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Rename params, add transitional support

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Lorenz Meier
2016-05-10 09:27:00 +02:00
parent 468b0b25de
commit c31c29097d
2 changed files with 25 additions and 7 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+9 -1
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@@ -442,7 +442,15 @@ MulticopterPositionControl::MulticopterPositionControl() :
_params_handles.z_vel_i = param_find("MPC_Z_VEL_I");
_params_handles.z_vel_d = param_find("MPC_Z_VEL_D");
_params_handles.z_vel_max_up = param_find("MPC_Z_VEL_MAX_UP");
_params_handles.z_vel_max_down = param_find("MPC_Z_VEL_MAX_DOWN");
_params_handles.z_vel_max_down = param_find("MPC_Z_VEL_MAX");
// transitional support: Copy param values from max to down
// param so that max param can be renamed in 1-2 releases
// (currently at 1.3.0)
float p;
param_get(param_find("MPC_Z_VEL_MAX"), &p);
param_set(param_find("MPC_Z_VEL_MAX_DN"), &p);
_params_handles.z_ff = param_find("MPC_Z_FF");
_params_handles.xy_p = param_find("MPC_XY_P");
_params_handles.xy_vel_p = param_find("MPC_XY_VEL_P");