box2perm - inav 2.5.0 AUX update

Introduction

ianv 2.5 changes the aux mode ID from using a boxId to a permanentId.

• boxid are not guaranteed to be constant between releases
• permanentId are guaranteed to be constant between releases (the clue is in the name).

This is a one-off change that is intrusive and disruptive for inav 2.5 but will result in a more consistent user experience in the future.

diff / dump updates required

If inav CLI diff or dump files are used to migrate setting from an earlier firmware revision to inav 2.5, then the user will have to either:

• Remove all aux settings and manually recreate them; or
• Update the source diff or dump, either:
  • using box2perm a cross-platform, command line tool to automate the process; or
  • manually edit the file, using the information in the table below.
  • Use the online convertor at https://box2perm.vercel.app/

box2perm

box2perm is a simple command line application that migrates pre-2.5 diff or dump files to 2.5 format.

Your diff / dump must have an initial version line (# INAV/...). This is to protect against bad things like trying to update 2.5+ (or pre 2.0) settings.

Binaries are provides for Linux (ia32, x86-64, arm7), FreeBSD (x86-64), Windows (win32) and MacOS (darwin) in the release area. box2perm has no external dependencies and should build /run on any platform where Go is available.

box2perm takes two parameters, the input file and the output file. If either of these is - or missing, then stdin / stdout are used.

example

• Unzip the release archive for your platform
• The command line application (box2perm, box2perm.exe etc.) is extracted to a box2perm directory.
• Run the box2perm application specifying with the old dump/diff file name and the new output file name:

## migrate an inav 2.4 diff (or dump) to 2.5
$ cd box2perm
$ ./box2perm mydiff-2.4.txt mydiff-2.5.txt

sample output

Given the 2.4 aux statements (fragment of a diff file):

# aux
aux 0 0 5 1500 2100
aux 1 3 0 1300 1700
aux 2 3 2 1300 1700
aux 3 9 0 1300 1700
aux 4 8 0 1700 2100
aux 5 19 1 1700 2100
aux 6 35 2 1300 1700
aux 7 10 6 1450 2100
aux 8 14 3 1600 2100

The 2.5 box2perm output is:

# aux
aux 0 0 5 1500 2100         #  0 =>  0 (ARM)
aux 1 3 0 1300 1700         #  3 =>  3 (NAV ALTHOLD)
aux 2 3 2 1300 1700         #  3 =>  3 (NAV ALTHOLD)
aux 3 11 0 1300 1700        #  9 => 11 (NAV POSHOLD)
aux 4 10 0 1700 2100        #  8 => 10 (NAV RTH)
aux 5 28 1 1700 2100        # 19 => 28 (NAV WP)
aux 6 45 2 1300 1700        # 35 => 45 (NAV CRUISE)
aux 7 12 6 1450 2100        # 10 => 12 (MANUAL)
aux 8 36 3 1600 2100        # 14 => 36 (NAV LAUNCH)

The addition text after the upper range will be ignored by the inav CLI and provides verification to the user that the mode lines have been updated. The final line of box2perm output will be as:

### inav 2.5 aux conversion by box2perm 2020-05-01T14:08:03+0100 ###

Author and licence

box2perm is (c) Jonathan Hudson 2020

License : MIT / Public domain / BSD / WTF i.e. what ever is the most permissive in your locale.

E&OE. No warranty

Additional information

The table illustrates the conversion between boxId and permanentId. This may be used to manually update a diff or dump.

Box Id	Name	Permanent Id
0	ARM	0
1	ANGLE	1
2	HORIZON	2
3	NAV ALTHOLD	3
4	HEADING HOLD	5
5	HEADFREE	6
6	HEADADJ	7
7	CAMSTAB	8
8	NAV RTH	10
9	NAV POSHOLD	11
10	MANUAL	12
11	BEEPER	13
12	LEDLOW	15
13	LIGHTS	16
15	OSD SW	19
16	TELEMETRY	20
28	AUTO TUNE	21
17	BLACKBOX	26
18	FAILSAFE	27
19	NAV WP	28
20	AIR MODE	29
21	HOME RESET	30
22	GCS NAV	31
39	FPV ANGLE MIX	32
24	SURFACE	33
25	FLAPERON	34
26	TURN ASSIST	35
14	NAV LAUNCH	36
27	SERVO AUTOTRIM	37
23	KILLSWITCH	38
29	CAMERA CONTROL 1	39
30	CAMERA CONTROL 2	40
31	CAMERA CONTROL 3	41
32	OSD ALT 1	42
33	OSD ALT 2	43
34	OSD ALT 3	44
35	NAV CRUISE	45
36	MC BRAKING	46
37	USER1	47
38	USER2	48
40	LOITER CHANGE	49
41	MSP RC OVERRIDE	50