/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/*
ArduCopter parameter definitions
This firmware is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#define GSCALAR(v, name) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, class::var_info }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, class::var_info }
static const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(format_version, "SYSID_SW_MREV"),
GSCALAR(software_type, "SYSID_SW_TYPE"),
GSCALAR(sysid_this_mav, "SYSID_THISMAV"),
GSCALAR(sysid_my_gcs, "SYSID_MYGCS"),
GSCALAR(serial3_baud, "SERIAL3_BAUD"),
GSCALAR(RTL_altitude, "ALT_HOLD_RTL"),
GSCALAR(sonar_enabled, "SONAR_ENABLE"),
GSCALAR(sonar_type, "SONAR_TYPE"),
GSCALAR(battery_monitoring, "BATT_MONITOR"),
GSCALAR(volt_div_ratio, "VOLT_DIVIDER"),
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT"),
GSCALAR(input_voltage, "INPUT_VOLTS"),
GSCALAR(pack_capacity, "BATT_CAPACITY"),
GSCALAR(compass_enabled, "MAG_ENABLE"),
GSCALAR(optflow_enabled, "FLOW_ENABLE"),
GSCALAR(low_voltage, "LOW_VOLT"),
GSCALAR(super_simple, "SUPER_SIMPLE"),
GSCALAR(rtl_land_enabled, "RTL_LAND"),
GSCALAR(waypoint_mode, "WP_MODE"),
GSCALAR(command_total, "WP_TOTAL"),
GSCALAR(command_index, "WP_INDEX"),
GSCALAR(command_nav_index, "WP_MUST_INDEX"),
GSCALAR(waypoint_radius, "WP_RADIUS"),
GSCALAR(loiter_radius, "WP_LOITER_RAD"),
GSCALAR(waypoint_speed_max, "WP_SPEED_MAX"),
GSCALAR(crosstrack_gain, "XTRK_GAIN_SC"),
GSCALAR(auto_land_timeout, "AUTO_LAND"),
GSCALAR(throttle_min, "THR_MIN"),
GSCALAR(throttle_max, "THR_MAX"),
GSCALAR(throttle_fs_enabled, "THR_FAILSAFE"),
GSCALAR(throttle_fs_action, "THR_FS_ACTION"),
GSCALAR(throttle_fs_value, "THR_FS_VALUE"),
GSCALAR(throttle_cruise, "TRIM_THROTTLE"),
GSCALAR(flight_mode1, "FLTMODE1"),
GSCALAR(flight_mode2, "FLTMODE2"),
GSCALAR(flight_mode3, "FLTMODE3"),
GSCALAR(flight_mode4, "FLTMODE4"),
GSCALAR(flight_mode5, "FLTMODE5"),
GSCALAR(flight_mode6, "FLTMODE6"),
GSCALAR(simple_modes, "SIMPLE"),
GSCALAR(log_bitmask, "LOG_BITMASK"),
GSCALAR(log_last_filenumber, "LOG_LASTFILE"),
GSCALAR(esc_calibrate, "ESC"),
GSCALAR(radio_tuning, "TUNE"),
GSCALAR(radio_tuning_low, "TUNE_LOW"),
GSCALAR(radio_tuning_high, "TUNE_HIGH"),
GSCALAR(frame_orientation, "FRAME"),
GSCALAR(top_bottom_ratio, "TB_RATIO"),
GSCALAR(ch7_option, "CH7_OPT"),
GSCALAR(auto_slew_rate, "AUTO_SLEW"),
#if FRAME_CONFIG == HELI_FRAME
GGROUP(heli_servo_1, "HS1_", RC_Channel),
GGROUP(heli_servo_2, "HS2_", RC_Channel),
GGROUP(heli_servo_3, "HS3_", RC_Channel),
GGROUP(heli_servo_4, "HS4_", RC_Channel),
GSCALAR(heli_servo1_pos, "SV1_POS"),
GSCALAR(heli_servo2_pos, "SV2_POS"),
GSCALAR(heli_servo3_pos, "SV3_POS"),
GSCALAR(heli_roll_max, "ROL_MAX"),
GSCALAR(heli_pitch_max, "PIT_MAX"),
