zrzk
/
ardupilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Sub: Reorganize parameters 

Parameter enum indices reordered
Also removed unused input_manager
mission-4.1.18
Jacob Walser 8 years ago committed by Andrew Tridgell
parent
e66ba2ad74
commit
538e3f9c8f
1 changed files with 143 additions and 159 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 300
      ArduSub/Parameters.h

300
ArduSub/Parameters.h
Unescape View File

@ -51,118 +51,63 @@ public: @@ -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
//
// 90: misc2
//
k_param_motors = 90,
k_param_disarm_delay,
k_param_fs_crash_check,
k_param_terrain_follow, // 94
k_param_avoid,
k_param_g2, // 2nd block of parameters
//
// 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: @@ -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: @@ -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;

Write Preview
Loading…
Cancel
Save