3.4 to 3.5 upgrade, and 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.
Rover has no 4.3 release, so the oldest version a user can be moving
from once the migration floor is 4.3 is Rover-4.4. All of these
conversions are present in Rover-4.4.0, so anybody running that or later
has already had them applied:
- the airspeed object out of g2 (Jan-2022)
- the AIS object out of g2 (Mar-2022)
- FENCE_ parameters into the AC_Fence object (Mar-2022)
Also drops the call to SRV_Channels::upgrade_parameters(), which is
being removed.
RST_SWITCH_CH is documented as "RC channel to use to reset to last flight
mode after geofence takeover", but nothing in Rover reads it. The member it
binds to, reset_switch_chan, has exactly two references in the tree: its
declaration and its GSCALAR. There is no reset-on-geofence-takeover
behaviour in Rover for it to control.
Plane went through this already. It removed its own RST_SWITCH_CH in favour
of the MODE_SWITCH_RESET RC auxiliary function, and carries a conversion for
it in its conversion_table[]. Rover has no MODE_SWITCH_RESET handler, so
there is nothing here to convert to and no behaviour to preserve: the
parameter is simply doing nothing.
Removed in the usual way, leaving a "RST_SWITCH_CH was here" marker and
keeping the k_param_reset_switch_chan key so the enumeration after it does
not shift.
The companion RESET_SWITCH_CHAN_PWM define, the other half of the same
removed feature, goes in #34213.
This drops Rover:RST_SWITCH_CH from the generated parameter metadata and
nothing else, and saves 80 bytes of flash on SITL.
Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
These four @Param blocks sit on their own after the var_info tables,
attached to nothing. Their own preamble says they were put there so beta
Mission Planner could pick up descriptions from master, and that they could
be removed "once Rover-3.6-beta testing begins".
All four describe parameters that no longer exist:
CH7_OPTION replaced by RC7_OPTION in Rover-3.5
AUX_CH gone with the same rework
PIVOT_TURN_ANGLE converted to WP_PIVOT_ANGLE
PIVOT_TURN_RATE converted to WP_PIVOT_RATE
The last two still have their entries in conversion_table[], which is what
actually carries an old stored value across, and is untouched.
These are not merely dead comments. param_parse.py harvests them, so the
generated metadata has been advertising four parameters the firmware does
not have. Regenerating Rover metadata before and after removes exactly
Rover:CH7_OPTION, Rover:AUX_CH, Rover:PIVOT_TURN_ANGLE and
Rover:PIVOT_TURN_RATE, and changes nothing else.
Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
Rover's conversion_table spans eleven years, so it gets an annotation
per block rather than one for the table: battery (Oct-2013), serial baud
(Jan-2015), MOT_THR (Aug-2017), COMPASS_ENABLE (Apr-2019), WP_RADIUS
(May-2019), WP_PIVOT (Dec-2021), sailboat (May-2019), ATC_TURN_MAX_G
(May-2021), PRX1_ (Aug-2022) and TRQ1_ (May-2024).
Also annotates the CH7_OPTION to RC7_OPTION conversion (Jan-2019), the
WP_SPEED/CRUISE_SPEED conversion (May-2019) and the FF/FILT conversion
(Jul-2019). Remaining changes are date format corrections. No
functional change.
Also annotates the RCn_OPTION conversions - ARMDISARM_UNUSED to
ARMDISARM, and Rover's SAVE_TRIM to TRIM_TO_CURRENT_SERVO_RC - which call
set_and_save() directly rather than an AP_Param::convert_* helper and so
were missed by an audit anchored on those helpers. Established by
content: absent from Rover-4.1.5, present in Rover-4.2.0.
The beacon object now lives in AP_Vehicle; remove it from g2 and convert the stored BCN parameters across from the old g2 location.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This removes the need for the pointer to the first mode, and removes the
undefined behavior resulting from indexing past that first mode and
hoping the others follow (though this is unlikely to pose a problem in
practice).
Saves a few bytes of RAM and flash as the pointer is no longer needed
and code is no longer necessary to set it up.
Also fixes the bounds check condition of that array to match its size so
there is no longer the possibility of indexing one past it.
Peter Barker
Henry WurzburgandClaude Opus 5
Stephen Dade
Yuri Rage
Thomas Watson
Bob Long
yuri-rage
Iampete1
Willian Galvani
co63oc
Rhys Mainwaring
Randy Mackay
muramura
Michael du Breuil
Pierre Kancir