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471 lines
16 KiB
471 lines
16 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef PARAMETERS_H |
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#define PARAMETERS_H |
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#include <AP_Common.h> |
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// Global parameter class. |
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// |
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class Parameters { |
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public: |
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// The version of the layout as described by the parameter enum. |
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// |
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// When changing the parameter enum in an incompatible fashion, this |
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// value should be incremented by one. |
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// |
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// The increment will prevent old parameters from being used incorrectly |
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// by newer code. |
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// |
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static const uint16_t k_format_version = 120; |
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// The parameter software_type is set up solely for ground station use |
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// and identifies the software type (eg ArduPilotMega versus |
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// ArduCopterMega) |
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// GCS will interpret values 0-9 as ArduPilotMega. Developers may use |
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// values within that range to identify different branches. |
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// |
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static const uint16_t k_software_type = 10; // 0 for APM |
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// trunk |
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// Parameter identities. |
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// |
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// The enumeration defined here is used to ensure that every parameter |
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// or parameter group has a unique ID number. This number is used by |
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// AP_Param to store and locate parameters in EEPROM. |
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// |
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// Note that entries without a number are assigned the next number after |
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// the entry preceding them. When adding new entries, ensure that they |
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// don't overlap. |
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// |
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// Try to group related variables together, and assign them a set |
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// range in the enumeration. Place these groups in numerical order |
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// at the end of the enumeration. |
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// |
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// WARNING: Care should be taken when editing this enumeration as the |
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// AP_Param load/save code depends on the values here to identify |
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// variables saved in EEPROM. |
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// |
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// |
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enum { |
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// Layout version number, always key zero. |
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// |
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k_param_format_version = 0, |
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k_param_software_type, |
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k_param_ins_old, // *** Deprecated, remove with next eeprom number change |
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k_param_ins, // libraries/AP_InertialSensor variables |
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// simulation |
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k_param_sitl = 10, |
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// barometer object (needed for SITL) |
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k_param_barometer, |
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// scheduler object (for debugging) |
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k_param_scheduler, |
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// relay object |
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k_param_relay, |
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// Misc |
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// |
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k_param_log_bitmask = 20, |
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k_param_log_last_filenumber, // *** Deprecated - remove |
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// with next eeprom number |
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// change |
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k_param_toy_yaw_rate, // THOR The memory |
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// location for the |
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// Yaw Rate 1 = fast, |
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// 2 = med, 3 = slow |
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k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change |
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k_param_rssi_pin, |
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k_param_throttle_accel_enabled, // deprecated - remove |
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k_param_wp_yaw_behavior, |
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k_param_acro_trainer, |
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k_param_pilot_velocity_z_max, |
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k_param_circle_rate, |
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k_param_sonar_gain, |
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k_param_ch8_option, |
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k_param_arming_check_enabled, |
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k_param_sprayer, |
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k_param_angle_max, // 34 |
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// 65: AP_Limits Library |
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k_param_limits = 65, // deprecated - remove |
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k_param_gpslock_limit, // deprecated - remove |
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k_param_geofence_limit, // deprecated - remove |
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k_param_altitude_limit, // deprecated - remove |
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k_param_fence, // 69 |
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// |
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// 80: Heli |
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// |
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k_param_heli_servo_1 = 80, |
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k_param_heli_servo_2, |
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k_param_heli_servo_3, |
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k_param_heli_servo_4, |
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k_param_heli_pitch_ff, |
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k_param_heli_roll_ff, |
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k_param_heli_yaw_ff, |
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// |
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// 90: Motors |
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// |
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k_param_motors = 90, |
