Merge branch 'ArduPilot:master' into master

ArduPilot · Feb 27, 2024 · ca4c993 · ca4c993
2 parents 1161bc6 + 242f679
commit ca4c993
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Showing 70 changed files with 626 additions and 686 deletions.
diff --git a/.github/workflows/esp32_build.yml b/.github/workflows/esp32_build.yml
@@ -175,6 +175,7 @@ jobs:
       - name: Install Prerequisites
         shell: bash
         run: |
+          sudo apt-get update
           sudo apt-get install git wget libncurses-dev flex bison gperf python3 python3-pip python3-venv python3-setuptools python3-serial python3-gevent python3-cryptography python3-future python3-pyparsing python3-pyelftools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0
           sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 10
           update-alternatives --query python

diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
@@ -588,17 +588,17 @@ void Tracker::load_parameters(void)
 
 #if AP_STATS_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024
-    AP_Param::convert_class(g.k_param_stats_old, &stats, stats.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_stats_old, &stats, stats.var_info, 0, true);
 #endif
 
 #if AP_SCRIPTING_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024
-    AP_Param::convert_class(g.k_param_scripting_old, &scripting, scripting.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_scripting_old, &scripting, scripting.var_info, 0, true);
 #endif
 
     // PARAMETER_CONVERSION - Added: Feb-2024 for Tracker-4.6
 #if HAL_LOGGING_ENABLED
-    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
 #endif
 
 #if HAL_HAVE_SAFETY_SWITCH

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -1354,56 +1354,29 @@ void Copter::load_parameters(void)
 
     // PARAMETER_CONVERSION - Added: Mar-2022
 #if AP_FENCE_ENABLED
-    AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, true);
 #endif
 
-    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+    static const AP_Param::G2ObjectConversion g2_conversions[] {
 #if AP_STATS_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 12;       // Old parameter index in g2
-        const uint16_t old_top_element = 4044; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
-    }
-#endif
     // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+        { &stats, stats.var_info, 12 },
+#endif
 #if AP_SCRIPTING_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 30;       // Old parameter index in g2
-        const uint16_t old_top_element = 94; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &scripting, scripting.var_info, old_index, old_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+        { &scripting, scripting.var_info, 30 },
 #endif
-
+#if AP_GRIPPER_ENABLED
     // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
-#if HAL_LOGGING_ENABLED
-    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+        { &gripper, gripper.var_info, 13 },
 #endif
+    };
 
-    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
-#if AP_GRIPPER_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
+    AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));
 
-        const uint16_t old_index = 13;       // Old parameter index in g2
-        const uint16_t old_top_element = 4045; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &gripper, gripper.var_info, old_index, old_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
 #endif
 
     // setup AP_Param frame type flags

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
@@ -1468,29 +1468,12 @@ void Plane::load_parameters(void)
 
     g.use_reverse_thrust.convert_parameter_width(AP_PARAM_INT16);
 
-
-    // PARAMETER_CONVERSION - Added: Oct-2021
-#if HAL_EFI_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 22;       // Old parameter index in g2
-        const uint16_t old_top_element = 86; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &efi, efi.var_info, old_index, old_top_element, false);
-    }
-#endif
-
 #if AP_AIRSPEED_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2022
     {
         const uint16_t old_key = g.k_param_airspeed;
         const uint16_t old_index = 0;       // Old parameter index in the tree
-        const uint16_t old_top_element = 0; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(old_key, &airspeed, airspeed.var_info, old_index, old_top_element, true);
+        AP_Param::convert_class(old_key, &airspeed, airspeed.var_info, old_index, true);
     }
 #endif
 
@@ -1511,7 +1494,7 @@ void Plane::load_parameters(void)
 
     // PARAMETER_CONVERSION - Added: Mar-2022
 #if AP_FENCE_ENABLED
-    AP_Param::convert_class(g.k_param_fence, &fence, fence.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_fence, &fence, fence.var_info, 0, true);
 #endif
 
     // PARAMETER_CONVERSION - Added: Dec 2023
@@ -1527,52 +1510,29 @@ void Plane::load_parameters(void)
 
     landing.convert_parameters();
 
