// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef PARAMETERS_H
#define PARAMETERS_H
#include <AP_Common.h>
// Global parameter class.
//
class Parameters {
public:
/*
The value of k_format_version determines whether the existing
eeprom data is considered valid. You should only change this
value under the following circumstances:
1) the meaning of an existing eeprom parameter changes
2) the value of an existing k_param_* enum value changes
Adding a new parameter should _not_ require a change to
k_format_version except under special circumstances. If you
change it anyway then all ArduPlane users will need to reload all
their parameters. We want that to be an extremely rare
thing. Please do not just change it "just in case".
To determine if a k_param_* value has changed, use the rules of
C++ enums to work out the value of the neighboring enum
values. If you don't know the C++ enum rules then please ask for
help.
*/
//////////////////////////////////////////////////////////////////
// STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE
// COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!!
static const uint16_t k_format_version = 13;
//////////////////////////////////////////////////////////////////
// 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 = 0; // 0 for APM trunk
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type,
// Misc
//
k_param_auto_trim,
k_param_switch_enable,
k_param_log_bitmask,
k_param_pitch_trim,
k_param_mix_mode,
k_param_reverse_elevons,
k_param_reverse_ch1_elevon,
k_param_reverse_ch2_elevon,
k_param_flap_1_percent,
k_param_flap_1_speed,
k_param_flap_2_percent,
k_param_flap_2_speed,
k_param_num_resets,
k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change
k_param_reset_switch_chan,
k_param_manual_level,
// 110: Telemetry control
//
k_param_gcs0 = 110, // stream rates for port0
k_param_gcs3, // stream rates for port3
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial3_baud,
// 120: Fly-by-wire control
//
k_param_flybywire_airspeed_min = 120,
k_param_flybywire_airspeed_max,
k_param_FBWB_min_altitude, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)
//
// 130: Sensor parameters
//
k_param_imu = 130, // sensor calibration
k_param_altitude_mix,
k_param_airspeed_ratio,
// ground_pressure and ground_temperature removed
// do not re-use 133 and 134 unless format_version
// is changed
k_param_compass_enabled = 135,
k_param_compass,
k_param_battery_monitoring,
k_param_volt_div_ratio,
k_param_curr_amp_per_volt,
k_param_input_voltage,
k_param_pack_capacity,
k_param_airspeed_offset,
k_param_sonar_enabled,
k_param_airspeed_enabled,
k_param_ahrs, // AHRS group
k_param_airspeed_use,
k_param_barometer, // barometer ground calibration
//
// 150: Navigation parameters
//
k_param_crosstrack_gain = 150,
k_param_crosstrack_entry_angle,
k_param_roll_limit,
k_param_pitch_limit_max,
k_param_pitch_limit_min,
k_param_airspeed_cruise,
k_param_RTL_altitude,
k_param_inverted_flight_ch,
k_param_min_gndspeed,
//
// Camera parameters
//
k_param_camera,
//
// 170: Radio settings
//
k_param_channel_roll = 170,
k_param_channel_pitch,
k_param_channel_throttle,
k_param_channel_rudder,
k_param_rc_5,
k_param_rc_6,
k_param_rc_7,
k_param_rc_8,
k_param_throttle_min,
k_param_throttle_max,
k_param_throttle_fs_enabled,
k_param_throttle_fs_value,
k_param_throttle_cruise,
k_param_short_fs_action,
k_param_long_fs_action,
k_param_gcs_heartbeat_fs_enabled,
k_param_throttle_slewrate,
//
// 200: Feed-forward gains
//
k_param_kff_pitch_compensation = 200,
k_param_kff_rudder_mix,
k_param_kff_pitch_to_throttle,
k_param_kff_throttle_to_pitch,
//
// 210: flight modes
//
k_param_flight_mode_channel = 210,
k_param_flight_mode1,
k_param_flight_mode2,
k_param_flight_mode3,