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// |
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// 100: Inertial Nav |
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// |
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k_param_inertial_nav = 100, |
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k_param_wp_nav = 101, |
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// 110: Telemetry control |
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// |
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k_param_gcs0 = 110, |
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k_param_gcs3, |
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k_param_sysid_this_mav, |
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k_param_sysid_my_gcs, |
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k_param_serial3_baud, |
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k_param_telem_delay, |
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// |
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// 140: Sensor parameters |
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// |
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k_param_imu = 140, // deprecated - can be deleted |
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k_param_battery_monitoring = 141, |
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k_param_volt_div_ratio, |
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k_param_curr_amp_per_volt, |
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k_param_input_voltage, // deprecated - can be deleted |
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k_param_pack_capacity, |
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k_param_compass_enabled, |
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k_param_compass, |
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k_param_sonar_enabled, |
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k_param_frame_orientation, |
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k_param_optflow_enabled, |
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k_param_low_voltage, |
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k_param_ch7_option, |
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k_param_auto_slew_rate, // deprecated - can be deleted |
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k_param_sonar_type, |
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k_param_super_simple = 155, |
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k_param_axis_enabled = 157, // deprecated - remove with next eeprom number change |
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k_param_copter_leds_mode, |
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k_param_ahrs, // AHRS group |
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// |
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// 160: Navigation parameters |
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// |
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k_param_rtl_altitude = 160, |
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k_param_crosstrack_gain, // deprecated - remove with next eeprom number change |
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k_param_rtl_loiter_time, |
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k_param_rtl_alt_final, |
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k_param_tilt_comp, //164 deprecated - remove with next eeprom number change |
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// |
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// Camera and mount parameters |
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// |
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k_param_camera = 165, |
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k_param_camera_mount, |
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k_param_camera_mount2, |
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// |
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// Batery monitoring parameters |
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// |
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k_param_battery_volt_pin = 168, |
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k_param_battery_curr_pin, // 169 |
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// |
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// 170: Radio settings |
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// |
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k_param_rc_1 = 170, |
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k_param_rc_2, |
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k_param_rc_3, |
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k_param_rc_4, |
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k_param_rc_5, |
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k_param_rc_6, |
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k_param_rc_7, |
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k_param_rc_8, |
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k_param_rc_10, |
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k_param_rc_11, |
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k_param_throttle_min, |
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k_param_throttle_max, |
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k_param_failsafe_throttle, |
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k_param_throttle_fs_action, // remove |
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k_param_failsafe_throttle_value, |
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k_param_throttle_cruise, |
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k_param_esc_calibrate, |
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k_param_radio_tuning, |
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k_param_radio_tuning_high, |
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k_param_radio_tuning_low, |
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k_param_rc_speed = 192, |
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k_param_failsafe_battery_enabled, |
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k_param_throttle_mid, |
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k_param_failsafe_gps_enabled, |
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k_param_rc_9, |
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k_param_rc_12, |
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k_param_failsafe_gcs, // 198 |
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k_param_rcmap, |
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// |
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// 200: flight modes |
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// |
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k_param_flight_mode1 = 200, |
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k_param_flight_mode2, |
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k_param_flight_mode3, |
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k_param_flight_mode4, |
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k_param_flight_mode5, |
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k_param_flight_mode6, |
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k_param_simple_modes, |
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// |
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// 210: Waypoint data |
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// |
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k_param_waypoint_mode = 210, // remove |
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k_param_command_total, |
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k_param_command_index, |
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k_param_command_nav_index, // remove |
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k_param_waypoint_radius, // remove |
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k_param_circle_radius, |
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k_param_waypoint_speed_max, // remove |
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k_param_land_speed, |
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k_param_auto_velocity_z_min, // remove |
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k_param_auto_velocity_z_max, // remove - 219 |