-    // PARAMETER_CONVERSION - Added: Jan-2024 for Plane-4.6
-#if AP_STATS_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 5;       // Old parameter index in g2
-        const uint16_t old_top_element = 4037; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
-    }
+    static const AP_Param::G2ObjectConversion g2_conversions[] {
+    // PARAMETER_CONVERSION - Added: Oct-2021
+#if HAL_EFI_ENABLED
+        { &efi, efi.var_info, 22 },
 #endif
+#if AP_STATS_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024 for Plane-4.6
+        { &stats, stats.var_info, 5 },
+#endif
 #if AP_SCRIPTING_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 14;       // Old parameter index in g2
-        const uint16_t old_top_element = 78; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &scripting, scripting.var_info, old_index, old_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Plane-4.6
+        { &scripting, scripting.var_info, 14 },
 #endif
-
-    // PARAMETER_CONVERSION - Added: Feb-2024 for Plane-4.6
 #if AP_GRIPPER_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 12;       // Old parameter index in g2
-        const uint16_t old_top_element = 4044; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &gripper, gripper.var_info, old_index, old_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Plane-4.6
+        { &gripper, gripper.var_info, 12 },
 #endif
+    };
+
+    AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));
 
     // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
 #if HAL_LOGGING_ENABLED
-    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
 #endif
 }
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
@@ -745,72 +745,35 @@ void Sub::load_parameters()
     // We should ignore this parameter since ROVs are neutral buoyancy
     AP_Param::set_by_name("MOT_THST_HOVER", 0.5);
 
-// PARAMETER_CONVERSION - Added: JAN-2022
-#if AP_AIRSPEED_ENABLED
-    // Find G2's Top Level Key
-    AP_Param::ConversionInfo info;
-    if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-        return;
-    }
-
-    const uint16_t old_index = 19;          // Old parameter index in the tree
-    const uint16_t old_top_element = 4051;  // Old group element in the tree for the first subgroup element
-    AP_Param::convert_class(info.old_key, &airspeed, airspeed.var_info, old_index, old_top_element, false);
-#endif
-
-
     // PARAMETER_CONVERSION - Added: Mar-2022
 #if AP_FENCE_ENABLED
-    AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, true);
 #endif
 
-    // PARAMETER_CONVERSION - Added: Jan-2024
-#if AP_STATS_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo stats_info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, stats_info.old_key)) {
-            return;
-        }
-
-        const uint16_t stats_old_index = 1;       // Old parameter index in g2
-        const uint16_t stats_old_top_element = 4033; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(stats_info.old_key, &stats, stats.var_info, stats_old_index, stats_old_top_element, false);
-    }
+    static const AP_Param::G2ObjectConversion g2_conversions[] {
+#if AP_AIRSPEED_ENABLED
+    // PARAMETER_CONVERSION - Added: JAN-2022
+        { &airspeed, airspeed.var_info, 19 },
 #endif
+#if AP_STATS_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024
+        { &stats, stats.var_info, 1 },
+#endif
 #if AP_SCRIPTING_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo scripting_info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, scripting_info.old_key)) {
-            return;
-        }
-
-        const uint16_t scripting_old_index = 18;       // Old parameter index in g2
-        const uint16_t scripting_old_top_element = 82; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(scripting_info.old_key, &scripting, scripting.var_info, scripting_old_index, scripting_old_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Jan-2024
+        { &scripting, scripting.var_info, 18 },
 #endif
-
-    // PARAMETER_CONVERSION - Added: Feb-2024
 #if AP_GRIPPER_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo gripper_info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, gripper_info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_gripper_index = 3;       // Old parameter index in g2
-        const uint16_t old_gripper_top_element = 4035; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(gripper_info.old_key, &gripper, gripper.var_info, old_gripper_index, old_gripper_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Feb-2024
+        { &gripper, gripper.var_info, 3 },
 #endif
+    };
+
+    AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));
 
     // PARAMETER_CONVERSION - Added: Feb-2024
 #if HAL_LOGGING_ENABLED
-    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
 #endif
 }
 

diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp
@@ -842,38 +842,21 @@ void Blimp::load_parameters(void)
 {
     AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 
-    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+    static const AP_Param::G2ObjectConversion g2_conversions[] {
 #if AP_STATS_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 12;       // Old parameter index in g2
-        const uint16_t old_top_element = 4044; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
-    }
-#endif
     // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+        { &stats, stats.var_info, 12 },
+#endif
 #if AP_SCRIPTING_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 30;       // Old parameter index in g2
-        const uint16_t old_top_element = 94; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &scripting, scripting.var_info, old_index, old_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+        { &scripting, scripting.var_info, 30 },
 #endif
+    };
+    AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));
 
     // PARAMETER_CONVERSION - Added: Feb-2024
 #if HAL_LOGGING_ENABLED
-    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
 #endif
 
     // setup AP_Param frame type flags