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375 lines
13 KiB
375 lines
13 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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/* |
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ArduPlane parameter definitions |
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This firmware is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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*/ |
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#define GSCALAR(v, name) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v } |
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#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, class::var_info } |
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#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, class::var_info } |
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static const AP_Param::Info var_info[] PROGMEM = { |
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GSCALAR(format_version, "FORMAT_VERSION"), |
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GSCALAR(software_type, "SYSID_SW_TYPE"), |
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GSCALAR(sysid_this_mav, "SYSID_THISMAV"), |
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GSCALAR(sysid_my_gcs, "SYSID_MYGCS"), |
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// @Param: SERIAL3_BAUD |
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// @DisplayName: Telemetry Baud Rate |
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// @Description: The baud rate used on the telemetry port |
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// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200 |
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// @User: Standard |
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GSCALAR(serial3_baud, "SERIAL3_BAUD"), |
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// @Param: KFF_PTCHCOMP |
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// @DisplayName: Pitch Compensation |
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// @Description: Adds pitch input to compensate for the loss of lift due to roll control. 0 = 0 %, 1 = 100% |
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// @Range: 0 1 |
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// @Increment: 0.01 |
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// @User: Advanced |
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GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP"), |
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// @Param: KFF_RDDRMIX |
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// @DisplayName: Rudder Mix |
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// @Description: The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100% |
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// @Range: 0 1 |
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// @Increment: 0.01 |
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// @User: Standard |
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GSCALAR(kff_rudder_mix, "KFF_RDDRMIX"), |
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// @Param: KFF_PTCH2THR |
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// @DisplayName: Pitch to Throttle Mix |
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// @Description: Pitch to throttle feed-forward gain. |
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// @Range: 0 5 |
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// @Increment: 0.01 |
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// @User: Advanced |
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GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR"), |
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// @Param: KFF_THR2PTCH |
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// @DisplayName: Throttle to Pitch Mix |
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// @Description: Throttle to pitch feed-forward gain. |
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// @Range: 0 5 |
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// @Increment: 0.01 |
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// @User: Advanced |
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GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH"), |
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// @Param: MANUAL_LEVEL |
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// @DisplayName: Manual Level |
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// @Description: Setting this to Disabled(0) will enable autolevel on every boot. Setting it to Enabled(1) will do a calibration only when you tell it to |
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// @Values: 0:Disabled,1:Enabled |
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// @User: Advanced |
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GSCALAR(manual_level, "MANUAL_LEVEL"), |
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// @Param: XTRK_GAIN_SC |
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// @DisplayName: Crosstrack Gain |
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// @Description: The scale between distance off the line and angle to meet the line (in Degrees * 100) |
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// @Range: 0 2000 |
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// @Increment: 1 |
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// @User: Standard |
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GSCALAR(crosstrack_gain, "XTRK_GAIN_SC"), |
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// @Param: XTRK_ANGLE_CD |
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// @DisplayName: Crosstrack Entry Angle |
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// @Description: Maximum angle used to correct for track following. |
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// @Units: centi-Degrees |
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// @Range: 0 9000 |
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// @Increment: 1 |
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// @User: Standard |
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GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD"), |
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// @Param: ALT_MIX |
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// @DisplayName: Gps to Baro Mix |
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// @Description: The percent of mixing between gps altitude and baro altitude. 0 = 100% gps, 1 = 100% baro |
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// @Units: Percent |
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// @Range: 0 1 |
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// @Increment: 0.1 |
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// @User: Advanced |
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GSCALAR(altitude_mix, "ALT_MIX"), |
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// @Param: ARSPD_RATIO |
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// @DisplayName: Airspeed Ratio |
