@ -95,13 +95,6 @@ const AP_Param::Info var_info[] PROGMEM = {
@@ -95,13 +95,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(sonar_gain, "SONAR_GAIN", SONAR_GAIN_DEFAULT),
// @Param: BATT_MONITOR
// @DisplayName: Battery monitoring
// @Description: Controls enabling monitoring of the battery's voltage and current
// @Values: 0:Disabled,3:Voltage Only,4:Voltage and Current
// @User: Standard
GSCALAR(battery_monitoring, "BATT_MONITOR", BATT_MONITOR_DISABLED),
// @Param: FS_BATT_ENABLE
// @DisplayName: Battery Failsafe Enable
// @Description: Controls whether failsafe will be invoked when battery voltage or current runs low
@ -109,6 +102,20 @@ const AP_Param::Info var_info[] PROGMEM = {
@@ -109,6 +102,20 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(failsafe_battery_enabled, "FS_BATT_ENABLE", FS_BATTERY),
// @Param: FS_BATT_VOLTAGE
// @DisplayName: Failsafe battery voltage
// @Description: Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the plane will RTL
// @Units: Volts
// @User: Standard
GSCALAR(fs_batt_voltage, "FS_BATT_VOLTAGE", FS_BATT_VOLTAGE_DEFAULT),
// @Param: FS_BATT_MAH
// @DisplayName: Failsafe battery milliAmpHours
// @Description: Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the plane will RTL
// @Units: mAh
// @User: Standard
GSCALAR(fs_batt_mah, "FS_BATT_MAH", FS_BATT_MAH_DEFAULT),
// @Param: FS_GPS_ENABLE
// @DisplayName: GPS Failsafe Enable
// @Description: Controls whether failsafe will be invoked when gps signal is lost
@ -130,25 +137,6 @@ const AP_Param::Info var_info[] PROGMEM = {
@@ -130,25 +137,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(gps_hdop_good, "GPS_HDOP_GOOD", GPS_HDOP_GOOD_DEFAULT),
// @Param: VOLT_DIVIDER
// @DisplayName: Voltage Divider
// @Description: Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_DIVIDER). For the 3DR Power brick on APM2 or Pixhawk this should be set to 10.1. For the PX4 using the PX4IO power supply this should be set to 1.
// @User: Advanced
GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO),
// @Param: AMP_PER_VOLT
// @DisplayName: Current Amps per volt
// @Description: Used to convert the voltage on the current sensing pin (BATT_CURR_PIN) to the actual current being consumed in amps. For the 3DR Power brick on APM2 or Pixhawk it should be set to 17.
// @User: Advanced
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT),
// @Param: BATT_CAPACITY
// @DisplayName: Battery Capacity
// @Description: Battery capacity in milliamp-hours (mAh)
// @Units: mAh
// @User: Standard
GSCALAR(pack_capacity, "BATT_CAPACITY", BATTERY_CAPACITY_DEFAULT),
// @Param: MAG_ENABLE
// @DisplayName: Enable Compass
// @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass
@ -163,14 +151,6 @@ const AP_Param::Info var_info[] PROGMEM = {
@@ -163,14 +151,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(optflow_enabled, "FLOW_ENABLE", DISABLED),
// @Param: LOW_VOLT
// @DisplayName: Low Voltage
// @Description: Set this to the voltage you want to represent low voltage
// @Range: 0 20
// @Increment: 0.1
// @User: Standard
GSCALAR(low_voltage, "LOW_VOLT", LOW_VOLTAGE),
// @Param: SUPER_SIMPLE
// @DisplayName: Enable Super Simple Mode
// @Description: Setting this to Enabled(1) will enable Super Simple Mode. Setting this to Disabled(0) will disable Super Simple Mode
@ -187,20 +167,6 @@ const AP_Param::Info var_info[] PROGMEM = {
@@ -187,20 +167,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(rtl_alt_final, "RTL_ALT_FINAL", RTL_ALT_FINAL),
// @Param: BATT_VOLT_PIN
// @DisplayName: Battery Voltage sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2.
// @Values: -1:Disabled, 0:A0, 1:A1, 2:Pixhawk, 13:A13, 100:PX4
// @User: Standard
GSCALAR(battery_volt_pin, "BATT_VOLT_PIN", BATTERY_VOLT_PIN),
// @Param: BATT_CURR_PIN
// @DisplayName: Battery Current sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3.
// @Values: -1:Disabled, 1:A1, 2:A2, 3:Pixhawk, 12:A12, 101:PX4
// @User: Standard
GSCALAR(battery_curr_pin, "BATT_CURR_PIN", BATTERY_CURR_PIN),
// @Param: RSSI_PIN
// @DisplayName: Receiver RSSI sensing pin
// @Description: This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum
@ -1015,6 +981,10 @@ const AP_Param::Info var_info[] PROGMEM = {
@@ -1015,6 +981,10 @@ const AP_Param::Info var_info[] PROGMEM = {
GOBJECT(camera_mount2, "MNT2_", AP_Mount),
#endif
// @Group: BATT_
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
GOBJECT(battery, "BATT_", AP_BattMonitor),
#if SPRAYER == ENABLED
// @Group: SPRAYER_
// @Path: ../libraries/AC_Sprayer/AC_Sprayer.cpp
@ -1060,6 +1030,27 @@ const AP_Param::Info var_info[] PROGMEM = {
@@ -1060,6 +1030,27 @@ const AP_Param::Info var_info[] PROGMEM = {
AP_VAREND
};
/*
This is a conversion table from old parameter values to new
parameter names. The startup code looks for saved values of the old
parameters and will copy them across to the new parameters if the
new parameter does not yet have a saved value. It then saves the new
value.
Note that this works even if the old parameter has been removed. It
relies on the old k_param index not being removed
The second column below is the index in the var_info[] table for the
old object. This should be zero for top level parameters.
*/
const AP_Param::ConversionInfo conversion_table[] PROGMEM = {
{ Parameters::k_param_battery_monitoring, 0, AP_PARAM_INT8, "BATT_MONITOR" },
{ Parameters::k_param_battery_volt_pin, 0, AP_PARAM_INT8, "BATT_VOLT_PIN" },
{ Parameters::k_param_battery_curr_pin, 0, AP_PARAM_INT8, "BATT_CURR_PIN" },
{ Parameters::k_param_volt_div_ratio, 0, AP_PARAM_FLOAT, "BATT_VOLT_MULT" },
{ Parameters::k_param_curr_amp_per_volt, 0, AP_PARAM_FLOAT, "BATT_AMP_PERVOLT" },
{ Parameters::k_param_pack_capacity, 0, AP_PARAM_INT32, "BATT_CAPACITY" },
};
static void load_parameters(void)
{
Randy Mackay
12 years ago