GSCALAR(heli_collective_min, "COL_MIN"),
GSCALAR(heli_collective_max, "COL_MAX"),
GSCALAR(heli_collective_mid, "COL_MID"),
GSCALAR(heli_ext_gyro_enabled, "GYR_ENABLE"),
GSCALAR(heli_h1_swash_enabled, "H1_ENABLE"),
GSCALAR(heli_ext_gyro_gain, "GYR_GAIN"),
GSCALAR(heli_servo_averaging, "SV_AVG"),
GSCALAR(heli_servo_manual, "HSV_MAN"),
GSCALAR(heli_phase_angle, "H_PHANG"),
GSCALAR(heli_collective_yaw_effect, "H_COLYAW"),
#endif
// RC channel
//-----------
GGROUP(rc_1, "RC1_", RC_Channel),
GGROUP(rc_2, "RC2_", RC_Channel),
GGROUP(rc_3, "RC3_", RC_Channel),
GGROUP(rc_4, "RC4_", RC_Channel),
GGROUP(rc_5, "RC5_", RC_Channel),
GGROUP(rc_6, "RC6_", RC_Channel),
GGROUP(rc_7, "RC7_", RC_Channel),
GGROUP(rc_8, "RC8_", RC_Channel),
GGROUP(rc_camera_pitch, "CAM_P_", RC_Channel),
GGROUP(rc_camera_roll, "CAM_R_", RC_Channel),
// speed of fast RC channels in Hz
GSCALAR(rc_speed, "RC_SPEED"),
// variable
//---------
GSCALAR(camera_pitch_gain, "CAM_P_G"),
GSCALAR(camera_roll_gain, "CAM_R_G"),
GSCALAR(stabilize_d, "STAB_D"),
GSCALAR(stabilize_d_schedule, "STAB_D_S"),
GSCALAR(acro_p, "ACRO_P"),
GSCALAR(axis_lock_p, "AXIS_P"),
GSCALAR(axis_enabled, "AXIS_ENABLE"),
// PID controller
//---------------
GGROUP(pid_rate_roll, "RATE_RLL_", AC_PID),
GGROUP(pid_rate_pitch, "RATE_PIT_", AC_PID),
GGROUP(pid_rate_yaw, "RATE_YAW_", AC_PID),
GGROUP(pid_loiter_rate_lat, "LOITER_LAT_", AC_PID),
GGROUP(pid_loiter_rate_lon, "LOITER_LON_", AC_PID),
GGROUP(pid_nav_lat, "NAV_LAT_", AC_PID),
GGROUP(pid_nav_lon, "NAV_LON_", AC_PID),
GGROUP(pid_throttle, "THR_RATE_", AC_PID),
GGROUP(pid_optflow_roll, "OF_RLL_", AC_PID),
GGROUP(pid_optflow_pitch, "OF_PIT_", AC_PID),
// PI controller
//--------------
GGROUP(pi_stabilize_roll, "STB_RLL_", APM_PI),
GGROUP(pi_stabilize_pitch, "STB_PIT_", APM_PI),
GGROUP(pi_stabilize_yaw, "STB_YAW_", APM_PI),
GGROUP(pi_alt_hold, "THR_ALT_", APM_PI),
GGROUP(pi_loiter_lat, "HLD_LAT_", APM_PI),
GGROUP(pi_loiter_lon, "HLD_LON_", APM_PI),
// variables not in the g class which contain EEPROM saved variables
GOBJECT(compass, "COMPASS_", Compass),
GOBJECT(gcs0, "SR0_", GCS_MAVLINK),
GOBJECT(gcs3, "SR3_", GCS_MAVLINK),
GOBJECT(imu, "IMU_", IMU)
};
static void load_parameters(void)
{
// setup the AP_Var subsystem for storage to EEPROM
if (!AP_Param::setup(var_info, sizeof(var_info)/sizeof(var_info[0]), WP_START_BYTE)) {
// this can only happen on startup, and its a definate coding
// error. Best not to continue so the programmer catches it
while (1) {
Serial.println_P(PSTR("ERROR: Failed to setup AP_Param"));
delay(1000);
}
}
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
default_dead_zones();
Serial.println_P(PSTR("done."));
} else {
unsigned long before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before);
}
}