From 23d4473f8814f7b6b05c6610c2426d9e83e97dca Mon Sep 17 00:00:00 2001
From: bnsgeyer <bnsgeyer@aol.com>
Date: Wed, 7 Aug 2019 22:52:41 -0400
Subject: [PATCH] Copter: tradheli-properly upgrade rsc parameters

---
 ArduCopter/Parameters.cpp | 45 +++++++++++++++++++++++++++++++--------
 1 file changed, 36 insertions(+), 9 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index e81bccaa9f..0e925db442 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1463,17 +1463,44 @@ void Copter::convert_tradheli_parameters(void)
             }
         }
     }
-    const AP_Param::ConversionInfo allheli_conversion_info[] = {
-        { Parameters::k_param_motors, 1280, AP_PARAM_INT16, "H_RSC_CRV_000" },
-        { Parameters::k_param_motors, 1344, AP_PARAM_INT16, "H_RSC_CRV_025" },
-        { Parameters::k_param_motors, 1408, AP_PARAM_INT16, "H_RSC_CRV_050" },
-        { Parameters::k_param_motors, 1472, AP_PARAM_INT16, "H_RSC_CRV_075" },
-        { Parameters::k_param_motors, 1536, AP_PARAM_INT16, "H_RSC_CRV_100" },
+
+    // table of rsc parameters to be converted with scaling
+    const AP_Param::ConversionInfo rschelipct_conversion_info[] = {
+        { Parameters::k_param_motors, 1280, AP_PARAM_INT16, "H_RSC_THRCRV_0" },
+        { Parameters::k_param_motors, 1344, AP_PARAM_INT16, "H_RSC_THRCRV_25" },
+        { Parameters::k_param_motors, 1408, AP_PARAM_INT16, "H_RSC_THRCRV_50" },
+        { Parameters::k_param_motors, 1472, AP_PARAM_INT16, "H_RSC_THRCRV_75" },
+        { Parameters::k_param_motors, 1536, AP_PARAM_INT16, "H_RSC_THRCRV_100" },
+        { Parameters::k_param_motors, 448, AP_PARAM_INT16, "H_RSC_SETPOINT" },
+        { Parameters::k_param_motors, 768, AP_PARAM_INT16, "H_RSC_CRITICAL" },
+        { Parameters::k_param_motors, 832, AP_PARAM_INT16, "H_RSC_IDLE" },
+    };
+    // convert heli rsc parameters with scaling
+    uint8_t table_size = ARRAY_SIZE(rschelipct_conversion_info);
+    for (uint8_t i=0; i<table_size; i++) {
+        AP_Param::convert_old_parameter(&rschelipct_conversion_info[i], 0.1f);
+    }
+
+    // table of rsc parameters to be converted without scaling
+    const AP_Param::ConversionInfo rscheli_conversion_info[] = {
+        { Parameters::k_param_motors, 512, AP_PARAM_INT8,  "H_RSC_MODE" },
+        { Parameters::k_param_motors, 640, AP_PARAM_INT8,  "H_RSC_RAMP_TIME" },
+        { Parameters::k_param_motors, 704, AP_PARAM_INT8,  "H_RSC_RUNUP_TIME" },
+        { Parameters::k_param_motors, 1216, AP_PARAM_INT16,"H_RSC_SLEWRATE" },
     };
-    // convert dual heli parameters without scaling
-    uint8_t table_size = ARRAY_SIZE(allheli_conversion_info);
+    // convert heli rsc parameters without scaling
+    table_size = ARRAY_SIZE(rscheli_conversion_info);
     for (uint8_t i=0; i<table_size; i++) {
-        AP_Param::convert_old_parameter(&allheli_conversion_info[i], 0.1f);
+        AP_Param::convert_old_parameter(&rscheli_conversion_info[i], 1.0f);
+    }
+
+    // update tail speed parameter with scaling
+    AP_Int16 *tailspeed;
+    enum ap_var_type ptype;
+    tailspeed = (AP_Int16 *)AP_Param::find("H_TAIL_SPEED", &ptype);
+    if (tailspeed != nullptr && tailspeed->get() > 100 ) {
+        uint16_t tailspeed_pct = (uint16_t)(0.1f * tailspeed->get());
+        AP_Param::set_and_save_by_name("H_TAIL_SPEED", tailspeed_pct );
     }
 
 }