// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#pragma once
#include <AP_Common/AP_Common.h>
// Global parameter class.
//
class Parameters {
public:
// The version of the layout as described by the parameter enum.
//
// When changing the parameter enum in an incompatible fashion, this
// value should be incremented by one.
//
// The increment will prevent old parameters from being used incorrectly
// by newer code.
//
static const uint16_t k_format_version = 1;
// The parameter software_type is set up solely for ground station use
// and identifies the software type (eg ArduPilotMega versus
// ArduCopterMega)
// GCS will interpret values 0-9 as ArduPilotMega. Developers may use
// values within that range to identify different branches.
//
static const uint16_t k_software_type = 40; // 0 for APM
// trunk
// Parameter identities.
//
// The enumeration defined here is used to ensure that every parameter
// or parameter group has a unique ID number. This number is used by
// AP_Param to store and locate parameters in EEPROM.
//
// Note that entries without a number are assigned the next number after
// the entry preceding them. When adding new entries, ensure that they
// don't overlap.
//
// Try to group related variables together, and assign them a set
// range in the enumeration. Place these groups in numerical order
// at the end of the enumeration.
//
// WARNING: Care should be taken when editing this enumeration as the
// AP_Param load/save code depends on the values here to identify
// variables saved in EEPROM.
//
//
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type,
k_param_g2, // 2nd block of parameters
k_param_sitl, // Simulation
// Telemetry
k_param_gcs0 = 10,
k_param_gcs1,
k_param_gcs2,
k_param_gcs3,
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
// Hardware/Software configuration
k_param_BoardConfig = 20, // Board configuration (PX4/Linux/etc)
k_param_scheduler, // Scheduler (for debugging/perf_info)
k_param_DataFlash, // DataFlash Logging
k_param_serial_manager, // Serial ports, AP_SerialManager
k_param_notify, // Notify Library, AP_Notify
k_param_cli_enabled, // Old (deprecated) command line interface
// Sensor objects
k_param_ins = 30, // AP_InertialSensor
k_param_compass, // Compass
k_param_barometer, // Barometer/Depth Sensor
k_param_battery, // AP_BattMonitor
k_param_leak_detector, // Leak Detector
k_param_rangefinder, // Rangefinder
k_param_gps, // GPS
k_param_optflow, // Optical Flow
// Navigation libraries
k_param_ahrs = 50, // AHRS
k_param_NavEKF, // Extended Kalman Filter Inertial Navigation
k_param_NavEKF2, // EKF2
k_param_attitude_control, // Attitude Control
k_param_pos_control, // Position Control
k_param_wp_nav, // Waypoint navigation
k_param_mission, // Mission library
k_param_fence, // Fence Library
k_param_terrain, // Terrain database
k_param_rally, // Disabled
k_param_circle_nav, // Disabled
k_param_avoid, // Relies on proximity and fence
// Other external hardware interfaces
k_param_motors = 65, // Motors
k_param_relay, // Relay
k_param_camera, // Camera
k_param_camera_mount, // Camera gimbal
// RC_Channel settings
k_param_rc_1 = 75,
k_param_rc_2,
k_param_rc_3,
k_param_rc_4,
k_param_rc_5,
k_param_rc_6,
k_param_rc_7,
k_param_rc_8,
k_param_rc_9,
k_param_rc_10,
k_param_rc_11,
k_param_rc_12,
k_param_rc_13,
k_param_rc_14,
// Joystick gain parameters
k_param_gain_default,
k_param_maxGain,
k_param_minGain,
k_param_numGainSettings,
k_param_cam_tilt_step,
k_param_lights_step,
// Joystick button mapping parameters
k_param_jbtn_0 = 95,
k_param_jbtn_1,
k_param_jbtn_2,
k_param_jbtn_3,
k_param_jbtn_4,
k_param_jbtn_5,
k_param_jbtn_6,
k_param_jbtn_7,
k_param_jbtn_8,
