You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
550 lines
17 KiB
550 lines
17 KiB
#pragma once |
|
|
|
#include <AP_Common/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, |
|
k_param_num_resets, |
|
k_param_NavEKF2, |
|
k_param_g2, |
|
k_param_avoidance_adsb, |
|
k_param_landing, |
|
k_param_NavEKF3, |
|
k_param_BoardConfig_CAN, |
|
|
|
// Misc |
|
// |
|
k_param_auto_trim = 10, |
|
k_param_log_bitmask_old, // unused |
|
k_param_pitch_trim_cd, |
|
k_param_mix_mode, |
|
k_param_reverse_elevons, // unused |
|
k_param_reverse_ch1_elevon, // unused |
|
k_param_reverse_ch2_elevon, // unused |
|
k_param_flap_1_percent, |
|
k_param_flap_1_speed, |
|
k_param_flap_2_percent, |
|
k_param_flap_2_speed, |
|
k_param_reset_switch_chan, |
|
k_param_manual_level, // unused |
|
k_param_land_pitch_cd, // unused - moved to AP_Landing |
|
k_param_ins_old, // *** Deprecated, remove with next eeprom number change |
|
k_param_stick_mixing, |
|
k_param_reset_mission_chan, |
|
k_param_land_flare_alt, // unused - moved to AP_Landing |
|
k_param_land_flare_sec, // unused - moved to AP_Landing |
|
k_param_crosstrack_min_distance, // unused |
|
k_param_rudder_steer, // unused |
|
k_param_throttle_nudge, |
|
k_param_alt_offset, |
|
k_param_ins, // libraries/AP_InertialSensor variables |
|
k_param_takeoff_throttle_min_speed, |
|
k_param_takeoff_throttle_min_accel, |
|
k_param_takeoff_heading_hold, // unused |
|
k_param_level_roll_limit, |
|
k_param_hil_servos, |
|
k_param_vtail_output, // unused |
|
k_param_nav_controller, |
|
k_param_elevon_output, // unused |
|
k_param_att_controller, |
|
k_param_mixing_gain, |
|
k_param_scheduler, |
|
k_param_relay, |
|
k_param_takeoff_throttle_delay, |
|
k_param_skip_gyro_cal, // unused |
|
k_param_auto_fbw_steer, |
|
k_param_waypoint_max_radius, |
|
k_param_ground_steer_alt, |
|
k_param_ground_steer_dps, |
|
k_param_rally_limit_km_old, //unused anymore -- just holding this index |
|
k_param_hil_err_limit, |
|
k_param_sonar_old, // unused |
|
k_param_log_bitmask, |
|
k_param_BoardConfig, |
|
k_param_rssi_range, // unused, replaced by rssi_ library parameters |
|
k_param_flapin_channel, |
|
k_param_flaperon_output, // unused |
|
k_param_gps, |
|
k_param_autotune_level, |
|
k_param_rally, |
|
k_param_serial0_baud, // deprecated |
|
k_param_serial1_baud, // deprecated |
|
k_param_serial2_baud, // deprecated |
|
k_param_takeoff_tdrag_elevator, |
|
k_param_takeoff_tdrag_speed1, |
|
k_param_takeoff_rotate_speed, |
|
k_param_takeoff_throttle_slewrate, |
|
k_param_takeoff_throttle_max, |
|
k_param_rangefinder, |
|
k_param_terrain, |
|
k_param_terrain_follow, |
|
k_param_stab_pitch_down_cd_old, // deprecated |
|
k_param_glide_slope_min, |
|
k_param_stab_pitch_down, |
|
k_param_terrain_lookahead, |
|
k_param_fbwa_tdrag_chan, |
|
k_param_rangefinder_landing, |
|
k_param_land_flap_percent, // unused - moved to AP_Landing |
|
k_param_takeoff_flap_percent, |
|
k_param_flap_slewrate, |
|
k_param_rtl_autoland, |
|
k_param_override_channel, |
|
k_param_stall_prevention, |
|
k_param_optflow, |
|
k_param_cli_enabled, |
|
k_param_trim_rc_at_start, |
|
k_param_hil_mode, |
|
k_param_land_disarm_delay, // unused - moved to AP_Landing |
|
