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import new Parameters.h for AP_Param to APM

mission-4.1.18
Andrew Tridgell 13 years ago
parent
3d598c8caa
commit
e7174bc649
1 changed files with 99 additions and 143 deletions
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  1. 242
      ArduPlane/Parameters.h

242
ArduPlane/Parameters.h
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@ -26,36 +26,14 @@ public: @@ -26,36 +26,14 @@ public:
//
static const uint16_t k_software_type = 0; // 0 for APM trunk
//
// Parameter identities.
//
// The enumeration defined here is used to ensure that every parameter
// or parameter group has a unique ID number. This number is used by
// AP_Var to store and locate parameters in EEPROM.
//
// Note that entries without a number are assigned the next number after
// the entry preceding them. When adding new entries, ensure that they
// don't overlap.
//
// Try to group related variables together, and assign them a set
// range in the enumeration. Place these groups in numerical order
// at the end of the enumeration.
//
// WARNING: Care should be taken when editing this enumeration as the
// AP_Var load/save code depends on the values here to identify
// variables saved in EEPROM.
//
//
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type,
// Misc
//
k_param_auto_trim,
k_param_switch_enable,
k_param_log_bitmask,
@ -125,7 +103,7 @@ public: @@ -125,7 +103,7 @@ public:
k_param_channel_roll = 170,
k_param_channel_pitch,
k_param_channel_throttle,
k_param_channel_yaw,
k_param_channel_rudder,
k_param_rc_5,
k_param_rc_6,
k_param_rc_7,
@ -182,13 +160,13 @@ public: @@ -182,13 +160,13 @@ public:
// heading error from command to roll command deviation from trim
// (bank to turn strategy)
//
k_param_heading_to_roll_PID = 240,
k_param_pidNavRoll = 240,
// Roll-to-servo PID:
// roll error from command to roll servo deviation from trim
// (tracks commanded bank angle)
//
k_param_roll_to_servo_PID,
k_param_pidServoRoll,
//
// Pitch control
@ -197,13 +175,13 @@ public: @@ -197,13 +175,13 @@ public:
// pitch error from command to pitch servo deviation from trim
// (front-side strategy)
//
k_param_pitch_to_servo_PID,
k_param_pidServoPitch,
// Airspeed-to-pitch PID:
// airspeed error from command to pitch servo deviation from trim
// (back-side strategy)
//
k_param_airspeed_to_pitch_PID,
k_param_pidNavPitchAirspeed,
//
// Yaw control
@ -212,7 +190,7 @@ public: @@ -212,7 +190,7 @@ public:
// yaw rate error from command to yaw servo deviation from trim
// (stabilizes dutch roll)
//
k_param_yaw_to_servo_PID,
k_param_pidServoRudder,
//
// Throttle control
@ -221,13 +199,13 @@ public: @@ -221,13 +199,13 @@ public:
// total energy error from command to throttle servo deviation from trim
// (throttle back-side strategy alternative)
//
k_param_energy_to_throttle_PID,
k_param_pidTeThrottle,
// Altitude-to-pitch PID:
// altitude error from command to pitch servo deviation from trim
// (throttle front-side strategy alternative)
//
k_param_altitude_to_pitch_PID,
k_param_pidNavPitchAltitude,
// 254,255: reserved
};
@ -363,131 +341,109 @@ public: @@ -363,131 +341,109 @@ public:
PID pidTeThrottle;
PID pidNavPitchAltitude;
uint8_t junk;
// Note: keep initializers here in the same order as they are declared above.
