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431 lines
12 KiB
431 lines
12 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef PARAMETERS_H |
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#define PARAMETERS_H |
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#include <AP_Common.h> |
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// Global parameter class. |
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// |
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class Parameters { |
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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 = 116; |
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// The parameter software_type is set up solely for ground station use |
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// and identifies the software type (eg ArduPilotMega versus ArduCopterMega) |
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// GCS will interpret values 0-9 as ArduPilotMega. Developers may use |
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// values within that range to identify different branches. |
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// |
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static const uint16_t k_software_type = 10; // 0 for APM trunk |
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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_Var 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_Var 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_software_type, |
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// Misc |
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// |
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k_param_log_bitmask = 20, |
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k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change |
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#if FRAME_CONFIG == HELI_FRAME |
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// |
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// 80: Heli |
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// |
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k_param_heli_servo_1 = 80, |
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k_param_heli_servo_2, |
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k_param_heli_servo_3, |
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k_param_heli_servo_4, |
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k_param_heli_servo1_pos , |
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k_param_heli_servo2_pos, |
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k_param_heli_servo3_pos, |
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k_param_heli_roll_max, |
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k_param_heli_pitch_max, |
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k_param_heli_collective_min, |
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k_param_heli_collective_max, |
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k_param_heli_collective_mid, |
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k_param_heli_ext_gyro_enabled, |
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k_param_heli_ext_gyro_gain, |
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k_param_heli_servo_averaging, |
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k_param_heli_servo_manual, |
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k_param_heli_phase_angle, |
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k_param_heli_collective_yaw_effect, // 97 |
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#endif |
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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_gcs3, |
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k_param_sysid_this_mav, |
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k_param_sysid_my_gcs, |
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k_param_serial3_baud, |
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// |
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// 140: Sensor parameters |
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// |
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k_param_imu = 140, // sensor calibration |
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k_param_battery_monitoring, |
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k_param_volt_div_ratio, |
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k_param_curr_amp_per_volt, |
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k_param_input_voltage, |
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k_param_pack_capacity, |
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k_param_compass_enabled, |
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k_param_compass, |
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k_param_sonar_enabled, |
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k_param_frame_orientation, |
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k_param_top_bottom_ratio, |
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k_param_optflow_enabled, |
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k_param_low_voltage, |
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k_param_ch7_option, |
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k_param_auto_slew_rate, |
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k_param_sonar_type, |
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k_param_super_simple, //155 |
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k_param_rtl_land_enabled, |
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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_crosstrack_gain, |
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k_param_auto_land_timeout, |
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// |
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// 180: Radio settings |
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// |
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k_param_rc_1 = 180, |
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k_param_rc_2, |
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k_param_rc_3, |
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k_param_rc_4, |
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k_param_rc_5, |
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k_param_rc_6, |
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k_param_rc_7, |
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k_param_rc_8, |
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k_param_rc_camera_pitch,// rc_9 |
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k_param_rc_camera_roll, // rc_10 |
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k_param_throttle_min, |
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k_param_throttle_max, |
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k_param_throttle_fs_enabled, |
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k_param_throttle_fs_action, |
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k_param_throttle_fs_value, |
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k_param_throttle_cruise, |
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k_param_esc_calibrate, |
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k_param_radio_tuning, |
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k_param_radio_tuning_high, |
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k_param_radio_tuning_low, |
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k_param_camera_pitch_gain, |
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k_param_camera_roll_gain, |
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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_simple_modes, |
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// |
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// 210: Waypoint data |
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// |
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k_param_waypoint_mode = 210, |
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k_param_command_total, |
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k_param_command_index, |
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k_param_command_nav_index, |
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k_param_waypoint_radius, |
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k_param_loiter_radius, |
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k_param_waypoint_speed_max, |
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// |
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// 220: PI/D Controllers |
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// |
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k_param_stabilize_d = 220, |
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k_param_acro_p, |
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k_param_pid_rate_roll, |
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k_param_pid_rate_pitch, |
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k_param_pid_rate_yaw, |
