Copter: Change STAB_COL params to percent

ArduCopter/AP_Arming.cpp

@@ -191,6 +191,14 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
             check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Heli motors checks failed");
             return false;
         }
+
+        char fail_msg[50];
+        // check input mangager parameters
+        if (!copter.input_manager.parameter_check(fail_msg, ARRAY_SIZE(fail_msg))) {
+            check_failed(ARMING_CHECK_PARAMETERS, display_failure, "%s", fail_msg);
+            return false;
+        }
+
         // Inverted flight feature disabled for Heli Single and Dual frames
         if (copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_QUAD &&
             rc().find_channel_for_option(RC_Channel::aux_func_t::INVERTED) != nullptr) {

ArduCopter/Parameters.cpp

@@ -1548,6 +1548,20 @@ void Copter::convert_tradheli_parameters(void)
         AP_Param::set_and_save_by_name("H_TAIL_SPEED", tailspeed_pct );
     }
 
+    // table of stabilize collective parameters to be converted with scaling
+    const AP_Param::ConversionInfo collhelipct_conversion_info[] = {
+        { Parameters::k_param_input_manager, 1, AP_PARAM_INT16,  "IM_STB_COL_1" },
+        { Parameters::k_param_input_manager, 2, AP_PARAM_INT16,  "IM_STB_COL_2" },
+        { Parameters::k_param_input_manager, 3, AP_PARAM_INT16,  "IM_STB_COL_3" },
+        { Parameters::k_param_input_manager, 4, AP_PARAM_INT16,  "IM_STB_COL_4" },
+    };
+
+    // convert stabilize collective parameters with scaling
+    table_size = ARRAY_SIZE(collhelipct_conversion_info);
+    for (uint8_t i=0; i<table_size; i++) {
+        AP_Param::convert_old_parameter(&collhelipct_conversion_info[i], 0.1f);
+    }
+
 }
 #endif