Sub: create and use defaults_table

tridge · Jul 31, 2023 · 9d768c0 · 9d768c0
1 parent 5908508
commit 9d768c0
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Showing 2 changed files with 21 additions and 18 deletions.
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
@@ -701,26 +701,9 @@ void Sub::load_parameters()
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_SUB);
 
     convert_old_parameters();
-
-    AP_Param::set_default_by_name("BRD_SAFETY_DEFLT", 0);
-    AP_Param::set_default_by_name("ARMING_CHECK",
-            AP_Arming::ARMING_CHECK_RC |
-            AP_Arming::ARMING_CHECK_VOLTAGE |
-            AP_Arming::ARMING_CHECK_BATTERY);
-    AP_Param::set_default_by_name("CIRCLE_RATE", 2.0f);
-    AP_Param::set_default_by_name("ATC_ACCEL_Y_MAX", 110000.0f);
-    AP_Param::set_default_by_name("RC3_TRIM", 1100);
-    AP_Param::set_default_by_name("COMPASS_OFFS_MAX", 1000);
-    AP_Param::set_default_by_name("INS_GYR_CAL", 0);
-    AP_Param::set_default_by_name("MNT1_TYPE", 1);
-    AP_Param::set_default_by_name("MNT1_DEFLT_MODE", MAV_MOUNT_MODE_RC_TARGETING);
-    AP_Param::set_default_by_name("MNT1_RC_RATE", 30);
-    AP_Param::set_default_by_name("RC7_OPTION", 214);   // MOUNT1_YAW
-    AP_Param::set_default_by_name("RC8_OPTION", 213);   // MOUNT1_PITCH
+    AP_Param::set_defaults_from_table(defaults_table, ARRAY_SIZE(defaults_table));
     // We should ignore this parameter since ROVs are neutral buoyancy
     AP_Param::set_by_name("MOT_THST_HOVER", 0.5);
-    AP_Param::set_default_by_name("MOT_PWM_MIN", 1100);
-    AP_Param::set_default_by_name("MOT_PWM_MAX", 1900);
 
 // PARAMETER_CONVERSION - Added: JAN-2022
 #if AP_AIRSPEED_ENABLED

diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
@@ -6,6 +6,7 @@
 
 #include <AP_Gripper/AP_Gripper.h>
 #include <AP_Stats/AP_Stats.h>
+#include <AP_Arming/AP_Arming.h>
 
 #if AP_SCRIPTING_ENABLED
 #include <AP_Scripting/AP_Scripting.h>
@@ -349,3 +350,22 @@ class ParametersG2 {
 
 extern const AP_Param::Info        var_info[];
 
+// Sub-specific default parameters
+static const struct AP_Param::defaults_table_struct defaults_table[] = {
+    { "BRD_SAFETY_DEFLT",    0 },
+    { "ARMING_CHECK",        AP_Arming::ARMING_CHECK_RC |
+                             AP_Arming::ARMING_CHECK_VOLTAGE |
+                             AP_Arming::ARMING_CHECK_BATTERY},
+    { "CIRCLE_RATE",         2.0f},
+    { "ATC_ACCEL_Y_MAX",     110000.0f},
+    { "RC3_TRIM",            1100},
+    { "COMPASS_OFFS_MAX",    1000},
+    { "INS_GYR_CAL",         0},
+    { "MNT1_TYPE",           1},
+    { "MNT1_DEFLT_MODE",     MAV_MOUNT_MODE_RC_TARGETING},
+    { "MNT1_RC_RATE",        30},
+    { "RC7_OPTION",          214},   // MOUNT1_YAW
+    { "RC8_OPTION",          213},   // MOUNT1_PITCH
+    { "MOT_PWM_MIN",         1100},
+    { "MOT_PWM_MAX",         1900},
+};