Rover: added automatic parameter upgrade for SRV_Channel

APMrover2/Parameters.cpp

@@ -594,6 +594,19 @@ void Rover::load_parameters(void)
     // Load all auto-loaded EEPROM variables
     AP_Param::load_all();
 
+    SRV_Channels::set_default_function(CH_1, SRV_Channel::k_steering);
+    SRV_Channels::set_default_function(CH_3, SRV_Channel::k_throttle);
+    
+    const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old,  Parameters::k_param_rc_2_old,
+                                      Parameters::k_param_rc_3_old,  Parameters::k_param_rc_4_old,
+                                      Parameters::k_param_rc_5_old,  Parameters::k_param_rc_6_old,
+                                      Parameters::k_param_rc_7_old,  Parameters::k_param_rc_8_old,
+                                      Parameters::k_param_rc_9_old,  Parameters::k_param_rc_10_old,
+                                      Parameters::k_param_rc_11_old, Parameters::k_param_rc_12_old,
+                                      Parameters::k_param_rc_13_old, Parameters::k_param_rc_14_old };
+    const uint16_t old_aux_chan_mask = 0x3FFA;
+    SRV_Channels::upgrade_parameters(old_rc_keys, old_aux_chan_mask, &rcmap);
+    
     cliSerial->printf("load_all took %luus\n", micros() - before);
 
     // set a more reasonable default NAVL1_PERIOD for rovers

APMrover2/radio.cpp

@@ -9,9 +9,6 @@ void Rover::set_control_channels(void)
     channel_throttle = RC_Channels::rc_channel(rcmap.throttle()-1);
     channel_learn    = RC_Channels::rc_channel(g.learn_channel-1);
 
-    SRV_Channels::set_default_function(CH_1, SRV_Channel::k_steering);
-    SRV_Channels::set_default_function(CH_3, SRV_Channel::k_throttle);
-    
     // set rc channel ranges
     channel_steer->set_angle(SERVO_MAX);
     channel_throttle->set_angle(100);