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Plane:remove stale conversion code
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these lines are all present in 4.0.0.

Past this PR we won't convert PIDS correctly if someone attempts to upgrade to 4.7+ from 3.x
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@peterbarker
peterbarker committed Jan 8, 2025
1 parent 20c77ae commit 2bcfd76
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43 changes: 0 additions & 43 deletions ArduPlane/Parameters.cpp
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Expand Up @@ -1339,49 +1339,6 @@ ParametersG2::ParametersG2(void) :
old object. This should be zero for top level parameters.
*/
static const AP_Param::ConversionInfo conversion_table[] = {
{ Parameters::k_param_log_bitmask_old, 0, AP_PARAM_INT16, "LOG_BITMASK" },
{ Parameters::k_param_rally_limit_km_old, 0, AP_PARAM_FLOAT, "RALLY_LIMIT_KM" },
{ Parameters::k_param_rally_total_old, 0, AP_PARAM_INT8, "RALLY_TOTAL" },
{ Parameters::k_param_serial0_baud, 0, AP_PARAM_INT16, "SERIAL0_BAUD" },
{ Parameters::k_param_serial1_baud, 0, AP_PARAM_INT16, "SERIAL1_BAUD" },
{ Parameters::k_param_serial2_baud, 0, AP_PARAM_INT16, "SERIAL2_BAUD" },

// these are needed to cope with the change to treat nested index 0 as index 63
{ Parameters::k_param_quadplane, 3, AP_PARAM_FLOAT, "Q_RT_RLL_P" },
{ Parameters::k_param_quadplane, 4, AP_PARAM_FLOAT, "Q_RT_PIT_P" },
{ Parameters::k_param_quadplane, 5, AP_PARAM_FLOAT, "Q_RT_YAW_P" },

{ Parameters::k_param_quadplane, 6, AP_PARAM_FLOAT, "Q_STB_R_P" },
{ Parameters::k_param_quadplane, 7, AP_PARAM_FLOAT, "Q_STB_P_P" },
{ Parameters::k_param_quadplane, 8, AP_PARAM_FLOAT, "Q_STB_Y_P" },

{ Parameters::k_param_quadplane, 12, AP_PARAM_FLOAT, "Q_PZ_P" },
{ Parameters::k_param_quadplane, 13, AP_PARAM_FLOAT, "Q_PXY_P" },
{ Parameters::k_param_quadplane, 14, AP_PARAM_FLOAT, "Q_VXY_P" },
{ Parameters::k_param_quadplane, 15, AP_PARAM_FLOAT, "Q_VZ_P" },
{ Parameters::k_param_quadplane, 16, AP_PARAM_FLOAT, "Q_AZ_P" },

{ Parameters::k_param_land_slope_recalc_shallow_threshold,0,AP_PARAM_FLOAT, "LAND_SLOPE_RCALC" },
{ Parameters::k_param_land_slope_recalc_steep_threshold_to_abort,0,AP_PARAM_FLOAT, "LAND_ABORT_DEG" },
{ Parameters::k_param_land_flare_alt, 0, AP_PARAM_FLOAT, "LAND_FLARE_ALT" },
{ Parameters::k_param_land_flare_sec, 0, AP_PARAM_FLOAT, "LAND_FLARE_SEC" },
{ Parameters::k_param_land_pre_flare_sec, 0, AP_PARAM_FLOAT, "LAND_PF_SEC" },
{ Parameters::k_param_land_pre_flare_alt, 0, AP_PARAM_FLOAT, "LAND_PF_ALT" },
{ Parameters::k_param_land_pre_flare_airspeed, 0, AP_PARAM_FLOAT, "LAND_PF_ARSPD" },
{ Parameters::k_param_land_throttle_slewrate, 0, AP_PARAM_INT8, "LAND_THR_SLEW" },
{ Parameters::k_param_land_disarm_delay, 0, AP_PARAM_INT8, "LAND_DISARMDELAY" },
{ Parameters::k_param_land_then_servos_neutral,0, AP_PARAM_INT8, "LAND_THEN_NEUTRAL" },
{ Parameters::k_param_land_abort_throttle_enable,0,AP_PARAM_INT8, "LAND_ABORT_THR" },
{ Parameters::k_param_land_flap_percent, 0, AP_PARAM_INT8, "LAND_FLAP_PERCENT" },

// battery failsafes
{ Parameters::k_param_fs_batt_voltage, 0, AP_PARAM_FLOAT, "BATT_LOW_VOLT" },
{ Parameters::k_param_fs_batt_mah, 0, AP_PARAM_FLOAT, "BATT_LOW_MAH" },