k_param_flight_mode4,
k_param_flight_mode5,
k_param_flight_mode6,
//
// 220: Waypoint data
//
k_param_waypoint_mode = 220,
k_param_command_total,
k_param_command_index,
k_param_waypoint_radius,
k_param_loiter_radius,
k_param_fence_action,
k_param_fence_total,
k_param_fence_channel,
k_param_fence_minalt,
k_param_fence_maxalt,
//
// 240: PID Controllers
//
// Heading-to-roll PID:
// heading error from command to roll command deviation from trim
// (bank to turn strategy)
//
k_param_pidNavRoll = 240,
// Roll-to-servo PID:
// roll error from command to roll servo deviation from trim
// (tracks commanded bank angle)
//
k_param_pidServoRoll,
//
// Pitch control
//
// Pitch-to-servo PID:
// pitch error from command to pitch servo deviation from trim
// (front-side strategy)
//
k_param_pidServoPitch,
// Airspeed-to-pitch PID:
// airspeed error from command to pitch servo deviation from trim
// (back-side strategy)
//
k_param_pidNavPitchAirspeed,
//
// Yaw control
//
// Yaw-to-servo PID:
// yaw rate error from command to yaw servo deviation from trim
// (stabilizes dutch roll)
//
k_param_pidServoRudder,
//
// Throttle control
//
// Energy-to-throttle PID:
// total energy error from command to throttle servo deviation from trim
// (throttle back-side strategy alternative)
//
k_param_pidTeThrottle,
// Altitude-to-pitch PID:
// altitude error from command to pitch servo deviation from trim
// (throttle front-side strategy alternative)
//
k_param_pidNavPitchAltitude,
// 254,255: reserved
};
AP_Int16 format_version;
AP_Int8 software_type;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int8 serial3_baud;
// Feed-forward gains
//
AP_Float kff_pitch_compensation;
AP_Float kff_rudder_mix;
AP_Float kff_pitch_to_throttle;
AP_Float kff_throttle_to_pitch;
// Crosstrack navigation
//
AP_Float crosstrack_gain;
AP_Int16 crosstrack_entry_angle;
// Estimation
//
AP_Float altitude_mix;
AP_Float airspeed_ratio;
AP_Int16 airspeed_offset;
// Waypoints
//
AP_Int8 waypoint_mode;
AP_Int8 command_total;
AP_Int8 command_index;
AP_Int8 waypoint_radius;
AP_Int8 loiter_radius;
#if GEOFENCE_ENABLED == ENABLED
AP_Int8 fence_action;
AP_Int8 fence_total;
AP_Int8 fence_channel;
AP_Int16 fence_minalt; // meters
AP_Int16 fence_maxalt; // meters
#endif
// Fly-by-wire
//
AP_Int8 flybywire_airspeed_min;
AP_Int8 flybywire_airspeed_max;
AP_Int16 FBWB_min_altitude;
// Throttle
//
AP_Int8 throttle_min;
AP_Int8 throttle_max;
AP_Int8 throttle_slewrate;
AP_Int8 throttle_fs_enabled;
AP_Int16 throttle_fs_value;
AP_Int8 throttle_cruise;
// Failsafe
AP_Int8 short_fs_action;
AP_Int8 long_fs_action;
AP_Int8 gcs_heartbeat_fs_enabled;
// Flight modes
//
AP_Int8 flight_mode_channel;
AP_Int8 flight_mode1;
AP_Int8 flight_mode2;
AP_Int8 flight_mode3;
AP_Int8 flight_mode4;
AP_Int8 flight_mode5;
AP_Int8 flight_mode6;
// Navigational maneuvering limits
//
AP_Int16 roll_limit;
AP_Int16 pitch_limit_max;
AP_Int16 pitch_limit_min;
// Misc
//
AP_Int8 auto_trim;
AP_Int8 switch_enable;
AP_Int8 mix_mode;
AP_Int8 reverse_elevons;
AP_Int8 reverse_ch1_elevon;
AP_Int8 reverse_ch2_elevon;
AP_Int16 num_resets;
AP_Int16 log_bitmask;
AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change
AP_Int8 reset_switch_chan;
AP_Int8 manual_level;
AP_Int16 airspeed_cruise;
AP_Int16 min_gndspeed;
AP_Int16 pitch_trim;
AP_Int16 RTL_altitude;
AP_Int8 compass_enabled;
AP_Int16 angle_of_attack;
AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
AP_Float volt_div_ratio;
AP_Float curr_amp_per_volt;
AP_Float input_voltage;
AP_Int16 pack_capacity; // Battery pack capacity less reserve
AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
AP_Int8 sonar_enabled;
AP_Int8 airspeed_enabled;
AP_Int8 airspeed_use;
AP_Int8 flap_1_percent;
AP_Int8 flap_1_speed;
AP_Int8 flap_2_percent;