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// |
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// 220: PI/D Controllers |
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// |
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k_param_acro_rp_p = 221, |
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k_param_axis_lock_p, // remove |
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k_param_pid_rate_roll, |
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k_param_pid_rate_pitch, |
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k_param_pid_rate_yaw, |
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k_param_pi_stabilize_roll, |
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k_param_pi_stabilize_pitch, |
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k_param_pi_stabilize_yaw, |
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k_param_pi_loiter_lat, |
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k_param_pi_loiter_lon, |
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k_param_pid_loiter_rate_lat, |
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k_param_pid_loiter_rate_lon, |
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k_param_pid_nav_lat, // 233 - remove |
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k_param_pid_nav_lon, // 234 - remove |
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k_param_pi_alt_hold, |
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k_param_pid_throttle_rate, |
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k_param_pid_optflow_roll, |
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k_param_pid_optflow_pitch, |
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k_param_acro_balance_roll_old, // 239 - remove |
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k_param_acro_balance_pitch_old, // 240 - remove |
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k_param_pid_throttle_accel, |
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k_param_acro_balance_roll, |
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k_param_acro_balance_pitch, |
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k_param_acro_yaw_p, // 244 |
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// 254,255: reserved |
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}; |
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AP_Int16 format_version; |
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AP_Int8 software_type; |
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// Telemetry control |
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// |
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AP_Int16 sysid_this_mav; |
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AP_Int16 sysid_my_gcs; |
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AP_Int8 serial3_baud; |
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AP_Int8 telem_delay; |
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AP_Int16 rtl_altitude; |
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AP_Int8 sonar_enabled; |
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AP_Int8 sonar_type; // 0 = XL, 1 = LV, |
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// 2 = XLL (XL with 10m range) |
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// 3 = HRLV |
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AP_Float sonar_gain; |
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AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, |
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// 4=voltage and current |
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AP_Float volt_div_ratio; |
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AP_Float curr_amp_per_volt; |
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AP_Int16 pack_capacity; // Battery pack capacity less reserve |
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AP_Int8 failsafe_battery_enabled; // battery failsafe enabled |
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AP_Int8 failsafe_gps_enabled; // gps failsafe enabled |
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AP_Int8 failsafe_gcs; // ground station failsafe behavior |
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AP_Int8 compass_enabled; |
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AP_Int8 optflow_enabled; |
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AP_Float low_voltage; |
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AP_Int8 super_simple; |
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AP_Int16 rtl_alt_final; |
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AP_Int8 copter_leds_mode; // Operating mode of LED |
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// lighting system |
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AP_Int8 battery_volt_pin; |
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AP_Int8 battery_curr_pin; |
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AP_Int8 rssi_pin; |
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AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions |
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AP_Int16 angle_max; // maximum lean angle of the copter in centi-degrees |
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// Waypoints |
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// |
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AP_Int8 command_total; |
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AP_Int8 command_index; |
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AP_Int16 circle_radius; |
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AP_Float circle_rate; // Circle mode's turn rate in deg/s. positive to rotate clockwise, negative for counter clockwise |
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AP_Int32 rtl_loiter_time; |
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AP_Int16 land_speed; |
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AP_Int16 pilot_velocity_z_max; // maximum vertical velocity the pilot may request |
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// Throttle |
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// |
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AP_Int16 throttle_min; |
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AP_Int16 throttle_max; |
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AP_Int8 failsafe_throttle; |
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AP_Int16 failsafe_throttle_value; |
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AP_Int16 throttle_cruise; |
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AP_Int16 throttle_mid; |
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// Flight modes |
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// |
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AP_Int8 flight_mode1; |
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AP_Int8 flight_mode2; |
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AP_Int8 flight_mode3; |
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AP_Int8 flight_mode4; |
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AP_Int8 flight_mode5; |
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AP_Int8 flight_mode6; |
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AP_Int8 simple_modes; |
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// Misc |
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// |
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AP_Int16 log_bitmask; |
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AP_Int8 toy_yaw_rate; // THOR The |
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// Yaw Rate 1 |
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// = fast, 2 = |
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// med, 3 = |
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// slow |
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AP_Int8 esc_calibrate; |
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AP_Int8 radio_tuning; |
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AP_Int16 radio_tuning_high; |
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AP_Int16 radio_tuning_low; |
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AP_Int8 frame_orientation; |
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AP_Int8 ch7_option; |
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AP_Int8 ch8_option; |
