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565 lines
20 KiB
565 lines
20 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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|
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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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|
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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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// EPM object |
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k_param_epm, |
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// BoardConfig object |
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k_param_BoardConfig, |
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// GPS object |
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k_param_gps, |
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// Parachute object |
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k_param_parachute, // 17 |
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// Landing gear object |
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k_param_landinggear, // 18 |
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// Misc |
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// |
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k_param_log_bitmask_old = 20, // Deprecated |
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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, // deprecated - remove |
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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, // deprecated - remove |
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k_param_sonar_gain, |
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k_param_ch8_option, |
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k_param_arming_check, |
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k_param_sprayer, |
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k_param_angle_max, |
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k_param_gps_hdop_good, |
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k_param_battery, |
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k_param_fs_batt_mah, |
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k_param_angle_rate_max, // remove |
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k_param_rssi_range, |
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k_param_rc_feel_rp, |
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k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group |
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k_param_mission, // mission library |
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k_param_rc_13, |
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k_param_rc_14, |
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k_param_rally, |
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k_param_poshold_brake_rate, |
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k_param_poshold_brake_angle_max, |
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k_param_pilot_accel_z, |
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k_param_serial0_baud, // deprecated - remove |
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k_param_serial1_baud, // deprecated - remove |
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k_param_serial2_baud, // deprecated - remove |
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k_param_land_repositioning, |
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k_param_sonar, // sonar object |
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k_param_ekfcheck_thresh, |
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k_param_terrain, |
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k_param_acro_expo, |
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k_param_throttle_deadzone, |
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k_param_optflow, |
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k_param_dcmcheck_thresh, // deprecated - remove |
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k_param_log_bitmask, |
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k_param_cli_enabled, |
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k_param_throttle_filt, |
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k_param_throttle_behavior, |
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k_param_pilot_takeoff_alt, // 64 |
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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, |
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k_param_gps_glitch, // deprecated |
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k_param_baro_glitch, // 71 - deprecated |
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// |
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// 75: Singlecopter, CoaxCopter |
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// |
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k_param_single_servo_1 = 75, |
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k_param_single_servo_2, |
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k_param_single_servo_3, |
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k_param_single_servo_4, // 78 |
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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, // remove |
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k_param_heli_roll_ff, // remove |
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k_param_heli_yaw_ff, // remove |
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k_param_heli_stab_col_min, |
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k_param_heli_stab_col_max, // 88 |
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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, // deprecated |
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k_param_wp_nav, |
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k_param_attitude_control, |
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k_param_pos_control, |
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k_param_circle_nav, // 104 |
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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_gcs1, |
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k_param_sysid_this_mav, |
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k_param_sysid_my_gcs, |
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k_param_serial1_baud_old, // deprecated |
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k_param_telem_delay, |
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k_param_gcs2, |
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k_param_serial2_baud_old, // deprecated |
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k_param_serial2_protocol, // deprecated |
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k_param_serial_manager, // 119 |
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k_param_ch9_option, |
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k_param_ch10_option, |
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k_param_ch11_option, |
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k_param_ch12_option, // 123 |
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k_param_takeoff_trigger_dz, |
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k_param_gcs3, // 125 |
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k_param_gcs_pid_mask, |
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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, // deprecated - can be deleted |
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k_param_volt_div_ratio, // deprecated - can be deleted |
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k_param_curr_amp_per_volt, // deprecated - can be deleted |
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k_param_input_voltage, // deprecated - can be deleted |
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k_param_pack_capacity, // deprecated - can be deleted |
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k_param_compass_enabled, |
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k_param_compass, |
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k_param_sonar_enabled_old, // deprecated |
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k_param_frame_orientation, |
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k_param_optflow_enabled, // deprecated |
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k_param_fs_batt_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_old, // deprecated |
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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, // deprecated - remove with next eeprom number change |
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k_param_ahrs, // AHRS group // 159 |
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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, // deprecated |
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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, // deprecated - can be deleted |
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k_param_battery_curr_pin, // 169 deprecated - can be deleted |
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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, // remove |
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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_trim, // remove |
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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, // remove |
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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, // 199 |
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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, // remove |
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k_param_command_index, // remove |
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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, // remove |
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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_p_stabilize_roll, |
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k_param_p_stabilize_pitch, |
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k_param_p_stabilize_yaw, |
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k_param_p_pos_xy, |
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k_param_p_loiter_lon, // remove |
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k_param_pid_loiter_rate_lat, // remove |
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k_param_pid_loiter_rate_lon, // remove |
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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_p_alt_hold, |
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k_param_p_vel_z, |
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k_param_pid_optflow_roll, // 237 - remove |
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k_param_pid_optflow_pitch, // 238 - remove |
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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_accel_z, |
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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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k_param_autotune_axis_bitmask, // 245 |
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k_param_autotune_aggressiveness, // 246 |
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k_param_pi_vel_xy, // 247 |
