ArduSub: move serial_manager parameters up to base class

ArduPilot · Feb 29, 2024 · bd8fdd2 · bd8fdd2
1 parent 8948608
commit bd8fdd2
Show file tree

Hide file tree

Showing 2 changed files with 11 additions and 4 deletions.
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
@@ -63,9 +63,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @Increment: .5
     GSCALAR(throttle_filt,  "PILOT_THR_FILT",     0),
 
-    // @Group: SERIAL
-    // @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
-    GOBJECT(serial_manager, "SERIAL",   AP_SerialManager),
+    // AP_SerialManager was here
 
     // @Param: GCS_PID_MASK
     // @DisplayName: GCS PID tuning mask
@@ -775,6 +773,15 @@ void Sub::load_parameters()
 #if HAL_LOGGING_ENABLED
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
 #endif
+
+    static const AP_Param::TopLevelObjectConversion toplevel_conversions[] {
+#if AP_SERIALMANAGER_ENABLED
+        // PARAMETER_CONVERSION - Added: Feb-2024
+        { &serial_manager, serial_manager.var_info, Parameters::k_param_serial_manager_old },
+#endif
+    };
+
+    AP_Param::convert_toplevel_objects(toplevel_conversions, ARRAY_SIZE(toplevel_conversions));
 }
 
 void Sub::convert_old_parameters()

diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
@@ -61,7 +61,7 @@ class Parameters {
         k_param_BoardConfig = 20, // Board configuration (Pixhawk/Linux/etc)
         k_param_scheduler, // Scheduler (for debugging/perf_info)
         k_param_logger, // AP_Logger Logging
-        k_param_serial_manager, // Serial ports, AP_SerialManager
+        k_param_serial_manager_old, // Serial ports, AP_SerialManager
         k_param_notify, // Notify Library, AP_Notify
         k_param_arming = 26, // Arming checks
         k_param_can_mgr,