Parameters() :
// variable default key name
//-------------------------------------------------------------------------------------------------------
format_version (k_format_version, k_param_format_version, PSTR("SYSID_SW_MREV")),
software_type (k_software_type, k_param_software_type, PSTR("SYSID_SW_TYPE")),
format_version (k_format_version),
software_type (k_software_type),
sysid_this_mav (MAV_SYSTEM_ID, k_param_sysid_this_mav, PSTR("SYSID_THISMAV")),
sysid_my_gcs (255, k_param_sysid_my_gcs, PSTR("SYSID_MYGCS")),
serial3_baud (SERIAL3_BAUD/1000, k_param_serial3_baud, PSTR("SERIAL3_BAUD")),
sysid_this_mav (MAV_SYSTEM_ID),
sysid_my_gcs (255),
serial3_baud (SERIAL3_BAUD/1000),
kff_pitch_compensation (PITCH_COMP, k_param_kff_pitch_compensation, PSTR("KFF_PTCHCOMP")),
kff_rudder_mix (RUDDER_MIX, k_param_kff_rudder_mix, PSTR("KFF_RDDRMIX")),
kff_pitch_to_throttle (P_TO_T, k_param_kff_pitch_to_throttle, PSTR("KFF_PTCH2THR")),
kff_throttle_to_pitch (T_TO_P, k_param_kff_throttle_to_pitch, PSTR("KFF_THR2PTCH")),
kff_pitch_compensation (PITCH_COMP),
kff_rudder_mix (RUDDER_MIX),
kff_pitch_to_throttle (P_TO_T),
kff_throttle_to_pitch (T_TO_P),
crosstrack_gain (XTRACK_GAIN_SCALED, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SC")),
crosstrack_entry_angle (XTRACK_ENTRY_ANGLE_CENTIDEGREE,k_param_crosstrack_entry_angle, PSTR("XTRK_ANGLE_CD")),
crosstrack_gain (XTRACK_GAIN_SCALED),
crosstrack_entry_angle (XTRACK_ENTRY_ANGLE_CENTIDEGREE),
altitude_mix (ALTITUDE_MIX, k_param_altitude_mix, PSTR("ALT_MIX")),
airspeed_ratio (AIRSPEED_RATIO, k_param_airspeed_ratio, PSTR("ARSPD_RATIO")),
airspeed_offset (0, k_param_airspeed_offset, PSTR("ARSPD_OFFSET")),
altitude_mix (ALTITUDE_MIX),
airspeed_ratio (AIRSPEED_RATIO),
airspeed_offset (0),
/* XXX waypoint_mode missing here */
command_total (0, k_param_command_total, PSTR("CMD_TOTAL")),
command_index (0, k_param_command_index, PSTR("CMD_INDEX")),
waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")),
loiter_radius (LOITER_RADIUS_DEFAULT, k_param_loiter_radius, PSTR("WP_LOITER_RAD")),
command_total (0),
command_index (0),
waypoint_radius (WP_RADIUS_DEFAULT),
loiter_radius (LOITER_RADIUS_DEFAULT),
#if GEOFENCE_ENABLED == ENABLED
fence_action (0, k_param_fence_action, PSTR("FENCE_ACTION")),
fence_total (0, k_param_fence_total, PSTR("FENCE_TOTAL")),
fence_channel (0, k_param_fence_channel, PSTR("FENCE_CHANNEL")),
fence_minalt (0, k_param_fence_minalt, PSTR("FENCE_MINALT")),
fence_maxalt (0, k_param_fence_maxalt, PSTR("FENCE_MAXALT")),
fence_action (0),
fence_total (0),
fence_channel (0),
fence_minalt (0),
fence_maxalt (0),
#endif
flybywire_airspeed_min (AIRSPEED_FBW_MIN, k_param_flybywire_airspeed_min, PSTR("ARSPD_FBW_MIN")),