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AP_Int8 arming_check_enabled; |
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#if FRAME_CONFIG == HELI_FRAME |
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// Heli |
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RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail |
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AP_Float heli_pitch_ff; // pitch rate feed-forward |
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AP_Float heli_roll_ff; // roll rate feed-forward |
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AP_Float heli_yaw_ff; // yaw rate feed-forward |
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#endif |
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// RC channels |
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RC_Channel rc_1; |
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RC_Channel rc_2; |
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RC_Channel rc_3; |
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RC_Channel rc_4; |
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RC_Channel_aux rc_5; |
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RC_Channel_aux rc_6; |
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RC_Channel_aux rc_7; |
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RC_Channel_aux rc_8; |
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#if MOUNT == ENABLED |
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RC_Channel_aux rc_10; |
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RC_Channel_aux rc_11; |
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#endif |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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RC_Channel_aux rc_9; |
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RC_Channel_aux rc_12; |
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#endif |
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AP_Int16 rc_speed; // speed of fast RC Channels in Hz |
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// Acro parameters |
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AP_Float acro_rp_p; |
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AP_Float acro_yaw_p; |
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AP_Float acro_balance_roll; |
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AP_Float acro_balance_pitch; |
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AP_Int8 acro_trainer; |
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// PI/D controllers |
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AC_PID pid_rate_roll; |
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AC_PID pid_rate_pitch; |
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AC_PID pid_rate_yaw; |
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AC_PID pid_loiter_rate_lat; |
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AC_PID pid_loiter_rate_lon; |
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AC_PID pid_throttle_rate; |
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AC_PID pid_throttle_accel; |
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AC_PID pid_optflow_roll; |
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AC_PID pid_optflow_pitch; |
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APM_PI pi_loiter_lat; |
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APM_PI pi_loiter_lon; |
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APM_PI pi_stabilize_roll; |
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APM_PI pi_stabilize_pitch; |
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APM_PI pi_stabilize_yaw; |
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APM_PI pi_alt_hold; |
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// Note: keep initializers here in the same order as they are declared |
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// above. |
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Parameters() : |
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#if FRAME_CONFIG == HELI_FRAME |
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heli_servo_1 (CH_1), |
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heli_servo_2 (CH_2), |
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heli_servo_3 (CH_3), |
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heli_servo_4 (CH_4), |
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#endif |
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rc_1 (CH_1), |
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rc_2 (CH_2), |
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rc_3 (CH_3), |
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rc_4 (CH_4), |
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rc_5 (CH_5), |
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rc_6 (CH_6), |
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rc_7 (CH_7), |
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rc_8 (CH_8), |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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rc_9 (CH_9), |
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rc_10 (CH_10), |
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rc_11 (CH_11), |
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rc_12 (CH_12), |
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#elif MOUNT == ENABLED |
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rc_10 (CH_10), |
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rc_11 (CH_11), |
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#endif |
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// PID controller initial P initial I initial D |
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// initial imax |
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//----------------------------------------------------------------------------------------------------- |
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pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100), |
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pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100), |
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pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100), |
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pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100), |
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pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100), |
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pid_throttle_rate (THROTTLE_RATE_P, THROTTLE_RATE_I, THROTTLE_RATE_D, THROTTLE_RATE_IMAX), |
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pid_throttle_accel (THROTTLE_ACCEL_P, THROTTLE_ACCEL_I, THROTTLE_ACCEL_D, THROTTLE_ACCEL_IMAX), |
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pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100), |
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pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100), |
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// PI controller initial P initial I initial |
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// imax |
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//---------------------------------------------------------------------- |
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pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX * 100), |
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pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX * 100), |
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pi_stabilize_roll (STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100), |
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pi_stabilize_pitch (STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100), |
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pi_stabilize_yaw (STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100), |
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pi_alt_hold (ALT_HOLD_P, ALT_HOLD_I, ALT_HOLD_IMAX) |
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{ |
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} |
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}; |
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extern const AP_Param::Info var_info[]; |
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#endif // PARAMETERS_H |
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