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179 lines
6.2 KiB
179 lines
6.2 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* Author: @author Lorenz Meier <lm@inf.ethz.ch> |
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* @author Thomas Gubler <thomasgubler@student.ethz.ch> |
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* @author Julian Oes <joes@student.ethz.ch> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file sensor_params.c |
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* |
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* Parameters defined by the sensors task. |
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*/ |
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#include <nuttx/config.h> |
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#include <systemlib/param/param.h> |
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PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); |
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PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); |
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PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); |
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PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); |
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PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); |
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PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f); |
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PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f); |
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PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f); |
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PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f); |
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PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f); |
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PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f); |
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PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f); |
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PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); |
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PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); |
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PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); |
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PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); |
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PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); |
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PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f); |
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PARAM_DEFINE_FLOAT(RC1_REV, 1.0f); |
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PARAM_DEFINE_FLOAT(RC1_DZ, 0.0f); |
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PARAM_DEFINE_FLOAT(RC2_MIN, 1000); |
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PARAM_DEFINE_FLOAT(RC2_TRIM, 1500); |
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PARAM_DEFINE_FLOAT(RC2_MAX, 2000); |
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PARAM_DEFINE_FLOAT(RC2_REV, 1.0f); |
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PARAM_DEFINE_FLOAT(RC2_DZ, 0.0f); |
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PARAM_DEFINE_FLOAT(RC3_MIN, 1000); |
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PARAM_DEFINE_FLOAT(RC3_TRIM, 1500); |
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PARAM_DEFINE_FLOAT(RC3_MAX, 2000); |
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PARAM_DEFINE_FLOAT(RC3_REV, 1.0f); |
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PARAM_DEFINE_FLOAT(RC3_DZ, 0.0f); |
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PARAM_DEFINE_FLOAT(RC4_MIN, 1000); |
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PARAM_DEFINE_FLOAT(RC4_TRIM, 1500); |
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PARAM_DEFINE_FLOAT(RC4_MAX, 2000); |
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PARAM_DEFINE_FLOAT(RC4_REV, 1.0f); |
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PARAM_DEFINE_FLOAT(RC4_DZ, 0.0f); |
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PARAM_DEFINE_FLOAT(RC5_MIN, 1000); |
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PARAM_DEFINE_FLOAT(RC5_TRIM, 1500); |
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PARAM_DEFINE_FLOAT(RC5_MAX, 2000); |
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PARAM_DEFINE_FLOAT(RC5_REV, 1.0f); |
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PARAM_DEFINE_FLOAT(RC5_DZ, 0.0f); |
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PARAM_DEFINE_FLOAT(RC6_MIN, 1000); |
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PARAM_DEFINE_FLOAT(RC6_TRIM, 1500); |
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PARAM_DEFINE_FLOAT(RC6_MAX, 2000); |
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PARAM_DEFINE_FLOAT(RC6_REV, 1.0f); |
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PARAM_DEFINE_FLOAT(RC6_DZ, 0.0f); |
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PARAM_DEFINE_FLOAT(RC7_MIN, 1000); |
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PARAM_DEFINE_FLOAT(RC7_TRIM, 1500); |
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PARAM_DEFINE_FLOAT(RC7_MAX, 2000); |
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PARAM_DEFINE_FLOAT(RC7_REV, 1.0f); |
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PARAM_DEFINE_FLOAT(RC7_DZ, 0.0f); |
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PARAM_DEFINE_FLOAT(RC8_MIN, 1000); |
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PARAM_DEFINE_FLOAT(RC8_TRIM, 1500); |
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PARAM_DEFINE_FLOAT(RC8_MAX, 2000); |
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PARAM_DEFINE_FLOAT(RC8_REV, 1.0f); |
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PARAM_DEFINE_FLOAT(RC8_DZ, 0.0f); |
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PARAM_DEFINE_FLOAT(RC9_MIN, 1000); |
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PARAM_DEFINE_FLOAT(RC9_TRIM, 1500); |
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PARAM_DEFINE_FLOAT(RC9_MAX, 2000); |
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PARAM_DEFINE_FLOAT(RC9_REV, 1.0f); |
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PARAM_DEFINE_FLOAT(RC9_DZ, 0.0f); |
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PARAM_DEFINE_FLOAT(RC10_MIN, 1000); |
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PARAM_DEFINE_FLOAT(RC10_TRIM, 1500); |
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PARAM_DEFINE_FLOAT(RC10_MAX, 2000); |
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PARAM_DEFINE_FLOAT(RC10_REV, 1.0f); |
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PARAM_DEFINE_FLOAT(RC10_DZ, 0.0f); |
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PARAM_DEFINE_FLOAT(RC11_MIN, 1000); |
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PARAM_DEFINE_FLOAT(RC11_TRIM, 1500); |
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PARAM_DEFINE_FLOAT(RC11_MAX, 2000); |
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PARAM_DEFINE_FLOAT(RC11_REV, 1.0f); |
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PARAM_DEFINE_FLOAT(RC11_DZ, 0.0f); |
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PARAM_DEFINE_FLOAT(RC12_MIN, 1000); |
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PARAM_DEFINE_FLOAT(RC12_TRIM, 1500); |
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PARAM_DEFINE_FLOAT(RC12_MAX, 2000); |
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PARAM_DEFINE_FLOAT(RC12_REV, 1.0f); |
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PARAM_DEFINE_FLOAT(RC12_DZ, 0.0f); |
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PARAM_DEFINE_FLOAT(RC13_MIN, 1000); |
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PARAM_DEFINE_FLOAT(RC13_TRIM, 1500); |
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PARAM_DEFINE_FLOAT(RC13_MAX, 2000); |
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PARAM_DEFINE_FLOAT(RC13_REV, 1.0f); |
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PARAM_DEFINE_FLOAT(RC13_DZ, 0.0f); |
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PARAM_DEFINE_FLOAT(RC14_MIN, 1000); |
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PARAM_DEFINE_FLOAT(RC14_TRIM, 1500); |
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PARAM_DEFINE_FLOAT(RC14_MAX, 2000); |
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PARAM_DEFINE_FLOAT(RC14_REV, 1.0f); |
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PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f); |
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PARAM_DEFINE_INT32(RC_TYPE, 1); /** 1 = FUTABA, 2 = Spektrum, 3 = Graupner HoTT, 4 = Turnigy 9x */ |
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/* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */ |
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PARAM_DEFINE_FLOAT(BAT_V_SCALING, (3.3f * 52.0f / 5.0f / 4095.0f)); |
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PARAM_DEFINE_INT32(RC_MAP_ROLL, 1); |
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PARAM_DEFINE_INT32(RC_MAP_PITCH, 2); |
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PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3); |
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PARAM_DEFINE_INT32(RC_MAP_YAW, 4); |
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PARAM_DEFINE_INT32(RC_MAP_OVER_SW, 5); |
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PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 6); |
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PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0); |
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PARAM_DEFINE_INT32(RC_MAP_SAS_SW, 0); |
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PARAM_DEFINE_INT32(RC_MAP_RTL_SW, 0); |
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PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); |
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PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0); |
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PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); /**< default function: camera yaw / azimuth */ |
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PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera pitch / tilt */ |
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PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera trigger */ |
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PARAM_DEFINE_INT32(RC_MAP_AUX4, 0); /**< default function: camera roll */ |
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PARAM_DEFINE_INT32(RC_MAP_AUX5, 0); /**< default function: payload drop */ |
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PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.4f); |
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PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.4f); |
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PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 1.0f);
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