flybywire_airspeed_max (AIRSPEED_FBW_MAX, k_param_flybywire_airspeed_max, PSTR("ARSPD_FBW_MAX")),
throttle_min (THROTTLE_MIN, k_param_throttle_min, PSTR("THR_MIN")),
throttle_max (THROTTLE_MAX, k_param_throttle_max, PSTR("THR_MAX")),
throttle_slewrate (THROTTLE_SLEW_LIMIT, k_param_throttle_slewrate, PSTR("THR_SLEWRATE")),
throttle_fs_enabled (THROTTLE_FAILSAFE, k_param_throttle_fs_enabled, PSTR("THR_FAILSAFE")),
throttle_fs_value (THROTTLE_FS_VALUE, k_param_throttle_fs_value, PSTR("THR_FS_VALUE")),
throttle_cruise (THROTTLE_CRUISE, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")),
short_fs_action (SHORT_FAILSAFE_ACTION, k_param_short_fs_action, PSTR("FS_SHORT_ACTN")),
long_fs_action (LONG_FAILSAFE_ACTION, k_param_long_fs_action, PSTR("FS_LONG_ACTN")),
gcs_heartbeat_fs_enabled(GCS_HEARTBEAT_FAILSAFE, k_param_gcs_heartbeat_fs_enabled, PSTR("FS_GCS_ENABL")),
flight_mode_channel (FLIGHT_MODE_CHANNEL, k_param_flight_mode_channel, PSTR("FLTMODE_CH")),
flight_mode1 (FLIGHT_MODE_1, k_param_flight_mode1, PSTR("FLTMODE1")),
flight_mode2 (FLIGHT_MODE_2, k_param_flight_mode2, PSTR("FLTMODE2")),
flight_mode3 (FLIGHT_MODE_3, k_param_flight_mode3, PSTR("FLTMODE3")),
flight_mode4 (FLIGHT_MODE_4, k_param_flight_mode4, PSTR("FLTMODE4")),
flight_mode5 (FLIGHT_MODE_5, k_param_flight_mode5, PSTR("FLTMODE5")),
flight_mode6 (FLIGHT_MODE_6, k_param_flight_mode6, PSTR("FLTMODE6")),
roll_limit (HEAD_MAX_CENTIDEGREE, k_param_roll_limit, PSTR("LIM_ROLL_CD")),
pitch_limit_max (PITCH_MAX_CENTIDEGREE, k_param_pitch_limit_max, PSTR("LIM_PITCH_MAX")),
pitch_limit_min (PITCH_MIN_CENTIDEGREE, k_param_pitch_limit_min, PSTR("LIM_PITCH_MIN")),
auto_trim (AUTO_TRIM, k_param_auto_trim, PSTR("TRIM_AUTO")),
switch_enable (REVERSE_SWITCH, k_param_switch_enable, PSTR("SWITCH_ENABLE")),
mix_mode (ELEVON_MIXING, k_param_mix_mode, PSTR("ELEVON_MIXING")),
reverse_elevons (ELEVON_REVERSE, k_param_reverse_elevons, PSTR("ELEVON_REVERSE")),
reverse_ch1_elevon (ELEVON_CH1_REVERSE, k_param_reverse_ch1_elevon, PSTR("ELEVON_CH1_REV")),
reverse_ch2_elevon (ELEVON_CH2_REVERSE, k_param_reverse_ch2_elevon, PSTR("ELEVON_CH2_REV")),
num_resets (0, k_param_num_resets, PSTR("SYS_NUM_RESETS")),
log_bitmask (DEFAULT_LOG_BITMASK, k_param_log_bitmask, PSTR("LOG_BITMASK")),
log_last_filenumber (0, k_param_log_last_filenumber, PSTR("LOG_LASTFILE")),
reset_switch_chan (0, k_param_reset_switch_chan, PSTR("RST_SWITCH_CH")),
airspeed_cruise (AIRSPEED_CRUISE_CM, k_param_airspeed_cruise, PSTR("TRIM_ARSPD_CM")),
min_gndspeed (MIN_GNDSPEED_CM, k_param_min_gndspeed, PSTR("MIN_GNDSPD_CM")),
pitch_trim (0, k_param_pitch_trim, PSTR("TRIM_PITCH_CD")),
RTL_altitude (ALT_HOLD_HOME_CM, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")),