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k_param_pi_stabilize_roll, |
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k_param_pi_stabilize_pitch, |
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k_param_pi_stabilize_yaw, |
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k_param_pi_loiter_lat, |
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k_param_pi_loiter_lon, |
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k_param_pid_loiter_rate_lat, |
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k_param_pid_loiter_rate_lon, |
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k_param_pid_nav_lat, |
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k_param_pid_nav_lon, |
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k_param_pi_alt_hold, |
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k_param_pid_throttle, |
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k_param_pid_optflow_roll, |
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k_param_pid_optflow_pitch, |
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// 254,255: reserved |
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}; |
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AP_Int16 format_version; |
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AP_Int8 software_type; |
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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 serial3_baud; |
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AP_Int16 RTL_altitude; |
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AP_Int8 sonar_enabled; |
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AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m range) |
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AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current |
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AP_Float volt_div_ratio; |
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AP_Float curr_amp_per_volt; |
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AP_Float input_voltage; |
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AP_Int16 pack_capacity; // Battery pack capacity less reserve |
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AP_Int8 compass_enabled; |
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AP_Int8 optflow_enabled; |
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AP_Float low_voltage; |
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AP_Int8 super_simple; |
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AP_Int8 rtl_land_enabled; |
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// Waypoints |
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// |
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AP_Int8 waypoint_mode; |
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AP_Int8 command_total; |
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AP_Int8 command_index; |
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AP_Int8 command_nav_index; |
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AP_Int8 waypoint_radius; |
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AP_Int16 loiter_radius; |
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AP_Int16 waypoint_speed_max; |
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AP_Float crosstrack_gain; |
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AP_Int32 auto_land_timeout; |
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// Throttle |
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// |
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AP_Int16 throttle_min; |
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AP_Int16 throttle_max; |
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AP_Int8 throttle_fs_enabled; |
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AP_Int8 throttle_fs_action; |
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AP_Int16 throttle_fs_value; |
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AP_Int16 throttle_cruise; |
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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 simple_modes; |
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// Misc |
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// |
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AP_Int16 log_bitmask; |
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AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change |
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AP_Int8 esc_calibrate; |
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AP_Int8 radio_tuning; |
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AP_Int16 radio_tuning_high; |
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AP_Int16 radio_tuning_low; |
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AP_Int8 frame_orientation; |
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AP_Float top_bottom_ratio; |
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AP_Int8 ch7_option; |
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AP_Int16 auto_slew_rate; |
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#if FRAME_CONFIG == HELI_FRAME |
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// Heli |
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RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail |
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AP_Int16 heli_servo1_pos, heli_servo2_pos, heli_servo3_pos; // servo positions (3 because we don't need pos for tail servo) |
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AP_Int16 heli_roll_max, heli_pitch_max; // maximum allowed roll and pitch of swashplate |
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AP_Int16 heli_collective_min, heli_collective_max, heli_collective_mid; // min and max collective. mid = main blades at zero pitch |
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AP_Int8 heli_ext_gyro_enabled; // 0 = no external tail gyro, 1 = external tail gyro |
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AP_Int16 heli_ext_gyro_gain; // radio output 1000~2000 (value output on CH_7) |
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AP_Int8 heli_servo_averaging; // 0 or 1 = no averaging (250hz) for **digital servos**, 2=average of two samples (125hz), 3=three samples (83.3hz) **analog servos**, 4=four samples (62.5hz), 5=5 samples(50hz) |
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AP_Int8 heli_servo_manual; // 0 = normal mode, 1 = radio inputs directly control swash. required for swash set-up |
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AP_Int16 heli_phase_angle; // 0 to 360 degrees. specifies mixing between roll and pitch for helis |
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AP_Float heli_collective_yaw_effect; // -5.0 ~ 5.0. Feed forward control from collective to yaw. 1.0 = move rudder right 1% for every 1% of collective above the mid point |
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#endif |
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// RC channels |
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RC_Channel rc_1; |
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RC_Channel rc_2; |
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RC_Channel rc_3; |
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RC_Channel rc_4; |
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RC_Channel rc_5; |
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RC_Channel rc_6; |
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RC_Channel rc_7; |
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RC_Channel rc_8; |
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RC_Channel rc_camera_pitch; |
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RC_Channel rc_camera_roll; |
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AP_Float camera_pitch_gain; |
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AP_Float camera_roll_gain; |
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AP_Float stabilize_d; |
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// PI/D controllers |
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AP_Float acro_p; |
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AC_PID pid_rate_roll; |
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AC_PID pid_rate_pitch; |
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AC_PID pid_rate_yaw; |
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AC_PID pid_loiter_rate_lat; |
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AC_PID pid_loiter_rate_lon; |
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AC_PID pid_nav_lat; |
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AC_PID pid_nav_lon; |
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AC_PID pid_throttle; |
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AC_PID pid_optflow_roll; |
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AC_PID pid_optflow_pitch; |
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APM_PI pi_loiter_lat; |
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APM_PI pi_loiter_lon; |
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APM_PI pi_stabilize_roll; |
