From d1c161ecd03645cac2af720ee6c6fb662f59624f Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sat, 19 Nov 2011 14:00:23 -0800 Subject: [PATCH] Upped version added new logging params added crosstrack gain re-ordered param inits --- ArduCopter/Parameters.h | 50 +++++++++++++++++------------------------ 1 file changed, 20 insertions(+), 30 deletions(-) diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h index 860ee957dc..78a8b6c36b 100644 --- a/ArduCopter/Parameters.h +++ b/ArduCopter/Parameters.h @@ -17,7 +17,7 @@ public: // The increment will prevent old parameters from being used incorrectly // by newer code. // - static const uint16_t k_format_version = 112; + static const uint16_t k_format_version = 113; // The parameter software_type is set up solely for ground station use // and identifies the software type (eg ArduPilotMega versus ArduCopterMega) @@ -55,7 +55,8 @@ public: // Misc // - k_param_log_bitmask, + k_param_log_bitmask = 20, + k_param_log_last_filenumber, #if FRAME_CONFIG == HELI_FRAME // @@ -107,8 +108,8 @@ public: // // 160: Navigation parameters // - k_param_crosstrack_entry_angle = 160, - k_param_RTL_altitude, + k_param_RTL_altitude = 160, + k_param_crosstrack_gain, // // 180: Radio settings @@ -171,7 +172,6 @@ public: k_param_pi_nav_lon, k_param_pi_alt_hold, k_param_pi_throttle, - k_param_pi_crosstrack, k_param_pi_acro_roll, k_param_pi_acro_pitch, @@ -189,9 +189,14 @@ public: AP_Int8 serial3_baud; - // Crosstrack navigation - // - AP_Int16 crosstrack_entry_angle; + AP_Int16 RTL_altitude; + AP_Int8 sonar_enabled; + AP_Int8 battery_monitoring; // 0=disabled, 1=3 cell lipo, 2=4 cell lipo, 3=total voltage only, 4=total voltage and current + AP_Int16 pack_capacity; // Battery pack capacity less reserve + AP_Int8 compass_enabled; + AP_Int8 optflow_enabled; + AP_Float input_voltage; + AP_Float low_voltage; // Waypoints // @@ -202,6 +207,7 @@ public: AP_Int8 waypoint_radius; AP_Int16 loiter_radius; AP_Int16 waypoint_speed_max; + AP_Float crosstrack_gain; // Throttle // @@ -222,30 +228,16 @@ public: AP_Int8 flight_mode6; AP_Int8 simple_modes; - // Radio settings - // - //AP_Var_group pwm_roll; - //AP_Var_group pwm_pitch; - //AP_Var_group pwm_throttle; - //AP_Var_group pwm_yaw; - // Misc // AP_Int16 log_bitmask; - AP_Int16 RTL_altitude; + AP_Int16 log_last_filenumber; - AP_Int8 sonar_enabled; - AP_Int8 battery_monitoring; // 0=disabled, 1=3 cell lipo, 2=4 cell lipo, 3=total voltage only, 4=total voltage and current - AP_Int16 pack_capacity; // Battery pack capacity less reserve - AP_Int8 compass_enabled; AP_Int8 esc_calibrate; AP_Int8 radio_tuning; - AP_Int8 frame_orientation; AP_Float top_bottom_ratio; - AP_Int8 optflow_enabled; - AP_Float input_voltage; - AP_Float low_voltage; + #if FRAME_CONFIG == HELI_FRAME // Heli @@ -272,6 +264,7 @@ public: RC_Channel rc_8; RC_Channel rc_camera_pitch; RC_Channel rc_camera_roll; + AP_Float camera_pitch_gain; AP_Float camera_roll_gain; @@ -292,7 +285,6 @@ public: APM_PI pi_alt_hold; APM_PI pi_throttle; - APM_PI pi_crosstrack; APM_PI pi_acro_roll; APM_PI pi_acro_pitch; @@ -310,9 +302,7 @@ public: sysid_my_gcs (255, k_param_sysid_my_gcs, PSTR("SYSID_MYGCS")), serial3_baud (SERIAL3_BAUD/1000, k_param_serial3_baud, PSTR("SERIAL3_BAUD")), - //crosstrack_gain (XTRACK_GAIN * 100, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SC")), - crosstrack_entry_angle (XTRACK_ENTRY_ANGLE * 100, k_param_crosstrack_entry_angle, PSTR("XTRK_ANGLE_CD")), - + RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")), sonar_enabled (DISABLED, k_param_sonar, PSTR("SONAR_ENABLE")), battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")), pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")), @@ -328,6 +318,7 @@ public: waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")), loiter_radius (LOITER_RADIUS * 100, k_param_loiter_radius, PSTR("WP_LOITER_RAD")), waypoint_speed_max (WAYPOINT_SPEED_MAX, k_param_waypoint_speed_max, PSTR("WP_SPEED_MAX")), + crosstrack_gain (CROSSTRACK_GAIN, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SC")), throttle_min (0, k_param_throttle_min, PSTR("THR_MIN")), throttle_max (1000, k_param_throttle_max, PSTR("THR_MAX")), @@ -345,7 +336,7 @@ public: simple_modes (0, k_param_simple_modes, PSTR("SIMPLE")), log_bitmask (DEFAULT_LOG_BITMASK, k_param_log_bitmask, PSTR("LOG_BITMASK")), - RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")), + log_last_filenumber (0, k_param_log_last_filenumber, PSTR("LOG_LASTFILE")), esc_calibrate (0, k_param_esc_calibrate, PSTR("ESC")), radio_tuning (0, k_param_radio_tuning, PSTR("TUNE")), frame_orientation (FRAME_ORIENTATION, k_param_frame_orientation, PSTR("FRAME")), @@ -408,7 +399,6 @@ public: pi_alt_hold (k_param_pi_alt_hold, PSTR("THR_ALT_"), THR_HOLD_P, THR_HOLD_I, THR_HOLD_IMAX), pi_throttle (k_param_pi_throttle, PSTR("THR_RATE_"), THROTTLE_P, THROTTLE_I, THROTTLE_IMAX), - pi_crosstrack (k_param_pi_crosstrack, PSTR("XTRACK_"), XTRACK_P, XTRACK_I, XTRACK_IMAX), pi_acro_roll (k_param_pi_acro_roll, PSTR("ACRO_RLL_"), ACRO_ROLL_P, ACRO_ROLL_I, ACRO_ROLL_IMAX * 100), pi_acro_pitch (k_param_pi_acro_pitch, PSTR("ACRO_PIT_"), ACRO_PITCH_P, ACRO_PITCH_I, ACRO_PITCH_IMAX * 100),