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// @Description: Used to scale raw adc airspeed sensor to a SI Unit (m/s) |
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// @Units: Scale |
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// @Range: 0 5 |
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// @Increment: 0.001 |
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// @User: Advanced |
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GSCALAR(airspeed_ratio, "ARSPD_RATIO"), |
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GSCALAR(airspeed_offset, "ARSPD_OFFSET"), |
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GSCALAR(command_total, "CMD_TOTAL"), |
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GSCALAR(command_index, "CMD_INDEX"), |
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// @Param: WP_RADIUS |
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// @DisplayName: Waypoint Radius |
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// @Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit. |
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// @Units: Meters |
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// @Range: 1 127 |
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// @Increment: 1 |
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// @User: Standard |
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GSCALAR(waypoint_radius, "WP_RADIUS"), |
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// @Param: WP_LOITER_RAD |
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// @DisplayName: Waypoint Loiter Radius |
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// @Description: Defines the distance from the waypoint center, the plane will maintain during a loiter |
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// @Units: Meters |
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// @Range: 1 127 |
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// @Increment: 1 |
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// @User: Standard |
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GSCALAR(loiter_radius, "WP_LOITER_RAD"), |
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#if GEOFENCE_ENABLED == ENABLED |
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GSCALAR(fence_action, "FENCE_ACTION"), |
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GSCALAR(fence_total, "FENCE_TOTAL"), |
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GSCALAR(fence_channel, "FENCE_CHANNEL"), |
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GSCALAR(fence_minalt, "FENCE_MINALT"), |
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GSCALAR(fence_maxalt, "FENCE_MAXALT"), |
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#endif |
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// @Param: ARSPD_FBW_MIN |
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// @DisplayName: Fly By Wire Minimum Airspeed |
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// @Description: Airspeed corresponding to minimum throttle in Fly By Wire B mode. |
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// @Units: m/s |
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// @Range: 5 50 |
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// @Increment: 1 |
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// @User: Standard |
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GSCALAR(flybywire_airspeed_min, "ARSPD_FBW_MIN"), |
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// @Param: ARSPD_FBW_MAX |
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// @DisplayName: Fly By Wire Maximum Airspeed |
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// @Description: Airspeed corresponding to maximum throttle in Fly By Wire B mode. |
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// @Units: m/s |
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// @Range: 5 50 |
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// @Increment: 1 |
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// @User: Standard |
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GSCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX"), |
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// @Param: THR_MIN |
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// @DisplayName: Minimum Throttle |
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// @Description: The minimum throttle setting to which the autopilot will apply. |
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// @Units: Percent |
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// @Range: 0 100 |
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// @Increment: 1 |
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// @User: Standard |
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GSCALAR(throttle_min, "THR_MIN"), |
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// @Param: THR_MAX |
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// @DisplayName: Maximum Throttle |
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// @Description: The maximum throttle setting to which the autopilot will apply. |
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// @Units: Percent |
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// @Range: 0 100 |
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// @Increment: 1 |
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// @User: Standard |
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GSCALAR(throttle_max, "THR_MAX"), |
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GSCALAR(throttle_slewrate, "THR_SLEWRATE"), |
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// @Param: THR_FAILSAFE |
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// @DisplayName: Throttle Failsafe Enable |
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// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel |
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// @Units: Percent |
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// @Values: 0:Disabled,1:Enabled |
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// @User: Standard |
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GSCALAR(throttle_fs_enabled, "THR_FAILSAFE"), |
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GSCALAR(throttle_fs_value, "THR_FS_VALUE"), |
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GSCALAR(throttle_cruise, "TRIM_THROTTLE"), |
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GSCALAR(short_fs_action, "FS_SHORT_ACTN"), |
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GSCALAR(long_fs_action, "FS_LONG_ACTN"), |
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GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL"), |
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GSCALAR(flight_mode_channel, "FLTMODE_CH"), |
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GSCALAR(flight_mode1, "FLTMODE1"), |
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GSCALAR(flight_mode2, "FLTMODE2"), |
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GSCALAR(flight_mode3, "FLTMODE3"), |