k_param_jbtn_9,
k_param_jbtn_10,
k_param_jbtn_11,
k_param_jbtn_12,
k_param_jbtn_13,
k_param_jbtn_14,
k_param_jbtn_15,
// Flight mode selection
k_param_flight_mode1 = 120,
k_param_flight_mode2,
k_param_flight_mode3,
k_param_flight_mode4,
k_param_flight_mode5,
k_param_flight_mode6,
// PID Controllers
k_param_p_pos_xy,
k_param_p_alt_hold,
k_param_pi_vel_xy,
k_param_p_vel_z,
k_param_pid_accel_z,
k_param_pid_crosstrack_control, // Experimental
k_param_pid_heading_control, // Experimental
// Failsafes
k_param_failsafe_gcs = 140,
k_param_failsafe_leak, // leak failsafe behavior
k_param_failsafe_pressure, // internal pressure failsafe behavior
k_param_failsafe_pressure_max, // maximum internal pressure in pascal before failsafe is triggered
k_param_failsafe_temperature, // internal temperature failsafe behavior
k_param_failsafe_temperature_max, // maximum internal temperature in degrees C before failsafe is triggered
k_param_failsafe_terrain, // terrain failsafe behavior
k_param_fs_ekf_thresh,
k_param_fs_ekf_action,
k_param_fs_crash_check,
k_param_failsafe_battery_enabled,
k_param_fs_batt_mah,
k_param_fs_batt_voltage,
// Misc Sub settings
k_param_log_bitmask = 165,
k_param_arming_check,
k_param_angle_max,
k_param_rangefinder_gain,
k_param_gps_hdop_good,
k_param_wp_yaw_behavior,
k_param_xtrack_angle_limit, // Angle limit for crosstrack correction in Auto modes (degrees)
k_param_pilot_velocity_z_max,
k_param_pilot_accel_z,
k_param_compass_enabled,
k_param_surface_depth,
k_param_rc_speed, // Main output pwm frequency
k_param_esc_calibrate, // Boot-time ESC calibration behavior
k_param_gcs_pid_mask,
k_param_throttle_filt,
k_param_throttle_deadzone, // Used in auto-throttle modes
k_param_disarm_delay,
k_param_terrain_follow,
k_param_rc_feel_rp,
k_param_throttle_gain,
k_param_cam_tilt_center,
// Acro Mode parameters
k_param_acro_yaw_p = 220, // Used in all modes for get_pilot_desired_yaw_rate
k_param_acro_trainer,
k_param_acro_expo,
k_param_acro_rp_p,
k_param_acro_balance_roll,
k_param_acro_balance_pitch,
// AUX switch options
k_param_ch7_option, // Disabled
k_param_ch8_option, // Disabled
k_param_ch9_option, // Disabled
k_param_ch10_option, // Disabled
k_param_ch11_option, // Disabled
k_param_ch12_option, // Disabled
// RPM Sensor
k_param_rpm_sensor, // Disabled
// RC_Mapper Library
k_param_rcmap, // Disabled
// CH6 Tuning
k_param_radio_tuning, // Disabled
k_param_radio_tuning_high, // Disabled
k_param_radio_tuning_low, // Disabled
// Autotune parameters
k_param_autotune_axis_bitmask, // Disabled
k_param_autotune_aggressiveness, // Disabled
k_param_autotune_min_d, // Disabled
};
AP_Int16 format_version;
AP_Int8 software_type;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
#if CLI_ENABLED == ENABLED
AP_Int8 cli_enabled;
#endif
AP_Float throttle_filt;
AP_Float rangefinder_gain;
AP_Int8 failsafe_battery_enabled; // battery failsafe enabled
AP_Float fs_batt_voltage; // battery voltage below which failsafe will be triggered
AP_Float fs_batt_mah; // battery capacity (in mah) below which failsafe will be triggered
AP_Int8 failsafe_leak; // leak detection failsafe behavior
AP_Int8 failsafe_gcs; // ground station failsafe behavior
AP_Int8 failsafe_pressure;
AP_Int8 failsafe_temperature;
AP_Int32 failsafe_pressure_max;
AP_Int8 failsafe_temperature_max;
AP_Int8 failsafe_terrain;
AP_Int8 xtrack_angle_limit;
AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position
AP_Int8 compass_enabled;
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
AP_Int8 rc_feel_rp; // controls vehicle response to user input with 0 being extremely soft and 100 begin extremely crisp
// Waypoints
//
