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182 lines
6.1 KiB
182 lines
6.1 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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/* |
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ArduCopter 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, "SYSID_SW_MREV"), |
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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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GSCALAR(serial3_baud, "SERIAL3_BAUD"), |
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GSCALAR(RTL_altitude, "ALT_HOLD_RTL"), |
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GSCALAR(sonar_enabled, "SONAR_ENABLE"), |
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GSCALAR(sonar_type, "SONAR_TYPE"), |
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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(compass_enabled, "MAG_ENABLE"), |
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GSCALAR(optflow_enabled, "FLOW_ENABLE"), |
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GSCALAR(low_voltage, "LOW_VOLT"), |
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GSCALAR(super_simple, "SUPER_SIMPLE"), |
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GSCALAR(rtl_land_enabled, "RTL_LAND"), |
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GSCALAR(waypoint_mode, "WP_MODE"), |
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GSCALAR(command_total, "WP_TOTAL"), |
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GSCALAR(command_index, "WP_INDEX"), |
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GSCALAR(command_nav_index, "WP_MUST_INDEX"), |
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GSCALAR(waypoint_radius, "WP_RADIUS"), |
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GSCALAR(loiter_radius, "WP_LOITER_RAD"), |
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GSCALAR(waypoint_speed_max, "WP_SPEED_MAX"), |
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GSCALAR(crosstrack_gain, "XTRK_GAIN_SC"), |
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GSCALAR(auto_land_timeout, "AUTO_LAND"), |
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GSCALAR(throttle_min, "THR_MIN"), |
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GSCALAR(throttle_max, "THR_MAX"), |
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GSCALAR(throttle_fs_enabled, "THR_FAILSAFE"), |
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GSCALAR(throttle_fs_action, "THR_FS_ACTION"), |
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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(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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GSCALAR(simple_modes, "SIMPLE"), |
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GSCALAR(log_bitmask, "LOG_BITMASK"), |
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GSCALAR(log_last_filenumber, "LOG_LASTFILE"), |
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GSCALAR(esc_calibrate, "ESC"), |
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GSCALAR(radio_tuning, "TUNE"), |
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GSCALAR(radio_tuning_low, "TUNE_LOW"), |
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GSCALAR(radio_tuning_high, "TUNE_HIGH"), |
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GSCALAR(frame_orientation, "FRAME"), |
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GSCALAR(top_bottom_ratio, "TB_RATIO"), |
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GSCALAR(ch7_option, "CH7_OPT"), |
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GSCALAR(auto_slew_rate, "AUTO_SLEW"), |
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#if FRAME_CONFIG == HELI_FRAME |
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GGROUP(heli_servo_1, "HS1_", RC_Channel), |
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GGROUP(heli_servo_2, "HS2_", RC_Channel), |
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GGROUP(heli_servo_3, "HS3_", RC_Channel), |
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GGROUP(heli_servo_4, "HS4_", RC_Channel), |
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GSCALAR(heli_servo1_pos, "SV1_POS_"), |
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GSCALAR(heli_servo2_pos, "SV2_POS_"), |
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GSCALAR(heli_servo3_pos, "SV3_POS_"), |
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GSCALAR(heli_roll_max, "ROL_MAX_"), |
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GSCALAR(heli_pitch_max, "PIT_MAX_"), |
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GSCALAR(heli_collective_min, "COL_MIN_"), |
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GSCALAR(heli_collective_max, "COL_MAX_"), |
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GSCALAR(heli_collective_mid, "COL_MID_"), |
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GSCALAR(heli_ext_gyro_enabled, "GYR_ENABLE_"), |
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GSCALAR(heli_ext_gyro_gain, "GYR_GAIN_"), |
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GSCALAR(heli_servo_averaging, "SV_AVG"), |
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GSCALAR(heli_servo_manual, "HSV_MAN"), |
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GSCALAR(heli_phase_angle, "H_PHANG"), |
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GSCALAR(heli_collective_yaw_effect, "H_COLYAW"), |
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#endif |
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// RC channel |
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//----------- |
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GGROUP(rc_1, "RC1_", RC_Channel), |
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GGROUP(rc_2, "RC2_", RC_Channel), |
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GGROUP(rc_3, "RC3_", RC_Channel), |
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GGROUP(rc_4, "RC4_", RC_Channel), |
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GGROUP(rc_5, "RC5_", RC_Channel), |
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GGROUP(rc_6, "RC6_", RC_Channel), |
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GGROUP(rc_7, "RC7_", RC_Channel), |
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GGROUP(rc_8, "RC8_", RC_Channel), |
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GGROUP(rc_camera_pitch, "CAM_P_", RC_Channel), |
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GGROUP(rc_camera_roll, "CAM_R_", RC_Channel), |
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// variable |
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//--------- |
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GSCALAR(camera_pitch_gain, "CAM_P_G"), |
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GSCALAR(camera_roll_gain, "CAM_R_G"), |
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GSCALAR(stabilize_d, "STAB_D"), |
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GSCALAR(acro_p, "ACRO_P"), |
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GSCALAR(axis_lock_p, "AXIS_P"), |
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GSCALAR(axis_enabled, "AXIS_ENABLE"), |
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// PID controller |
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//--------------- |
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GGROUP(pid_rate_roll, "RATE_RLL_", AC_PID), |
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GGROUP(pid_rate_pitch, "RATE_PIT_", AC_PID), |
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GGROUP(pid_rate_yaw, "RATE_YAW_", AC_PID), |
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GGROUP(pid_loiter_rate_lat, "LOITER_LAT_", AC_PID), |
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GGROUP(pid_loiter_rate_lon, "LOITER_LON_", AC_PID), |
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GGROUP(pid_nav_lat, "NAV_LAT_", AC_PID), |
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GGROUP(pid_nav_lon, "NAV_LON_", AC_PID), |
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GGROUP(pid_throttle, "THR_RATE_", AC_PID), |
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GGROUP(pid_optflow_roll, "OF_RLL_", AC_PID), |
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GGROUP(pid_optflow_pitch, "OF_PIT_", AC_PID), |
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// PI controller |
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//-------------- |
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GGROUP(pi_stabilize_roll, "STB_RLL_", APM_PI), |
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GGROUP(pi_stabilize_pitch, "STB_PIT_", APM_PI), |
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GGROUP(pi_stabilize_yaw, "STB_YAW_", APM_PI), |
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GGROUP(pi_alt_hold, "THR_ALT_", APM_PI), |
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GGROUP(pi_loiter_lat, "HLD_LAT_", APM_PI), |
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GGROUP(pi_loiter_lon, "HLD_LON_", APM_PI), |
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// variables not in the g class which contain EEPROM saved variables |
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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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GOBJECT(imu, "IMU_", IMU) |
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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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default_dead_zones(); |
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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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