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GSCALAR(flight_mode4, "FLTMODE4"), |
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GSCALAR(flight_mode5, "FLTMODE5"), |
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GSCALAR(flight_mode6, "FLTMODE6"), |
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// @Param: LIM_ROLL_CD |
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// @DisplayName: Maximum Bank Angle |
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// @Description: The maximum commanded bank angle in either direction |
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// @Units: centi-Degrees |
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// @Range: 0 9000 |
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// @Increment: 1 |
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// @User: Standard |
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GSCALAR(roll_limit, "LIM_ROLL_CD"), |
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// @Param: LIM_PITCH_MAX |
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// @DisplayName: Maximum Pitch Angle |
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// @Description: The maximum commanded pitch up angle |
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// @Units: centi-Degrees |
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// @Range: 0 9000 |
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// @Increment: 1 |
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// @User: Standard |
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GSCALAR(pitch_limit_max, "LIM_PITCH_MAX"), |
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// @Param: LIM_PITCH_MIN |
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// @DisplayName: Minimum Pitch Angle |
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// @Description: The minimum commanded pitch down angle |
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// @Units: centi-Degrees |
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// @Range: 0 9000 |
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// @Increment: 1 |
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// @User: Standard |
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GSCALAR(pitch_limit_min, "LIM_PITCH_MIN"), |
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GSCALAR(auto_trim, "TRIM_AUTO"), |
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GSCALAR(switch_enable, "SWITCH_ENABLE"), |
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GSCALAR(mix_mode, "ELEVON_MIXING"), |
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GSCALAR(reverse_elevons, "ELEVON_REVERSE"), |
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GSCALAR(reverse_ch1_elevon, "ELEVON_CH1_REV"), |
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GSCALAR(reverse_ch2_elevon, "ELEVON_CH2_REV"), |
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GSCALAR(num_resets, "SYS_NUM_RESETS"), |
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GSCALAR(log_bitmask, "LOG_BITMASK"), |
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GSCALAR(log_last_filenumber, "LOG_LASTFILE"), |
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GSCALAR(reset_switch_chan, "RST_SWITCH_CH"), |
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GSCALAR(airspeed_cruise, "TRIM_ARSPD_CM"), |
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GSCALAR(min_gndspeed, "MIN_GNDSPD_CM"), |
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GSCALAR(pitch_trim, "TRIM_PITCH_CD"), |
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GSCALAR(RTL_altitude, "ALT_HOLD_RTL"), |
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GSCALAR(FBWB_min_altitude, "ALT_HOLD_FBWCM"), |
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// @Param: MAG_ENABLE |
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// @DisplayName: Enable Compass |
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// @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass |
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// @Values: 0:Disabled,1:Enabled |
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// @User: Standard |
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GSCALAR(compass_enabled, "MAG_ENABLE"), |
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GSCALAR(flap_1_percent, "FLAP_1_PERCNT"), |
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GSCALAR(flap_1_speed, "FLAP_1_SPEED"), |
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GSCALAR(flap_2_percent, "FLAP_2_PERCNT"), |
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GSCALAR(flap_2_speed, "FLAP_2_SPEED"), |
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GSCALAR(battery_monitoring, "BATT_MONITOR"), |
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GSCALAR(volt_div_ratio, "VOLT_DIVIDER"), |
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GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT"), |
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GSCALAR(input_voltage, "INPUT_VOLTS"), |
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GSCALAR(pack_capacity, "BATT_CAPACITY"), |
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GSCALAR(inverted_flight_ch, "INVERTEDFLT_CH"), |
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// @Param: SONAR_ENABLE |
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// @DisplayName: Enable Sonar |
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// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar |
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// @Values: 0:Disabled,1:Enabled |
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// @User: Standard |
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GSCALAR(sonar_enabled, "SONAR_ENABLE"), |
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// @Param: ARSPD_ENABLE |
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// @DisplayName: Enable Airspeed |
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// @Description: Setting this to Enabled(1) will enable the Airspeed sensor. Setting this to Disabled(0) will disable the Airspeed sensor |
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// @Values: 0:Disabled,1:Enabled |
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// @User: Standard |
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GSCALAR(airspeed_enabled, "ARSPD_ENABLE"), |
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// @Param: ARSPD_USE |
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// @DisplayName: Use Airspeed if enabled |
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// @Description: Setting this to Enabled(1) will enable use of the Airspeed sensor for flight control when ARSPD_ENABLE is also true. This is separate from ARSPD_ENABLE to allow for the airspeed value to be logged without it being used for flight control |
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// @Values: 0:Disabled,1:Enabled |
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// @User: Advanced |
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GSCALAR(airspeed_use, "ARSPD_USE"), |
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// barometer ground calibration. The GND_ prefix is chosen for |