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APM_PI pi_stabilize_pitch; |
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APM_PI pi_stabilize_yaw; |
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APM_PI pi_alt_hold; |
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// Note: keep initializers here in the same order as they are declared above. |
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Parameters() : |
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// variable default |
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//---------------------------------------- |
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format_version (k_format_version), |
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software_type (k_software_type), |
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sysid_this_mav (MAV_SYSTEM_ID), |
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sysid_my_gcs (255), |
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serial3_baud (SERIAL3_BAUD/1000), |
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RTL_altitude (ALT_HOLD_HOME * 100), |
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sonar_enabled (DISABLED), |
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sonar_type (AP_RANGEFINDER_MAXSONARXL), |
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battery_monitoring (DISABLED), |
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volt_div_ratio (VOLT_DIV_RATIO), |
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curr_amp_per_volt (CURR_AMP_PER_VOLT), |
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input_voltage (INPUT_VOLTAGE), |
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pack_capacity (HIGH_DISCHARGE), |
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compass_enabled (MAGNETOMETER), |
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optflow_enabled (OPTFLOW), |
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low_voltage (LOW_VOLTAGE), |
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super_simple (SUPER_SIMPLE), |
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rtl_land_enabled (RTL_AUTO_LAND), |
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waypoint_mode (0), |
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command_total (0), |
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command_index (0), |
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command_nav_index (0), |
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waypoint_radius (WP_RADIUS_DEFAULT * 100), |
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loiter_radius (LOITER_RADIUS), |
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waypoint_speed_max (WAYPOINT_SPEED_MAX), |
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crosstrack_gain (CROSSTRACK_GAIN), |
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auto_land_timeout (AUTO_LAND_TIME * 1000), |
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throttle_min (0), |
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throttle_max (1000), |
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throttle_fs_enabled (THROTTLE_FAILSAFE), |
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throttle_fs_action (THROTTLE_FAILSAFE_ACTION), |
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throttle_fs_value (THROTTLE_FS_VALUE), |
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throttle_cruise (THROTTLE_CRUISE), |
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flight_mode1 (FLIGHT_MODE_1), |
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flight_mode2 (FLIGHT_MODE_2), |
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flight_mode3 (FLIGHT_MODE_3), |
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flight_mode4 (FLIGHT_MODE_4), |
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flight_mode5 (FLIGHT_MODE_5), |
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flight_mode6 (FLIGHT_MODE_6), |
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simple_modes (0), |
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log_bitmask (DEFAULT_LOG_BITMASK), |
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log_last_filenumber (0), |
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esc_calibrate (0), |
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radio_tuning (0), |
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radio_tuning_high (1000), |
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radio_tuning_low (0), |
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frame_orientation (FRAME_ORIENTATION), |
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top_bottom_ratio (TOP_BOTTOM_RATIO), |
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ch7_option (CH7_OPTION), |
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auto_slew_rate (AUTO_SLEW_RATE), |
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#if FRAME_CONFIG == HELI_FRAME |
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heli_servo1_pos (-60), |
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heli_servo2_pos (60), |
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heli_servo3_pos (180), |
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heli_roll_max (4500), |
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heli_pitch_max (4500), |
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heli_collective_min (1250), |
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heli_collective_max (1750), |
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heli_collective_mid (1500), |
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heli_ext_gyro_enabled (0), |
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heli_ext_gyro_gain (1350), |
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heli_servo_averaging (0), |
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heli_servo_manual (0), |
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heli_phase_angle (0), |
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heli_collective_yaw_effect (0), |
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#endif |
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camera_pitch_gain (CAM_PITCH_GAIN), |
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camera_roll_gain (CAM_ROLL_GAIN), |
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stabilize_d (STABILIZE_D), |
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acro_p (ACRO_P), |
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// PID controller initial P initial I initial D initial imax |
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//----------------------------------------------------------------------------------------------------- |
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pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100), |
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pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100), |
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pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100), |
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pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100), |
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pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100), |
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pid_nav_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), |
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pid_nav_lon (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), |
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pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX), |
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pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100), |
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pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100), |
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// PI controller initial P initial I initial imax |
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//---------------------------------------------------------------------- |
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pi_stabilize_roll (STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100), |
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pi_stabilize_pitch (STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100), |
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pi_stabilize_yaw (STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100), |
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pi_alt_hold (ALT_HOLD_P, ALT_HOLD_I, ALT_HOLD_IMAX), |
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pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX * 100), |
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pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX * 100) |
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{ |
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} |
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}; |
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#endif // PARAMETERS_H |
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