FBWB_min_altitude (ALT_HOLD_FBW_CM, k_param_FBWB_min_altitude, PSTR("ALT_HOLD_FBWCM")),
ground_temperature (0, k_param_ground_temperature, PSTR("GND_TEMP")),
ground_pressure (0, k_param_ground_pressure, PSTR("GND_ABS_PRESS")),
compass_enabled (MAGNETOMETER, k_param_compass_enabled, PSTR("MAG_ENABLE")),
flap_1_percent (FLAP_1_PERCENT, k_param_flap_1_percent, PSTR("FLAP_1_PERCNT")),
flap_1_speed (FLAP_1_SPEED, k_param_flap_1_speed, PSTR("FLAP_1_SPEED")),
flap_2_percent (FLAP_2_PERCENT, k_param_flap_2_percent, PSTR("FLAP_2_PERCNT")),
flap_2_speed (FLAP_2_SPEED, k_param_flap_2_speed, PSTR("FLAP_2_SPEED")),
battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")),
volt_div_ratio (VOLT_DIV_RATIO, k_param_volt_div_ratio, PSTR("VOLT_DIVIDER")),
curr_amp_per_volt (CURR_AMP_PER_VOLT, k_param_curr_amp_per_volt, PSTR("AMP_PER_VOLT")),
input_voltage (INPUT_VOLTAGE, k_param_input_voltage, PSTR("INPUT_VOLTS")),
pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")),
inverted_flight_ch (0, k_param_inverted_flight_ch, PSTR("INVERTEDFLT_CH")),
sonar_enabled (SONAR_ENABLED, k_param_sonar_enabled, PSTR("SONAR_ENABLE")),
airspeed_enabled (AIRSPEED_SENSOR, k_param_airspeed_enabled, PSTR("ARSPD_ENABLE")),
// Note - total parameter name length must be less than 14 characters for MAVLink compatibility!
// RC channel group key name
//----------------------------------------------------------------------
channel_roll (k_param_channel_roll, PSTR("RC1_")),
channel_pitch (k_param_channel_pitch, PSTR("RC2_")),
channel_throttle (k_param_channel_throttle, PSTR("RC3_")),
channel_rudder (k_param_channel_yaw, PSTR("RC4_")),
rc_5 (k_param_rc_5, PSTR("RC5_")),
rc_6 (k_param_rc_6, PSTR("RC6_")),
rc_7 (k_param_rc_7, PSTR("RC7_")),
rc_8 (k_param_rc_8, PSTR("RC8_")),
// PID controller group key name initial P initial I initial D initial imax
flybywire_airspeed_min (AIRSPEED_FBW_MIN),
flybywire_airspeed_max (AIRSPEED_FBW_MAX),
throttle_min (THROTTLE_MIN),
throttle_max (THROTTLE_MAX),
throttle_slewrate (THROTTLE_SLEW_LIMIT),
throttle_fs_enabled (THROTTLE_FAILSAFE),
throttle_fs_value (THROTTLE_FS_VALUE),
throttle_cruise (THROTTLE_CRUISE),
short_fs_action (SHORT_FAILSAFE_ACTION),
long_fs_action (LONG_FAILSAFE_ACTION),
gcs_heartbeat_fs_enabled(GCS_HEARTBEAT_FAILSAFE),
flight_mode_channel (FLIGHT_MODE_CHANNEL),
flight_mode1 (FLIGHT_MODE_1),
flight_mode2 (FLIGHT_MODE_2),
flight_mode3 (FLIGHT_MODE_3),
flight_mode4 (FLIGHT_MODE_4),
flight_mode5 (FLIGHT_MODE_5),
flight_mode6 (FLIGHT_MODE_6),
roll_limit (HEAD_MAX_CENTIDEGREE),
pitch_limit_max (PITCH_MAX_CENTIDEGREE),
pitch_limit_min (PITCH_MIN_CENTIDEGREE),
auto_trim (AUTO_TRIM),
switch_enable (REVERSE_SWITCH),
mix_mode (ELEVON_MIXING),
reverse_elevons (ELEVON_REVERSE),
reverse_ch1_elevon (ELEVON_CH1_REVERSE),
