PX4-Autopilot/src/lib/parameters/param_translation.cpp

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 * modification, are permitted provided that the following conditions
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#include "param_translation.h"


#include <px4_platform_common/log.h>
#include <lib/drivers/device/Device.hpp>
#include <drivers/drv_sensor.h>
#include <lib/parameters/param.h>

bool param_modify_on_import(bson_node_t node)
{
	// migrate MPC_*_VEL_* -> MPC_*_VEL_*_ACC (2020-04-27). This can be removed after the next release (current release=1.10)
	if (node->type == BSON_DOUBLE) {
		param_migrate_velocity_gain(node, "MPC_XY_VEL_P");
		param_migrate_velocity_gain(node, "MPC_XY_VEL_I");
		param_migrate_velocity_gain(node, "MPC_XY_VEL_D");
		param_migrate_velocity_gain(node, "MPC_Z_VEL_P");
		param_migrate_velocity_gain(node, "MPC_Z_VEL_I");
		param_migrate_velocity_gain(node, "MPC_Z_VEL_D");
	}

	// migrate MC_DTERM_CUTOFF -> IMU_DGYRO_CUTOFF (2020-03-12). This can be removed after the next release (current release=1.10)
	if (node->type == BSON_DOUBLE) {
		if (strcmp("MC_DTERM_CUTOFF", node->name) == 0) {
			strcpy(node->name, "IMU_DGYRO_CUTOFF");
			PX4_INFO("param migrating MC_DTERM_CUTOFF (removed) -> IMU_DGYRO_CUTOFF: value=%.3f", node->d);
			return true;
		}
	}

	// 2020-06-29 (v1.11 beta): translate CAL_ACCx_EN/CAL_GYROx_EN/CAL_MAGx_EN -> CAL_ACCx_PRIO/CAL_GYROx_PRIO/CAL_MAGx_PRIO
	if (node->type == BSON_INT32) {

		const char *cal_sensor_en_params[] = {
			"CAL_ACC0_EN",
			"CAL_ACC1_EN",
			"CAL_ACC2_EN",
			"CAL_GYRO0_EN",
			"CAL_GYRO1_EN",
			"CAL_GYRO2_EN",
			"CAL_MAG0_EN",
			"CAL_MAG1_EN",
			"CAL_MAG2_EN",
			"CAL_MAG3_EN",
		};

		for (int i = 0; i < sizeof(cal_sensor_en_params) / sizeof(cal_sensor_en_params[0]); ++i) {
			if (strcmp(cal_sensor_en_params[i], node->name) == 0) {

				char new_parameter_name[17] {};
				strcpy(new_parameter_name, cal_sensor_en_params[i]);

				char *str_replace = strstr(new_parameter_name, "_EN");

				if (str_replace != nullptr) {
					strcpy(str_replace, "_PRIO");
					PX4_INFO("%s -> %s", cal_sensor_en_params[i], new_parameter_name);
					strcpy(node->name, new_parameter_name);
				}

				// if sensor wasn't disabled, reset to -1 so that it can be set to an appropriate default
				if (node->i != 0) {
					node->i = -1; // special value to process later
				}
			}
		}
	}


	// translate (SPI) calibration ID parameters. This can be removed after the next release (current release=1.10)

	if (node->type != BSON_INT32) {
		return false;
	}

	int64_t *ivalue = &node->i;

	const char *cal_id_params[] = {
		"CAL_ACC0_ID",
		"CAL_GYRO0_ID",
		"CAL_MAG0_ID",
		"TC_A0_ID",
		"TC_B0_ID",
		"TC_G0_ID",
		"CAL_ACC1_ID",
		"CAL_GYRO1_ID",
		"CAL_MAG1_ID",
		"TC_A1_ID",
		"TC_B1_ID",
		"TC_G1_ID",
		"CAL_ACC2_ID",
		"CAL_GYRO2_ID",
		"CAL_MAG2_ID",
		"TC_A2_ID",
		"TC_B2_ID",
		"TC_G2_ID"
	};
	bool found = false;

	for (int i = 0; i < sizeof(cal_id_params) / sizeof(cal_id_params[0]); ++i) {
		if (strcmp(cal_id_params[i], node->name) == 0) {
			found = true;
			break;
		}
	}

	if (!found) {
		return false;
	}


	device::Device::DeviceId device_id;
	device_id.devid = (uint32_t) * ivalue;

	// SPI board config translation
#ifdef __PX4_NUTTX // only on NuttX the address is 0

	if (device_id.devid_s.bus_type == device::Device::DeviceBusType_SPI) {
		device_id.devid_s.address = 0;
	}

#endif

	// deprecated ACC -> IMU translations
	if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_MPU6000_LEGACY) {
		device_id.devid_s.devtype = DRV_IMU_DEVTYPE_MPU6000;
	}

	if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_MPU6500_LEGACY) {
		device_id.devid_s.devtype = DRV_IMU_DEVTYPE_MPU6500;
	}

	if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_MPU9250_LEGACY) {
		device_id.devid_s.devtype = DRV_IMU_DEVTYPE_MPU9250;
	}

	if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_ICM20602_LEGACY) {
		device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20602;
	}

	if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_ICM20608_LEGACY) {
		device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20608G;
	}

	if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_ICM20689_LEGACY) {
		device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20689;
	}

	if (device_id.devid_s.devtype == DRV_MAG_DEVTYPE_LSM303D_LEGACY) {
		device_id.devid_s.devtype = DRV_IMU_DEVTYPE_LSM303D;
	}

	int32_t new_value = (int32_t)device_id.devid;

	if (new_value != *ivalue) {
		PX4_INFO("param modify: %s, value=0x%x (old=0x%x)", node->name, new_value, (int32_t)*ivalue);
		*ivalue = new_value;
		return true;
	}

	return false;
}

void param_migrate_velocity_gain(bson_node_t node, const char *parameter_name)
{
	if (strcmp(parameter_name, node->name) == 0) {
		strcat(node->name, "_ACC");
		node->d *= 20.0;
		PX4_INFO("migrating %s (removed) -> %s: new value=%.3f", parameter_name, node->name, node->d);
	}
}