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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 telem_delay; |
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#if CLI_ENABLED == ENABLED |
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AP_Int8 cli_enabled; |
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#endif |
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AP_Float throttle_filt; |
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AP_Int16 throttle_behavior; |
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AP_Int16 takeoff_trigger_dz; |
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AP_Float pilot_takeoff_alt; |
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AP_Int16 rtl_altitude; |
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AP_Float sonar_gain; |
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AP_Int8 failsafe_battery_enabled; // battery failsafe enabled |
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AP_Float fs_batt_voltage; // battery voltage below which failsafe will be triggered |
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AP_Float fs_batt_mah; // battery capacity (in mah) below which failsafe will be triggered |
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AP_Int8 failsafe_gcs; // ground station failsafe behavior |
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AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position |
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AP_Int8 compass_enabled; |
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AP_Int8 super_simple; |
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AP_Int16 rtl_alt_final; |
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AP_Int8 rssi_pin; |
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AP_Float rssi_range; // allows to set max voltage for rssi pin such as 5.0, 3.3 etc. |
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AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions |
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AP_Int8 rc_feel_rp; // controls vehicle response to user input with 0 being extremely soft and 100 begin extremely crisp |
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AP_Int16 poshold_brake_rate; // PosHold flight mode's rotation rate during braking in deg/sec |
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AP_Int16 poshold_brake_angle_max; // PosHold flight mode's max lean angle during braking in centi-degrees |
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// Waypoints |
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// |
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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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AP_Int16 pilot_accel_z; // vertical acceleration 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_Int8 failsafe_throttle; |
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AP_Int16 failsafe_throttle_value; |
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AP_Int16 throttle_mid; |
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AP_Int16 throttle_deadzone; |
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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_Int32 log_bitmask; |
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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 ch9_option; |
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AP_Int8 ch10_option; |
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AP_Int8 ch11_option; |
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AP_Int8 ch12_option; |
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AP_Int8 arming_check; |
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AP_Int8 land_repositioning; |
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AP_Float ekfcheck_thresh; |
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AP_Int16 gcs_pid_mask; |
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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_Int16 heli_stab_col_min; // min collective while pilot directly controls collective in stabilize mode |
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AP_Int16 heli_stab_col_max; // min collective while pilot directly controls collective in stabilize mode |
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#endif |
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#if FRAME_CONFIG == SINGLE_FRAME |
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// Single |
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RC_Channel single_servo_1, single_servo_2, single_servo_3, single_servo_4; // servos for four flaps |
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#endif |
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#if FRAME_CONFIG == COAX_FRAME |
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// Coax copter flaps |
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RC_Channel single_servo_1, single_servo_2; // servos for two flaps |
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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 CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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RC_Channel_aux rc_9; |
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#endif |
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RC_Channel_aux rc_10; |
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RC_Channel_aux rc_11; |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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RC_Channel_aux rc_12; |
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RC_Channel_aux rc_13; |
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RC_Channel_aux rc_14; |
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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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AP_Float acro_expo; |
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// PI/D controllers |
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#if FRAME_CONFIG == HELI_FRAME |
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AC_HELI_PID pid_rate_roll; |
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AC_HELI_PID pid_rate_pitch; |
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AC_HELI_PID pid_rate_yaw; |
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#else |
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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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#endif |
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AC_PI_2D pi_vel_xy; |
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AC_P p_vel_z; |
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AC_PID pid_accel_z; |
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AC_P p_pos_xy; |
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AC_P p_stabilize_roll; |
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AC_P p_stabilize_pitch; |
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AC_P p_stabilize_yaw; |
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AC_P p_alt_hold; |
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// Autotune |
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AP_Int8 autotune_axis_bitmask; |
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AP_Float autotune_aggressiveness; |
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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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#if FRAME_CONFIG == SINGLE_FRAME |
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single_servo_1 (CH_1), |
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single_servo_2 (CH_2), |
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single_servo_3 (CH_3), |
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single_servo_4 (CH_4), |
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#endif |
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#if FRAME_CONFIG == COAX_FRAME |
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single_servo_1 (CH_1), |
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single_servo_2 (CH_2), |
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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 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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rc_9 (CH_9), |
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#endif |
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rc_10 (CH_10), |
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rc_11 (CH_11), |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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rc_12 (CH_12), |
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rc_13 (CH_13), |
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rc_14 (CH_14), |
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#endif |
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// PID controller initial P initial I initial D initial imax initial filt hz pid rate |
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//--------------------------------------------------------------------------------------------------------------------------------- |
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#if FRAME_CONFIG == HELI_FRAME |
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pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX, RATE_ROLL_FILT_HZ, MAIN_LOOP_SECONDS, RATE_ROLL_FF), |
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pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX, RATE_PITCH_FILT_HZ, MAIN_LOOP_SECONDS, RATE_PITCH_FF), |
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pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX, RATE_YAW_FILT_HZ, MAIN_LOOP_SECONDS, RATE_YAW_FF), |
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#else |
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pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX, RATE_ROLL_FILT_HZ, MAIN_LOOP_SECONDS), |
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pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX, RATE_PITCH_FILT_HZ, MAIN_LOOP_SECONDS), |
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pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX, RATE_YAW_FILT_HZ, MAIN_LOOP_SECONDS), |
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#endif |
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pi_vel_xy (VEL_XY_P, VEL_XY_I, VEL_XY_IMAX, VEL_XY_FILT_HZ, WPNAV_LOITER_UPDATE_TIME), |
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p_vel_z (VEL_Z_P), |
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pid_accel_z (ACCEL_Z_P, ACCEL_Z_I, ACCEL_Z_D, ACCEL_Z_IMAX, ACCEL_Z_FILT_HZ, MAIN_LOOP_SECONDS), |
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// P controller initial P |
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//---------------------------------------------------------------------- |
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p_pos_xy (POS_XY_P), |
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p_stabilize_roll (STABILIZE_ROLL_P), |
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p_stabilize_pitch (STABILIZE_PITCH_P), |
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p_stabilize_yaw (STABILIZE_YAW_P), |
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p_alt_hold (ALT_HOLD_P) |
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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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