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// compatibility with previous releases of ArduPlane |
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GOBJECT(barometer, "GND_", AP_Baro), |
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#if CAMERA == ENABLED |
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// @Group: CAM_ |
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// @Path: ../libraries/AP_Camera/AP_Camera.cpp |
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GGROUP(camera, "CAM_", AP_Camera), |
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#endif |
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// RC channel |
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//----------- |
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GGROUP(channel_roll, "RC1_", RC_Channel), |
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GGROUP(channel_pitch, "RC2_", RC_Channel), |
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GGROUP(channel_throttle, "RC3_", RC_Channel), |
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GGROUP(channel_rudder, "RC4_", RC_Channel), |
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// @Group: RC5_ |
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// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp |
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GGROUP(rc_5, "RC5_", RC_Channel_aux), |
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// @Group: RC6_ |
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// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp |
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GGROUP(rc_6, "RC6_", RC_Channel_aux), |
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// @Group: RC7_ |
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// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp |
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GGROUP(rc_7, "RC7_", RC_Channel_aux), |
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// @Group: RC8_ |
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// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp |
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GGROUP(rc_8, "RC8_", RC_Channel_aux), |
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GGROUP(pidNavRoll, "HDNG2RLL_", PID), |
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GGROUP(pidServoRoll, "RLL2SRV_", PID), |
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GGROUP(pidServoPitch, "PTCH2SRV_", PID), |
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GGROUP(pidNavPitchAirspeed, "ARSP2PTCH_", PID), |
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GGROUP(pidServoRudder, "YW2SRV_", PID), |
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GGROUP(pidTeThrottle, "ENRGY2THR_", PID), |
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GGROUP(pidNavPitchAltitude, "ALT2PTCH_", PID), |
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// variables not in the g class which contain EEPROM saved variables |
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// @Group: COMPASS_ |
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// @Path: ../libraries/AP_Compass/Compass.cpp |
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GOBJECT(compass, "COMPASS_", Compass), |
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GOBJECT(gcs0, "SR0_", GCS_MAVLINK), |
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GOBJECT(gcs3, "SR3_", GCS_MAVLINK), |
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// @Group: IMU_ |
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// @Path: ../libraries/AP_IMU/IMU.cpp |
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GOBJECT(imu, "IMU_", IMU), |
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// @Group: AHRS_ |
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// @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp |
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GOBJECT(ahrs, "AHRS_", AP_AHRS), |
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#if MOUNT == ENABLED |
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// @Group: MNT_ |
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// @Path: ../libraries/AP_Mount/AP_Mount.cpp |
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GOBJECT(camera_mount, "MNT_", AP_Mount), |
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#endif |
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#ifdef DESKTOP_BUILD |
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// @Group: SIM_ |
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// @Path: ../libraries/SITL/SITL.cpp |
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GOBJECT(sitl, "SIM_", SITL), |
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#endif |
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}; |
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static void load_parameters(void) |
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{ |
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// setup the AP_Var subsystem for storage to EEPROM |
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if (!AP_Param::setup(var_info, sizeof(var_info)/sizeof(var_info[0]), WP_START_BYTE)) { |
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// this can only happen on startup, and its a definate coding |
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// error. Best not to continue so the programmer catches it |
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while (1) { |
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Serial.println_P(PSTR("ERROR: Failed to setup AP_Param")); |
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delay(1000); |
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} |
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} |
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if (!g.format_version.load() || |
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g.format_version != Parameters::k_format_version) { |
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// erase all parameters |
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Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n")); |
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AP_Param::erase_all(); |
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// save the current format version |
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g.format_version.set_and_save(Parameters::k_format_version); |
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Serial.println_P(PSTR("done.")); |
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} else { |
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unsigned long before = micros(); |
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// Load all auto-loaded EEPROM variables |
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AP_Param::load_all(); |
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Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before); |
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} |
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}
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