AP_Int8 flap_2_speed;
// Camera
#if CAMERA == ENABLED
AP_Camera camera;
#endif
// RC channels
RC_Channel channel_roll;
RC_Channel channel_pitch;
RC_Channel channel_throttle;
RC_Channel channel_rudder;
RC_Channel_aux rc_5;
RC_Channel_aux rc_6;
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
// PID controllers
//
PID pidNavRoll;
PID pidServoRoll;
PID pidServoPitch;
PID pidNavPitchAirspeed;
PID pidServoRudder;
PID pidTeThrottle;
PID pidNavPitchAltitude;
Parameters() :
// variable default
//----------------------------------------
format_version (k_format_version),
software_type (k_software_type),
sysid_this_mav (MAV_SYSTEM_ID),
sysid_my_gcs (255),
serial3_baud (SERIAL3_BAUD/1000),
kff_pitch_compensation (PITCH_COMP),
kff_rudder_mix (RUDDER_MIX),
kff_pitch_to_throttle (P_TO_T),
kff_throttle_to_pitch (T_TO_P),
crosstrack_gain (XTRACK_GAIN_SCALED),
crosstrack_entry_angle (XTRACK_ENTRY_ANGLE_CENTIDEGREE),
altitude_mix (ALTITUDE_MIX),
airspeed_ratio (AIRSPEED_RATIO),
airspeed_offset (0),
/* XXX waypoint_mode missing here */
command_total (0),
command_index (0),
waypoint_radius (WP_RADIUS_DEFAULT),
loiter_radius (LOITER_RADIUS_DEFAULT),
#if GEOFENCE_ENABLED == ENABLED
fence_action (0),
fence_total (0),
fence_channel (0),
fence_minalt (0),
fence_maxalt (0),
#endif
flybywire_airspeed_min (AIRSPEED_FBW_MIN),
flybywire_airspeed_max (AIRSPEED_FBW_MAX),
throttle_min (THROTTLE_MIN),
throttle_max (THROTTLE_MAX),
throttle_slewrate (THROTTLE_SLEW_LIMIT),
throttle_fs_enabled (THROTTLE_FAILSAFE),
throttle_fs_value (THROTTLE_FS_VALUE),
throttle_cruise (THROTTLE_CRUISE),
short_fs_action (SHORT_FAILSAFE_ACTION),
long_fs_action (LONG_FAILSAFE_ACTION),
gcs_heartbeat_fs_enabled(GCS_HEARTBEAT_FAILSAFE),
flight_mode_channel (FLIGHT_MODE_CHANNEL),
flight_mode1 (FLIGHT_MODE_1),
flight_mode2 (FLIGHT_MODE_2),
flight_mode3 (FLIGHT_MODE_3),
flight_mode4 (FLIGHT_MODE_4),
flight_mode5 (FLIGHT_MODE_5),
flight_mode6 (FLIGHT_MODE_6),
roll_limit (HEAD_MAX_CENTIDEGREE),
pitch_limit_max (PITCH_MAX_CENTIDEGREE),
pitch_limit_min (PITCH_MIN_CENTIDEGREE),
auto_trim (AUTO_TRIM),
switch_enable (REVERSE_SWITCH),
mix_mode (ELEVON_MIXING),
reverse_elevons (ELEVON_REVERSE),
reverse_ch1_elevon (ELEVON_CH1_REVERSE),
reverse_ch2_elevon (ELEVON_CH2_REVERSE),
num_resets (0),
log_bitmask (DEFAULT_LOG_BITMASK),
log_last_filenumber (0),
reset_switch_chan (0),
manual_level (MANUAL_LEVEL),
airspeed_cruise (AIRSPEED_CRUISE_CM),
min_gndspeed (MIN_GNDSPEED_CM),
pitch_trim (0),
RTL_altitude (ALT_HOLD_HOME_CM),
FBWB_min_altitude (ALT_HOLD_FBW_CM),
compass_enabled (MAGNETOMETER),
flap_1_percent (FLAP_1_PERCENT),
flap_1_speed (FLAP_1_SPEED),
flap_2_percent (FLAP_2_PERCENT),
flap_2_speed (FLAP_2_SPEED),
battery_monitoring (DISABLED),
volt_div_ratio (VOLT_DIV_RATIO),
curr_amp_per_volt (CURR_AMP_PER_VOLT),
input_voltage (INPUT_VOLTAGE),
pack_capacity (HIGH_DISCHARGE),
inverted_flight_ch (0),
sonar_enabled (SONAR_ENABLED),
airspeed_enabled (AIRSPEED_SENSOR),
airspeed_use (1),
// PID controller initial P initial I initial D initial imax
//-----------------------------------------------------------------------------------
pidNavRoll (NAV_ROLL_P, NAV_ROLL_I, NAV_ROLL_D, NAV_ROLL_INT_MAX_CENTIDEGREE),
pidServoRoll (SERVO_ROLL_P, SERVO_ROLL_I, SERVO_ROLL_D, SERVO_ROLL_INT_MAX_CENTIDEGREE),
pidServoPitch (SERVO_PITCH_P, SERVO_PITCH_I, SERVO_PITCH_D, SERVO_PITCH_INT_MAX_CENTIDEGREE),
pidNavPitchAirspeed (NAV_PITCH_ASP_P, NAV_PITCH_ASP_I, NAV_PITCH_ASP_D, NAV_PITCH_ASP_INT_MAX_CMSEC),
pidServoRudder (SERVO_YAW_P, SERVO_YAW_I, SERVO_YAW_D, SERVO_YAW_INT_MAX),
pidTeThrottle (THROTTLE_TE_P, THROTTLE_TE_I, THROTTLE_TE_D, THROTTLE_TE_INT_MAX),
pidNavPitchAltitude (NAV_PITCH_ALT_P, NAV_PITCH_ALT_I, NAV_PITCH_ALT_D, NAV_PITCH_ALT_INT_MAX_CM)
{}
};
#endif // PARAMETERS_H