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328 lines
8.0 KiB
328 lines
8.0 KiB
#pragma once |
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#include <AP_Common/AP_Common.h> |
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#include "RC_Channel.h" |
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// Global parameter class. |
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// |
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class Parameters |
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{ |
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public: |
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// The version of the layout as described by the parameter enum. |
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// |
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// When changing the parameter enum in an incompatible fashion, this |
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// value should be incremented by one. |
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// |
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// The increment will prevent old parameters from being used incorrectly |
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// by newer code. |
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// |
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static const uint16_t k_format_version = 1; |
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// Parameter identities. |
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// |
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// The enumeration defined here is used to ensure that every parameter |
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// or parameter group has a unique ID number. This number is used by |
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// AP_Param to store and locate parameters in EEPROM. |
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// |
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// Note that entries without a number are assigned the next number after |
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// the entry preceding them. When adding new entries, ensure that they |
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// don't overlap. |
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// |
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// Try to group related variables together, and assign them a set |
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// range in the enumeration. Place these groups in numerical order |
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// at the end of the enumeration. |
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// |
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// WARNING: Care should be taken when editing this enumeration as the |
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// AP_Param load/save code depends on the values here to identify |
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// variables saved in EEPROM. |
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// |
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// |
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enum { |
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// Layout version number, always key zero. |
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// |
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k_param_format_version = 0, |
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k_param_ins, // libraries/AP_InertialSensor variables |
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k_param_NavEKF2, |
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k_param_g2, // 2nd block of parameters |
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k_param_NavEKF3, |
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k_param_can_mgr, |
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k_param_osd, |
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// simulation |
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k_param_sitl = 10, |
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// barometer object (needed for SITL) |
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k_param_barometer, |
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// scheduler object (for debugging) |
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k_param_scheduler, |
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// BoardConfig object |
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k_param_BoardConfig, |
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// GPS object |
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k_param_gps, |
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// Parachute object |
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k_param_parachute, |
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// Landing gear object |
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k_param_landinggear, |
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// Input Management object |
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k_param_input_manager, |
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// Misc |
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k_param_gps_hdop_good, |
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k_param_battery, |
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k_param_poshold_brake_rate, |
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k_param_poshold_brake_angle_max, |
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k_param_pilot_accel_z, |
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k_param_fs_ekf_thresh, |
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k_param_terrain, |
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k_param_throttle_deadzone, |
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k_param_log_bitmask, |
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k_param_throttle_filt, |
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k_param_throttle_behavior, |
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k_param_pilot_takeoff_alt, |
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// AP_ADSB Library |
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k_param_adsb, |
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k_param_notify, |
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//PID Controllers |
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k_param_pid_vel_xy = 32, |
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k_param_pid_vel_z, |
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k_param_pid_vel_yaw, |
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k_param_pid_pos_xy, |
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k_param_pid_pos_z, |
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k_param_pid_pos_yaw, |
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//Position & Velocity controller params |
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k_param_max_vel_xy = 50, |
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k_param_max_vel_z, |
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k_param_max_vel_yaw, |
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k_param_max_pos_xy, |
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k_param_max_pos_z, |
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k_param_max_pos_yaw, |
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k_param_simple_mode, |
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k_param_dis_mask, |
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// |
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// 90: misc2 |
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// |
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k_param_motors = 90, |
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k_param_disarm_delay, |
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k_param_fs_crash_check, |
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k_param_throw_motor_start, |
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k_param_rtl_alt_type, |
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k_param_avoid, |
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k_param_avoidance_adsb, |
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// 97: RSSI |
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k_param_rssi = 97, |
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// 110: Telemetry control |
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// |
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k_param_gcs0 = 110, |
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k_param_gcs1, |
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k_param_sysid_this_mav, |
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k_param_sysid_my_gcs, |
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k_param_telem_delay, |
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k_param_gcs2, |
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k_param_serial_manager, |
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k_param_gcs3, |
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k_param_gcs_pid_mask, // 126 |
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k_param_gcs4, |
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k_param_gcs5, |
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k_param_gcs6, |
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// |
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// 135 : reserved for Solo until features merged with master |
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// |
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k_param_rtl_speed_cms = 135, |
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k_param_fs_batt_curr_rtl, |
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k_param_rtl_cone_slope, // 137 |
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// |
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// 140: Sensor parameters |
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// |
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k_param_compass, |
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k_param_frame_type, |
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k_param_ahrs, // AHRS group // 159 |
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// |