{ Parameters::k_param_arming, 3, AP_PARAM_INT8, "ARMING_RUDDER" },
{ Parameters::k_param_compass_enabled_deprecated, 0, AP_PARAM_INT8, "COMPASS_ENABLE" },
{ Parameters::k_param_arming, 128, AP_PARAM_INT16, "ARMING_CHECK" },

{ Parameters::k_param_fence_minalt, 0, AP_PARAM_INT16, "FENCE_ALT_MIN"},
{ Parameters::k_param_fence_maxalt, 0, AP_PARAM_INT16, "FENCE_ALT_MAX"},
{ Parameters::k_param_fence_retalt, 0, AP_PARAM_INT16, "FENCE_RET_ALT"},
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22 changes: 0 additions & 22 deletions ArduPlane/quadplane.cpp
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Expand Up @@ -585,29 +585,7 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
conversion table for quadplane parameters
*/
const AP_Param::ConversionInfo q_conversion_table[] = {
{ Parameters::k_param_quadplane, 4044, AP_PARAM_FLOAT, "Q_P_POSZ_P" }, // Q_PZ_P
{ Parameters::k_param_quadplane, 4045, AP_PARAM_FLOAT, "Q_P_POSXY_P"}, // Q_PXY_P
{ Parameters::k_param_quadplane, 4046, AP_PARAM_FLOAT, "Q_P_VELXY_P"}, // Q_VXY_P
{ Parameters::k_param_quadplane, 78, AP_PARAM_FLOAT, "Q_P_VELXY_I"}, // Q_VXY_I
{ Parameters::k_param_quadplane, 142, AP_PARAM_FLOAT, "Q_P_VELXY_IMAX"}, // Q_VXY_IMAX
{ Parameters::k_param_quadplane, 206, AP_PARAM_FLOAT, "Q_P_VELXY_FLTE"}, // Q_VXY_FILT_HZ
{ Parameters::k_param_quadplane, 4047, AP_PARAM_FLOAT, "Q_P_VELZ_P"}, // Q_VZ_P
{ Parameters::k_param_quadplane, 4048, AP_PARAM_FLOAT, "Q_P_ACCZ_P"}, // Q_AZ_P
{ Parameters::k_param_quadplane, 80, AP_PARAM_FLOAT, "Q_P_ACCZ_I"}, // Q_AZ_I
{ Parameters::k_param_quadplane, 144, AP_PARAM_FLOAT, "Q_P_ACCZ_D"}, // Q_AZ_D
{ Parameters::k_param_quadplane, 336, AP_PARAM_FLOAT, "Q_P_ACCZ_IMAX"}, // Q_AZ_IMAX
{ Parameters::k_param_quadplane, 400, AP_PARAM_FLOAT, "Q_P_ACCZ_FLTD"}, // Q_AZ_FILT
{ Parameters::k_param_quadplane, 464, AP_PARAM_FLOAT, "Q_P_ACCZ_FF"}, // Q_AZ_FF
{ Parameters::k_param_quadplane, 276, AP_PARAM_FLOAT, "Q_LOIT_SPEED"}, // Q_WP_LOIT_SPEED
{ Parameters::k_param_quadplane, 468, AP_PARAM_FLOAT, "Q_LOIT_BRK_JERK" },// Q_WP_LOIT_JERK
{ Parameters::k_param_quadplane, 532, AP_PARAM_FLOAT, "Q_LOIT_ACC_MAX" }, // Q_WP_LOIT_MAXA
{ Parameters::k_param_quadplane, 596, AP_PARAM_FLOAT, "Q_LOIT_BRK_ACCEL" },// Q_WP_LOIT_MINA
{ Parameters::k_param_q_attitude_control, 385, AP_PARAM_FLOAT, "Q_A_RAT_RLL_FLTD" },// Q_A_RAT_RLL_FILT
{ Parameters::k_param_q_attitude_control, 386, AP_PARAM_FLOAT, "Q_A_RAT_PIT_FLTD" },// Q_A_RAT_PIT_FILT
{ Parameters::k_param_q_attitude_control, 387, AP_PARAM_FLOAT, "Q_A_RAT_YAW_FLTE" },// Q_A_RAT_YAW_FILT
{ Parameters::k_param_q_attitude_control, 449, AP_PARAM_FLOAT, "Q_A_RAT_RLL_FF" }, // Q_A_RAT_RLL_FF
{ Parameters::k_param_q_attitude_control, 450, AP_PARAM_FLOAT, "Q_A_RAT_PIT_FF" }, // Q_A_RAT_PIT_FF
{ Parameters::k_param_q_attitude_control, 451, AP_PARAM_FLOAT, "Q_A_RAT_YAW_FF" }, // Q_A_RAT_YAW_FILT

// tailsitter params have moved but retain the same names
{ Parameters::k_param_quadplane, 48, AP_PARAM_INT8, "Q_TAILSIT_ANGLE" },
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