diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h index 576f984eef..4f93405128 100644 --- a/ArduSub/Parameters.h +++ b/ArduSub/Parameters.h @@ -51,118 +51,63 @@ public: // k_param_format_version = 0, k_param_software_type, - k_param_ins, // libraries/AP_InertialSensor variables - k_param_NavEKF2, - k_param_g2, // 2nd block of parameters - - // simulation - k_param_sitl = 10, - - // barometer object (needed for SITL) - k_param_barometer, - - // scheduler object (for debugging) - k_param_scheduler, - - // relay object - k_param_relay, - - // BoardConfig object - k_param_BoardConfig, - - // GPS object - k_param_gps, - - // Input Management object - k_param_input_manager, // 19 - - // Misc - // - k_param_wp_yaw_behavior, - k_param_acro_trainer, - k_param_pilot_velocity_z_max, - k_param_rangefinder_gain, - k_param_ch8_option, - k_param_arming_check, - k_param_angle_max, - k_param_gps_hdop_good, - k_param_battery, - k_param_fs_batt_mah, - k_param_rc_feel_rp, - k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group - k_param_mission, // mission library - k_param_rc_13, - k_param_rc_14, - k_param_rally, - k_param_pilot_accel_z, - k_param_rangefinder, // rangefinder object - k_param_fs_ekf_thresh, - k_param_terrain, - k_param_acro_expo, - k_param_throttle_deadzone, - k_param_optflow, - k_param_log_bitmask, - k_param_cli_enabled, - k_param_throttle_filt, - k_param_throttle_behavior, - k_param_pilot_takeoff_alt, // 64 - k_param_fence, - - k_param_notify, // 73 + k_param_g2, // 2nd block of parameters - // - // 90: misc2 - // - k_param_motors = 90, - k_param_disarm_delay, - k_param_fs_crash_check, - k_param_terrain_follow, // 94 - k_param_avoid, - - // - // 100: Inertial Nav - // - k_param_wp_nav, - k_param_attitude_control, - k_param_pos_control, - k_param_circle_nav, // 104 + k_param_sitl, // Simulation - // 110: Telemetry control - // - k_param_gcs0 = 110, + // Telemetry + k_param_gcs0 = 10, k_param_gcs1, - k_param_sysid_this_mav, - k_param_sysid_my_gcs, k_param_gcs2, - k_param_serial_manager, - k_param_ch9_option, - k_param_ch10_option, - k_param_ch11_option, - k_param_ch12_option, - k_param_takeoff_trigger_dz, k_param_gcs3, - k_param_gcs_pid_mask, // 126 + k_param_sysid_this_mav, + k_param_sysid_my_gcs, - // - // 140: Sensor parameters - // - k_param_compass_enabled, - k_param_compass, - k_param_fs_batt_voltage, - k_param_ch7_option, - k_param_ahrs, // AHRS group // 159 + // Hardware/Software configuration + k_param_BoardConfig = 20, // Board configuration (PX4/Linux/etc) + k_param_scheduler, // Scheduler (for debugging/perf_info) + k_param_DataFlash, // DataFlash Logging + k_param_serial_manager, // Serial ports, AP_SerialManager + k_param_notify, // Notify Library, AP_Notify + k_param_cli_enabled, // Old (deprecated) command line interface + + + // Sensor objects + k_param_ins = 30, // AP_InertialSensor + k_param_compass, // Compass + k_param_barometer, // Barometer/Depth Sensor + k_param_battery, // AP_BattMonitor + k_param_leak_detector, // Leak Detector + k_param_rangefinder, // Rangefinder + k_param_gps, // GPS + k_param_optflow, // Optical Flow + + + // Navigation libraries + k_param_ahrs = 50, // AHRS + k_param_NavEKF, // Extended Kalman Filter Inertial Navigation + k_param_NavEKF2, // EKF2 + k_param_attitude_control, // Attitude Control + k_param_pos_control, // Position Control + k_param_wp_nav, // Waypoint navigation + k_param_mission, // Mission library + k_param_fence, // Fence Library + k_param_terrain, // Terrain database + k_param_rally, // Disabled + k_param_circle_nav, // Disabled + k_param_avoid, - // - // Camera and mount parameters - // - k_param_camera = 165, - k_param_camera_mount, - // - // 170: Radio settings - // - k_param_rc_1 = 170, + // Other external hardware interfaces + k_param_motors = 65, // Motors + k_param_relay, // Relay + k_param_camera, // Camera + k_param_camera_mount, // Camera gimbal + + + // RC_Channel settings + k_param_rc_1 = 75, k_param_rc_2, k_param_rc_3, k_param_rc_4, @@ -170,63 +115,23 @@ public: k_param_rc_6, k_param_rc_7, k_param_rc_8, + k_param_rc_9, k_param_rc_10, k_param_rc_11, - k_param_failsafe_throttle, - k_param_failsafe_throttle_value, - k_param_esc_calibrate, - k_param_radio_tuning, - k_param_radio_tuning_high, - k_param_radio_tuning_low, - k_param_rc_speed = 