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// 160: Navigation parameters |
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// |
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k_param_rtl_altitude = 160, |
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k_param_rtl_loiter_time, |
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k_param_rtl_alt_final, |
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// |
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// Camera and mount parameters |
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// |
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k_param_camera = 165, |
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k_param_camera_mount, |
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// |
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// 170: Radio settings |
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// |
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k_param_failsafe_throttle = 170, |
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k_param_failsafe_throttle_value, |
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k_param_radio_tuning, |
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k_param_rc_speed = 192, |
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k_param_failsafe_gcs, |
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k_param_rcmap, // 199 |
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// |
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// 200: flight modes |
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// |
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k_param_flight_mode1 = 200, |
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k_param_flight_mode2, |
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k_param_flight_mode3, |
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k_param_flight_mode4, |
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k_param_flight_mode5, |
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k_param_flight_mode6, |
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k_param_flight_mode_chan, |
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k_param_initial_mode, |
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// |
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// 220: Misc |
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// |
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k_param_fs_ekf_action = 220, |
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k_param_arming, |
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k_param_logger = 253, // 253 - Logging Group |
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k_param_vehicle = 257, // vehicle common block of parameters |
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// the k_param_* space is 9-bits in size |
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}; |
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AP_Int16 format_version; |
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// Telemetry control |
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// |
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AP_Int16 sysid_this_mav; |
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AP_Int16 sysid_my_gcs; |
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AP_Int8 telem_delay; |
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AP_Float throttle_filt; |
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AP_Int16 throttle_behavior; |
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AP_Float pilot_takeoff_alt; |
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AP_Int8 failsafe_gcs; // ground station failsafe behavior |
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AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position |
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// Throttle |
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// |
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AP_Int8 failsafe_throttle; |
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AP_Int16 failsafe_throttle_value; |
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AP_Int16 throttle_deadzone; |
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// Flight modes |
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// |
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AP_Int8 flight_mode1; |
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AP_Int8 flight_mode2; |
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AP_Int8 flight_mode3; |
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AP_Int8 flight_mode4; |
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AP_Int8 flight_mode5; |
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AP_Int8 flight_mode6; |
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AP_Int8 flight_mode_chan; |
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AP_Int8 initial_mode; |
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// Misc |
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// |
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AP_Int32 log_bitmask; |
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AP_Int8 radio_tuning; |
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AP_Int8 frame_type; |
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AP_Int8 disarm_delay; |
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AP_Int8 fs_ekf_action; |
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AP_Int8 fs_crash_check; |
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AP_Float fs_ekf_thresh; |
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AP_Int16 gcs_pid_mask; |
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AP_Float max_vel_xy; |
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AP_Float max_vel_z; |
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AP_Float max_vel_yaw; |
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AP_Float max_pos_xy; |
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AP_Float max_pos_z; |
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AP_Float max_pos_yaw; |
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AP_Int8 simple_mode; |
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AP_Int16 dis_mask; |
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AP_Int8 rtl_alt_type; |
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AP_Int16 rc_speed; // speed of fast RC Channels in Hz |
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// Note: keep initializers here in the same order as they are declared |
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// above. |
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Parameters() |
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{ |
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} |
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}; |
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/* |
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2nd block of parameters, to avoid going past 256 top level keys |
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*/ |
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class ParametersG2 |
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{ |
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public: |
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ParametersG2(void); |
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// var_info for holding Parameter information |
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static const struct AP_Param::GroupInfo var_info[]; |
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// altitude at which nav control can start in takeoff |
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AP_Float wp_navalt_min; |
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#if STATS_ENABLED == ENABLED |
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// vehicle statistics |
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AP_Stats stats; |
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#endif |
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// whether to enforce acceptance of packets only from sysid_my_gcs |
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AP_Int8 sysid_enforce; |
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// developer options |
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AP_Int32 dev_options; |
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// acro exponent parameters |
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AP_Float acro_y_expo; |
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// frame class |
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AP_Int8 frame_class; |
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// RC input channels |
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RC_Channels_Blimp rc_channels; |
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// control over servo output ranges |
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SRV_Channels servo_channels; |
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// Additional pilot velocity items |
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AP_Int16 pilot_speed_dn; |
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// Land alt final stage |
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AP_Int16 land_alt_low; |
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#if AP_SCRIPTING_ENABLED |
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AP_Scripting scripting; |
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#endif // AP_SCRIPTING_ENABLED |
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AP_Float tuning_min; |
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AP_Float tuning_max; |
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// vibration failsafe enable/disable |
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AP_Int8 fs_vibe_enabled; |
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// Failsafe options bitmask #36 |
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AP_Int32 fs_options; |
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AP_Float fs_gcs_timeout; |
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}; |
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extern const AP_Param::Info var_info[];
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