diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp index 884e9771ba..5410f404ac 100644 --- a/Blimp/Parameters.cpp +++ b/Blimp/Parameters.cpp @@ -102,7 +102,7 @@ const AP_Param::Info Blimp::var_info[] = { // @Param: FS_GCS_ENABLE // @DisplayName: Ground Station Failsafe Enable // @Description: Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled. - // @Values: 0:Disabled/NoAction,1:RTL,2:RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS),3:SmartRTL or RTL,4:SmartRTL or Land,5:Land (4.0+ Only) + // @Values: 0:Disabled/NoAction,5:Land // @User: Standard GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_DISABLED), @@ -116,7 +116,7 @@ const AP_Param::Info Blimp::var_info[] = { // @Param: FS_THR_ENABLE // @DisplayName: Throttle Failsafe Enable // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel - // @Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode (Removed in 4.0+),3:Enabled always Land,4:Enabled always SmartRTL or RTL,5:Enabled always SmartRTL or Land + // @Values: 0:Disabled,3:Enabled always Land // @User: Standard GSCALAR(failsafe_throttle, "FS_THR_ENABLE", FS_THR_ENABLED_ALWAYS_RTL), @@ -141,7 +141,7 @@ const AP_Param::Info Blimp::var_info[] = { // @Param: FLTMODE1 // @DisplayName: Flight Mode 1 // @Description: Flight mode when Channel 5 pwm is <= 1230 - // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag,25:SystemID,26:Heli_Autorotate + // @Values: 0:LAND,1:MANUAL,2:VELOCITY,3:LOITER // @User: Standard GSCALAR(flight_mode1, "FLTMODE1", (uint8_t)FLIGHT_MODE_1), @@ -189,7 +189,7 @@ const AP_Param::Info Blimp::var_info[] = { // @Param: INITIAL_MODE // @DisplayName: Initial flight mode - // @Description: This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. + // @Description: This selects the mode to start in on boot. // @CopyValuesFrom: FLTMODE1 // @User: Advanced GSCALAR(initial_mode, "INITIAL_MODE", (uint8_t)Mode::Number::MANUAL), @@ -201,21 +201,6 @@ const AP_Param::Info Blimp::var_info[] = { // @User: Standard GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK), - // @Param: TUNE - // @DisplayName: Channel 6 Tuning - // @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob - // @User: Standard - // @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,56:Rate Yaw Filter,55:Motor Yaw Headroom,14:AltHold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,12:Loiter Pos kP,22:Velocity XY kP,28:Velocity XY kI,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,45:RC Feel,13:Heli Ext Gyro,38:Declination,39:Circle Rate,41:RangeFinder Gain,46:Rate Pitch kP,47:Rate Pitch kI,48:Rate Pitch kD,49:Rate Roll kP,50:Rate Roll kI,51:Rate Roll kD,52:Rate Pitch FF,53:Rate Roll FF,54:Rate Yaw FF,58:SysID Magnitude - GSCALAR(radio_tuning, "TUNE", 0), - - // @Param: FRAME_TYPE - // @DisplayName: Frame Type (+, X, V, etc) - // @Description: Controls motor mixing for multiblimps. Not used for Tri or Traditional Heliblimps. - // @Values: 0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 5:A-Tail, 10:Y6B, 11:Y6F, 12:BetaFlightX, 13:DJIX, 14:ClockwiseX, 15: I, 18: BetaFlightXReversed - // @User: Standard - // @RebootRequired: True - GSCALAR(frame_type, "FRAME_TYPE", HAL_FRAME_TYPE_DEFAULT), - // @Group: ARMING_ // @Path: ../libraries/AP_Arming/AP_Arming.cpp GOBJECT(arming, "ARMING_", AP_Arming_Blimp), @@ -231,7 +216,7 @@ const AP_Param::Info Blimp::var_info[] = { // @Param: FS_EKF_ACTION // @DisplayName: EKF Failsafe Action // @Description: Controls the action that will be taken when an EKF failsafe