192, - k_param_failsafe_battery_enabled, - k_param_rc_9, k_param_rc_12, - k_param_failsafe_gcs, - k_param_rcmap, // 199 - - // - // 200: flight modes - // - k_param_flight_mode1 = 200, - k_param_flight_mode2, - k_param_flight_mode3, - k_param_flight_mode4, - k_param_flight_mode5, - k_param_flight_mode6, - - // - // 220: PI/D Controllers - // - k_param_acro_rp_p = 221, - k_param_p_pos_xy, - k_param_p_alt_hold, - k_param_p_vel_z, - k_param_pid_accel_z, - k_param_acro_balance_roll, - k_param_acro_balance_pitch, - k_param_acro_yaw_p, - k_param_autotune_axis_bitmask, - k_param_autotune_aggressiveness, - k_param_pi_vel_xy, - k_param_fs_ekf_action, - k_param_rpm_sensor, - k_param_autotune_min_d, // 251 - k_param_DataFlash = 253, // 253 - Logging Group - - // 254,255: reserved - - //Sub-specific parameters - k_param_surface_depth = 256, + k_param_rc_13, + k_param_rc_14, - // Joystic gain parameters + // Joystick gain parameters k_param_gain_default, k_param_maxGain, k_param_minGain, k_param_numGainSettings, + k_param_cam_tilt_step, + k_param_lights_step, // Joystick button mapping parameters - k_param_jbtn_0 = 261, + k_param_jbtn_0 = 95, k_param_jbtn_1, k_param_jbtn_2, k_param_jbtn_3, @@ -241,24 +146,103 @@ public: k_param_jbtn_12, k_param_jbtn_13, k_param_jbtn_14, - k_param_jbtn_15, // 276 + k_param_jbtn_15, - k_param_pid_crosstrack_control, - k_param_pid_heading_control, - - k_param_leak_detector, // leak detector object + + // Flight mode selection + k_param_flight_mode1 = 120, + k_param_flight_mode2, + k_param_flight_mode3, + k_param_flight_mode4, + k_param_flight_mode5, + k_param_flight_mode6, + + + // PID Controllers + k_param_p_pos_xy, + k_param_p_alt_hold, + k_param_pi_vel_xy, + k_param_p_vel_z, + k_param_pid_accel_z, + k_param_pid_crosstrack_control, // Experimental + k_param_pid_heading_control, // Experimental + + + // Failsafes + k_param_failsafe_gcs = 140, k_param_failsafe_leak, // leak failsafe behavior k_param_failsafe_pressure, // internal pressure failsafe behavior k_param_failsafe_pressure_max, // maximum internal pressure in pascal before failsafe is triggered k_param_failsafe_temperature, // internal temperature failsafe behavior k_param_failsafe_temperature_max, // maximum internal temperature in degrees C before failsafe is triggered - k_param_failsafe_terrain, // terrain failsafe behavior + k_param_fs_ekf_thresh, + k_param_fs_ekf_action, + k_param_fs_crash_check, + k_param_failsafe_battery_enabled, + k_param_fs_batt_mah, + k_param_fs_batt_voltage, + k_param_failsafe_throttle, + k_param_failsafe_throttle_value, - k_param_xtrack_angle_limit, // angle limit for xtrack correction in degrees - k_param_cam_tilt_step, - k_param_lights_step + // Misc Sub settings + k_param_log_bitmask = 165, + k_param_arming_check, + k_param_angle_max, + k_param_rangefinder_gain, + k_param_gps_hdop_good, + k_param_wp_yaw_behavior, + k_param_xtrack_angle_limit, // Angle limit for crosstrack correction in Auto modes (degrees) + k_param_pilot_velocity_z_max, + k_param_pilot_accel_z, + k_param_compass_enabled, + k_param_surface_depth, + k_param_rc_speed, // Main output pwm frequency + k_param_esc_calibrate, // Boot-time ESC calibration behavior + k_param_gcs_pid_mask, + k_param_throttle_filt, + k_param_throttle_deadzone, // Used in auto-throttle modes + k_param_disarm_delay, + k_param_terrain_follow, + k_param_rc_feel_rp, + + + // Acro Mode parameters + k_param_acro_yaw_p = 220, // Used in all modes for get_pilot_desired_yaw_rate + k_param_acro_trainer, + k_param_acro_expo, + k_param_acro_rp_p, + k_param_acro_balance_roll, + k_param_acro_balance_pitch, + + + // AUX switch options + k_param_ch7_option, // Disabled + k_param_ch8_option, // Disabled + k_param_ch9_option, // Disabled + k_param_ch10_option, // Disabled + k_param_ch11_option, // Disabled + k_param_ch12_option, // Disabled + + // RPM Sensor + k_param_rpm_sensor, // Disabled + + // RC_Mapper Library + k_param_rcmap, // Disabled + + // CH6 Tuning + k_param_radio_tuning, // Disabled + k_param_radio_tuning_high, // Disabled + k_param_radio_tuning_low, // Disabled + + // Autotune parameters + k_param_autotune_axis_bitmask, // Disabled + k_param_autotune_aggressiveness, // Disabled + k_param_autotune_min_d, // Disabled + + + k_param_throttle_behavior, // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Remove }; AP_Int16 format_version;