Copter: tradheli-convert swash parameters on firmware upgrade

ArduCopter/Copter.h

@@ -768,6 +768,7 @@ private:
     void load_parameters(void);
     void convert_pid_parameters(void);
     void convert_lgr_parameters(void);
+    void convert_tradheli_parameters(void);
 
     // precision_landing.cpp
     void init_precland();

ArduCopter/Parameters.cpp

@@ -1300,3 +1300,43 @@ void Copter::convert_lgr_parameters(void)
         servo_reversed->set_and_save_ifchanged(1);
     }
 }
+
+#if FRAME_CONFIG == HELI_FRAME
+// handle conversion of tradheli parameters from Copter-3.6 to Copter-3.7
+void Copter::convert_tradheli_parameters(void)
+{
+    if (g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI) {
+        // single heli conversion info
+        const AP_Param::ConversionInfo singleheli_conversion_info[] = {
+            { Parameters::k_param_motors, 1, AP_PARAM_INT16, "H_SW_H3_SV1_POS" },
+            { Parameters::k_param_motors, 2, AP_PARAM_INT16, "H_SW_H3_SV2_POS" },
+            { Parameters::k_param_motors, 3, AP_PARAM_INT16, "H_SW_H3_SV3_POS" },
+            { Parameters::k_param_motors, 7, AP_PARAM_INT16, "H_SW_H3_PHANG" },
+        };
+
+        // convert single heli paramters without scaling
+        uint8_t table_size = ARRAY_SIZE(singleheli_conversion_info);
+        for (uint8_t i=0; i<table_size; i++) {
+            AP_Param::convert_old_parameter(&singleheli_conversion_info[i], 1.0f);
+        }
+    } else if (g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI_DUAL) {
+        // dual heli conversion info
+        const AP_Param::ConversionInfo dualheli_conversion_info[] = {
+            { Parameters::k_param_motors, 1, AP_PARAM_INT16, "H_SW1_H3_SV1_POS" },
+            { Parameters::k_param_motors, 2, AP_PARAM_INT16, "H_SW1_H3_SV2_POS" },
+            { Parameters::k_param_motors, 3, AP_PARAM_INT16, "H_SW1_H3_SV3_POS" },
+            { Parameters::k_param_motors, 4, AP_PARAM_INT16, "H_SW2_H3_SV1_POS" },
+            { Parameters::k_param_motors, 5, AP_PARAM_INT16, "H_SW2_H3_SV2_POS" },
+            { Parameters::k_param_motors, 6, AP_PARAM_INT16, "H_SW2_H3_SV3_POS" },
+            { Parameters::k_param_motors, 7, AP_PARAM_INT16, "H_SW1_H3_PHANG" },
+            { Parameters::k_param_motors, 8, AP_PARAM_INT16, "H_SW2_H3_PHANG" },
+        };
+
+        // convert dual heli parameters without scaling
+        uint8_t table_size = ARRAY_SIZE(dualheli_conversion_info);
+        for (uint8_t i=0; i<table_size; i++) {
+            AP_Param::convert_old_parameter(&dualheli_conversion_info[i], 1.0f);
+        }
+    }
+}
+#endif

ArduCopter/system.cpp

@@ -639,6 +639,9 @@ void Copter::allocate_motors(void)
 
     // upgrade parameters. This must be done after allocating the objects
     convert_pid_parameters();
+#if FRAME_CONFIG == HELI_FRAME
+    convert_tradheli_parameters();
+#endif
 }
 
 bool Copter::is_tradheli() const