is invoked - // @Values: 1:Land, 2:AltHold, 3:Land even in Stabilize + // @Values: 1:Land, 3:Land even in MANUAL // @User: Advanced GSCALAR(fs_ekf_action, "FS_EKF_ACTION", FS_EKF_ACTION_DEFAULT), @@ -574,13 +559,6 @@ const AP_Param::Info Blimp::var_info[] = { // @Units: Hz // @User: Advanced - // @Param: VELYAW_FLTE - // @DisplayName: Velocity (yaw) input filter - // @Description: Velocity (yaw) input filter. This filter (in Hz) is applied to the input for D term - // @Range: 0 100 - // @Units: Hz - // @User: Advanced - // @Param: VELYAW_FF // @DisplayName: Velocity (yaw) feed forward gain // @Description: Velocity (yaw) feed forward gain. Converts the difference between desired velocity to a target acceleration @@ -822,18 +800,6 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = { AP_SUBGROUPINFO(scripting, "SCR_", 30, ParametersG2, AP_Scripting), #endif - // @Param: TUNE_MIN - // @DisplayName: Tuning minimum - // @Description: Minimum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to - // @User: Standard - AP_GROUPINFO("TUNE_MIN", 31, ParametersG2, tuning_min, 0), - - // @Param: TUNE_MAX - // @DisplayName: Tuning maximum - // @Description: Maximum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to - // @User: Standard - AP_GROUPINFO("TUNE_MAX", 32, ParametersG2, tuning_max, 0), - // @Param: FS_VIBE_ENABLE // @DisplayName: Vibration Failsafe enable // @Description: This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations @@ -844,8 +810,8 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = { // @Param: FS_OPTIONS // @DisplayName: Failsafe options bitmask // @Description: Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options. - // @Values: 0:Disabled, 1:Continue if in Auto on RC failsafe only, 2:Continue if in Auto on GCS failsafe only, 3:Continue if in Auto on RC and/or GCS failsafe, 4:Continue if in Guided on RC failsafe only, 8:Continue if landing on any failsafe, 16:Continue if in pilot controlled modes on GCS failsafe, 19:Continue if in Auto on RC and/or GCS failsafe and continue if in pilot controlled modes on GCS failsafe - // @Bitmask: 0:Continue if in Auto on RC failsafe, 1:Continue if in Auto on GCS failsafe, 2:Continue if in Guided on RC failsafe, 3:Continue if landing on any failsafe, 4:Continue if in pilot controlled modes on GCS failsafe, 5:Release Gripper + // @Values: 0:Disabled, 16:Continue if in pilot controlled modes on GCS failsafe + // @Bitmask: 4:Continue if in pilot controlled modes on GCS failsafe // @User: Advanced AP_GROUPINFO("FS_OPTIONS", 36, ParametersG2, fs_options, (float)Blimp::FailsafeOption::GCS_CONTINUE_IF_PILOT_CONTROL), diff --git a/Blimp/Parameters.h b/Blimp/Parameters.h index 70718b39e5..7db8cae8db 100644 --- a/Blimp/Parameters.h +++ b/Blimp/Parameters.h @@ -148,7 +148,7 @@ public: // 140: Sensor parameters // k_param_compass, - k_param_frame_type, + k_param_frame_type, //unused k_param_ahrs, // AHRS group // 159 // @@ -170,7 +170,7 @@ public: // k_param_failsafe_throttle = 170, k_param_failsafe_throttle_value, - k_param_radio_tuning, + k_param_radio_tuning, // unused k_param_rc_speed = 192, k_param_failsafe_gcs, k_param_rcmap, // 199 @@ -235,8 +235,6 @@ public: // Misc // AP_Int32 log_bitmask; - AP_Int8 radio_tuning; - AP_Int8 frame_type; AP_Int8 disarm_delay; AP_Int8 fs_ekf_action; @@ -313,9 +311,6 @@ public: AP_Scripting scripting; #endif // AP_SCRIPTING_ENABLED - AP_Float tuning_min; - AP_Float tuning_max; - // vibration failsafe enable/disable AP_Int8 fs_vibe_enabled;