AP_Int16 pilot_velocity_z_max; // maximum vertical velocity the pilot may request
AP_Int16 pilot_accel_z; // vertical acceleration the pilot may request
// Throttle
//
AP_Int16 throttle_deadzone;
// Flight modes
//
AP_Int8 flight_mode1;
AP_Int8 flight_mode2;
AP_Int8 flight_mode3;
AP_Int8 flight_mode4;
AP_Int8 flight_mode5;
AP_Int8 flight_mode6;
// Misc
//
AP_Int32 log_bitmask;
AP_Int8 esc_calibrate;
#if CH6_TUNE_ENABLED == ENABLED
AP_Int8 radio_tuning;
AP_Int16 radio_tuning_high;
AP_Int16 radio_tuning_low;
#endif
AP_Int8 ch7_option;
AP_Int8 ch8_option;
AP_Int8 ch9_option;
AP_Int8 ch10_option;
AP_Int8 ch11_option;
AP_Int8 ch12_option;
AP_Int8 arming_check;
AP_Int8 disarm_delay;
AP_Int8 fs_ekf_action;
AP_Int8 fs_crash_check;
AP_Float fs_ekf_thresh;
AP_Int16 gcs_pid_mask;
AP_Int8 terrain_follow;
// RC channels
RC_Channel rc_1;
RC_Channel rc_2;
RC_Channel rc_3;
RC_Channel rc_4;
RC_Channel_aux rc_5;
RC_Channel_aux rc_6;
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
RC_Channel_aux rc_9;
RC_Channel_aux rc_10;
RC_Channel_aux rc_11;
RC_Channel_aux rc_12;
RC_Channel_aux rc_13;
RC_Channel_aux rc_14;
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
AP_Float gain_default;
AP_Float maxGain;
AP_Float minGain;
AP_Int8 numGainSettings;
AP_Float throttle_gain;
AP_Int16 cam_tilt_center;
AP_Int16 cam_tilt_step;
AP_Int16 lights_step;
// Joystick button parameters
JSButton jbtn_0;
JSButton jbtn_1;
JSButton jbtn_2;
JSButton jbtn_3;
JSButton jbtn_4;
JSButton jbtn_5;
JSButton jbtn_6;
JSButton jbtn_7;
JSButton jbtn_8;
JSButton jbtn_9;
JSButton jbtn_10;
JSButton jbtn_11;
JSButton jbtn_12;
JSButton jbtn_13;
JSButton jbtn_14;
JSButton jbtn_15;
// Acro parameters
AP_Float acro_rp_p;
AP_Float acro_yaw_p;
AP_Float acro_balance_roll;
AP_Float acro_balance_pitch;
AP_Int8 acro_trainer;
AP_Float acro_expo;
// PI/D controllers
AC_PI_2D pi_vel_xy;
AC_P p_vel_z;
AC_PID pid_accel_z;
AC_P p_pos_xy;
AC_P p_alt_hold;
#if TRANSECT_ENABLED == ENABLED
AC_PID pid_crosstrack_control;
AC_PID pid_heading_control;
#endif
// Autotune
#if AUTOTUNE_ENABLED == ENABLED
AP_Int8 autotune_axis_bitmask;
AP_Float autotune_aggressiveness;
AP_Float autotune_min_d;
#endif
AP_Float surface_depth;
// Note: keep initializers here in the same order as they are declared
// above.
Parameters() :
rc_1 (CH_1),
rc_2 (CH_2),
rc_3 (CH_3),
rc_4 (CH_4),
rc_5 (CH_5),
rc_6 (CH_6),
rc_7 (CH_7),
rc_8 (CH_8),
rc_9 (CH_9),
rc_10 (CH_10),
rc_11 (CH_11),
rc_12 (CH_12),
rc_13 (CH_13),
rc_14 (CH_14),
// PID controller initial P initial I initial D initial imax initial filt hz pid rate
//---------------------------------------------------------------------------------------------------------------------------------
pi_vel_xy (VEL_XY_P, VEL_XY_I, VEL_XY_IMAX, VEL_XY_FILT_HZ, WPNAV_LOITER_UPDATE_TIME),
p_vel_z (VEL_Z_P),
pid_accel_z (ACCEL_Z_P, ACCEL_Z_I, ACCEL_Z_D, ACCEL_Z_IMAX, ACCEL_Z_FILT_HZ, MAIN_LOOP_SECONDS),
// P controller initial P
//----------------------------------------------------------------------
p_pos_xy (POS_XY_P),
p_alt_hold (ALT_HOLD_P)
#if TRANSECT_ENABLED == ENABLED
,
pid_crosstrack_control (XTRACK_P, XTRACK_I, XTRACK_D, XTRACK_IMAX, XTRACK_FILT_HZ, XTRACK_DT),
pid_heading_control (HEAD_P, HEAD_I, HEAD_D, HEAD_IMAX, HEAD_FILT_HZ, HEAD_DT)
#endif
{
}
};
/*
2nd block of parameters, to avoid going past 256 top level keys
*/
class ParametersG2 {
public:
ParametersG2(void);
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
// altitude at which nav control can start in takeoff
AP_Float wp_navalt_min;
#if GRIPPER_ENABLED
AP_Gripper gripper;
#endif
#if PROXIMITY_ENABLED == ENABLED
// proximity (aka object avoidance) library
AP_Proximity proximity;
#endif
};
extern const AP_Param::Info var_info[];