reverse_ch2_elevon (ELEVON_CH2_REVERSE),
num_resets (0),
log_bitmask (DEFAULT_LOG_BITMASK),
log_last_filenumber (0),
reset_switch_chan (0),
airspeed_cruise (AIRSPEED_CRUISE_CM),
min_gndspeed (MIN_GNDSPEED_CM),
pitch_trim (0),
RTL_altitude (ALT_HOLD_HOME_CM),
FBWB_min_altitude (ALT_HOLD_FBW_CM),
ground_temperature (0),
ground_pressure (0),
compass_enabled (MAGNETOMETER),
flap_1_percent (FLAP_1_PERCENT),
flap_1_speed (FLAP_1_SPEED),
flap_2_percent (FLAP_2_PERCENT),
flap_2_speed (FLAP_2_SPEED),
battery_monitoring (DISABLED),
volt_div_ratio (VOLT_DIV_RATIO),
curr_amp_per_volt (CURR_AMP_PER_VOLT),
input_voltage (INPUT_VOLTAGE),
pack_capacity (HIGH_DISCHARGE),
inverted_flight_ch (0),
sonar_enabled (SONAR_ENABLED),
airspeed_enabled (AIRSPEED_SENSOR),
// PID controller initial P initial I initial D initial imax
//---------------------------------------------------------------------------------------------------------------------------------------
pidNavRoll (k_param_heading_to_roll_PID, PSTR("HDNG2RLL_"), NAV_ROLL_P, NAV_ROLL_I, NAV_ROLL_D, NAV_ROLL_INT_MAX_CENTIDEGREE),
pidServoRoll (k_param_roll_to_servo_PID, PSTR("RLL2SRV_"), SERVO_ROLL_P, SERVO_ROLL_I, SERVO_ROLL_D, SERVO_ROLL_INT_MAX_CENTIDEGREE),
pidServoPitch (k_param_pitch_to_servo_PID, PSTR("PTCH2SRV_"), SERVO_PITCH_P, SERVO_PITCH_I, SERVO_PITCH_D, SERVO_PITCH_INT_MAX_CENTIDEGREE),
pidNavPitchAirspeed (k_param_airspeed_to_pitch_PID, PSTR("ARSP2PTCH_"), NAV_PITCH_ASP_P, NAV_PITCH_ASP_I, NAV_PITCH_ASP_D, NAV_PITCH_ASP_INT_MAX_CMSEC),
pidServoRudder (k_param_yaw_to_servo_PID, PSTR("YW2SRV_"), SERVO_YAW_P, SERVO_YAW_I, SERVO_YAW_D, SERVO_YAW_INT_MAX),
pidTeThrottle (k_param_energy_to_throttle_PID, PSTR("ENRGY2THR_"), THROTTLE_TE_P, THROTTLE_TE_I, THROTTLE_TE_D, THROTTLE_TE_INT_MAX),
pidNavPitchAltitude (k_param_altitude_to_pitch_PID, PSTR("ALT2PTCH_"), NAV_PITCH_ALT_P, NAV_PITCH_ALT_I, NAV_PITCH_ALT_D, NAV_PITCH_ALT_INT_MAX_CM),
junk(0) // XXX just so that we can add things without worrying about the trailing comma
{
}
pidNavRoll (NAV_ROLL_P, NAV_ROLL_I, NAV_ROLL_D, NAV_ROLL_INT_MAX_CENTIDEGREE),
pidServoRoll (SERVO_ROLL_P, SERVO_ROLL_I, SERVO_ROLL_D, SERVO_ROLL_INT_MAX_CENTIDEGREE),
pidServoPitch (SERVO_PITCH_P, SERVO_PITCH_I, SERVO_PITCH_D, SERVO_PITCH_INT_MAX_CENTIDEGREE),
pidNavPitchAirspeed (NAV_PITCH_ASP_P, NAV_PITCH_ASP_I, NAV_PITCH_ASP_D, NAV_PITCH_ASP_INT_MAX_CMSEC),
pidServoRudder (SERVO_YAW_P, SERVO_YAW_I, SERVO_YAW_D, SERVO_YAW_INT_MAX),
pidTeThrottle (THROTTLE_TE_P, THROTTLE_TE_I, THROTTLE_TE_D, THROTTLE_TE_INT_MAX),
pidNavPitchAltitude (NAV_PITCH_ALT_P, NAV_PITCH_ALT_I, NAV_PITCH_ALT_D, NAV_PITCH_ALT_INT_MAX_CM)
{}
};
#endif // PARAMETERS_H

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