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Plane: remove ancient convert_mixers #19986

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Feb 8, 2022
Merged

Plane: remove ancient convert_mixers #19986

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113 changes: 0 additions & 113 deletions ArduPlane/Parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1358,9 +1358,6 @@ void Plane::load_parameters(void)

SRV_Channels::upgrade_parameters();

// possibly convert elevon and vtail mixers
convert_mixers();

#if HAL_QUADPLANE_ENABLED
if (quadplane.enable) {
// quadplanes needs a higher loop rate
Expand Down Expand Up @@ -1499,113 +1496,3 @@ void Plane::load_parameters(void)

hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
}

/*
convert from old ELEVON_OUTPUT and VTAIL_OUTPUT mixers to function
based mixing
*/
void Plane::convert_mixers(void)
{
AP_Int8 elevon_output;
AP_Int8 vtail_output;
AP_Param::ConversionInfo elevon_info = {
Parameters::k_param_elevon_output,
0,
AP_PARAM_INT8,
nullptr
};
AP_Param::ConversionInfo vtail_info = {
Parameters::k_param_vtail_output,
0,
AP_PARAM_INT8,
nullptr
};
SRV_Channel *chan1 = SRV_Channels::srv_channel(CH_1);
SRV_Channel *chan2 = SRV_Channels::srv_channel(CH_2);
SRV_Channel *chan4 = SRV_Channels::srv_channel(CH_4);

if (AP_Param::find_old_parameter(&vtail_info, &vtail_output) &&
vtail_output.get() != 0 &&
chan2->get_function() == SRV_Channel::k_elevator &&
chan4->get_function() == SRV_Channel::k_rudder &&
!chan2->function_configured() &&
!chan4->function_configured()) {
hal.console->printf("Converting vtail_output %u\n", vtail_output.get());
switch (vtail_output) {
case MIXING_UPUP:
case MIXING_UPUP_SWP:
chan2->reversed_set_and_save_ifchanged(false);
chan4->reversed_set_and_save_ifchanged(false);
break;
case MIXING_UPDN:
case MIXING_UPDN_SWP:
chan2->reversed_set_and_save_ifchanged(false);
chan4->reversed_set_and_save_ifchanged(true);
break;
case MIXING_DNUP:
case MIXING_DNUP_SWP:
chan2->reversed_set_and_save_ifchanged(true);
chan4->reversed_set_and_save_ifchanged(false);
break;
case MIXING_DNDN:
case MIXING_DNDN_SWP:
chan2->reversed_set_and_save_ifchanged(true);
chan4->reversed_set_and_save_ifchanged(true);
break;
}
if (vtail_output < MIXING_UPUP_SWP) {
chan2->function_set_and_save(SRV_Channel::k_vtail_right);
chan4->function_set_and_save(SRV_Channel::k_vtail_left);
} else {
chan2->function_set_and_save(SRV_Channel::k_vtail_left);
chan4->function_set_and_save(SRV_Channel::k_vtail_right);
}
} else if (AP_Param::find_old_parameter(&elevon_info, &elevon_output) &&
elevon_output.get() != 0 &&
chan1->get_function() == SRV_Channel::k_aileron &&
chan2->get_function() == SRV_Channel::k_elevator &&
!chan1->function_configured() &&
!chan2->function_configured()) {
hal.console->printf("convert elevon_output %u\n", elevon_output.get());
switch (elevon_output) {
case MIXING_UPUP:
case MIXING_UPUP_SWP:
chan2->reversed_set_and_save_ifchanged(false);
chan1->reversed_set_and_save_ifchanged(false);
break;
case MIXING_UPDN:
case MIXING_UPDN_SWP:
chan2->reversed_set_and_save_ifchanged(false);
chan1->reversed_set_and_save_ifchanged(true);
break;
case MIXING_DNUP:
case MIXING_DNUP_SWP:
chan2->reversed_set_and_save_ifchanged(true);
chan1->reversed_set_and_save_ifchanged(false);
break;
case MIXING_DNDN:
case MIXING_DNDN_SWP:
chan2->reversed_set_and_save_ifchanged(true);
chan1->reversed_set_and_save_ifchanged(true);
break;
}
if (elevon_output < MIXING_UPUP_SWP) {
chan1->function_set_and_save(SRV_Channel::k_elevon_right);
chan2->function_set_and_save(SRV_Channel::k_elevon_left);
} else {
chan1->function_set_and_save(SRV_Channel::k_elevon_left);
chan2->function_set_and_save(SRV_Channel::k_elevon_right);
}
}

// convert any k_aileron_with_input to aileron and k_elevator_with_input to k_elevator
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
SRV_Channel *chan = SRV_Channels::srv_channel(i);
if (chan->get_function() == SRV_Channel::k_aileron_with_input) {
chan->function_set_and_save(SRV_Channel::k_aileron);
} else if (chan->get_function() == SRV_Channel::k_elevator_with_input) {
chan->function_set_and_save(SRV_Channel::k_elevator);
}
}

}
1 change: 0 additions & 1 deletion ArduPlane/Plane.h
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Original file line number Diff line number Diff line change
Expand Up @@ -892,7 +892,6 @@ class Plane : public AP_Vehicle {

// Parameters.cpp
void load_parameters(void) override;
void convert_mixers(void);

// commands_logic.cpp
void set_next_WP(const struct Location &loc);
Expand Down