k_param_glide_slope_threshold, |
|
k_param_rudder_only, |
|
k_param_gcs3, // 93 |
|
k_param_gcs_pid_mask, |
|
k_param_crash_detection_enable, |
|
k_param_land_abort_throttle_enable, // unused - moved to AP_Landing |
|
k_param_rssi = 97, |
|
k_param_rpm_sensor, |
|
k_param_parachute, |
|
k_param_arming = 100, |
|
k_param_parachute_channel, |
|
k_param_crash_accel_threshold, |
|
k_param_override_safety, |
|
k_param_land_throttle_slewrate, // 104 unused - moved to AP_Landing |
|
|
|
// 105: Extra parameters |
|
k_param_fence_retalt = 105, |
|
k_param_fence_autoenable, |
|
k_param_fence_ret_rally, |
|
k_param_q_attitude_control, |
|
k_param_takeoff_pitch_limit_reduction_sec, |
|
|
|
// 110: Telemetry control |
|
// |
|
k_param_gcs0 = 110, // stream rates for uartA |
|
k_param_gcs1, // stream rates for uartC |
|
k_param_sysid_this_mav, |
|
k_param_sysid_my_gcs, |
|
k_param_serial1_baud_old, // deprecated |
|
k_param_telem_delay, |
|
k_param_serial0_baud_old, // deprecated |
|
k_param_gcs2, // stream rates for uartD |
|
k_param_serial2_baud_old, // deprecated |
|
k_param_serial2_protocol, // deprecated |
|
|
|
// 120: Fly-by-wire control |
|
// |
|
k_param_airspeed_min = 120, |
|
k_param_airspeed_max, |
|
k_param_FBWB_min_altitude_cm, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm) |
|
k_param_flybywire_elev_reverse, |
|
k_param_alt_control_algorithm, |
|
k_param_flybywire_climb_rate, |
|
k_param_acro_roll_rate, |
|
k_param_acro_pitch_rate, |
|
k_param_acro_locking, |
|
k_param_use_reverse_thrust = 129, |
|
|
|
// |
|
// 130: Sensor parameters |
|
// |
|
k_param_imu = 130, // unused |
|
k_param_altitude_mix, // deprecated |
|
|
|
k_param_compass_enabled, |
|
k_param_compass, |
|
k_param_battery_monitoring, // unused |
|
k_param_volt_div_ratio, // unused |
|
k_param_curr_amp_per_volt, // unused |
|
k_param_input_voltage, // deprecated, can be deleted |
|
k_param_pack_capacity, // unused |
|
k_param_sonar_enabled_old, // unused |
|
k_param_ahrs, // AHRS group |
|
k_param_barometer, // barometer ground calibration |
|
k_param_airspeed, // AP_Airspeed parameters |
|
k_param_curr_amp_offset, |
|
k_param_NavEKF, // deprecated - remove |
|
k_param_mission, // mission library |
|
k_param_serial_manager, // serial manager library |
|
k_param_NavEKF2_old, // deprecated - remove |
|
k_param_land_pre_flare_alt, // unused - moved to AP_Landing |
|
k_param_land_pre_flare_airspeed = 149, // unused - moved to AP_Landing |
|
|
|
// |
|
// 150: Navigation parameters |
|
// |
|
k_param_crosstrack_gain = 150, // unused |
|
k_param_crosstrack_entry_angle, // unused |
|
k_param_roll_limit_cd, |
|
k_param_pitch_limit_max_cd, |
|
k_param_pitch_limit_min_cd, |
|
k_param_airspeed_cruise_cm, |
|
k_param_RTL_altitude_cm, |
|
k_param_inverted_flight_ch, |
|
k_param_min_gndspeed_cm, |
|
k_param_crosstrack_use_wind, // unused |
|
|
|
|
|
// |
|
// Camera and mount parameters |
|
// |
|
k_param_camera = 160, |
|
k_param_camera_mount, |
|
k_param_camera_mount2, // unused |
|
k_param_adsb, |
|
k_param_notify, |
|
k_param_land_pre_flare_sec = 165, // unused - moved to AP_Landing |
|
|
|
// |
|
// Battery monitoring parameters |
|
// |
|
k_param_battery = 166, |
|
k_param_rssi_pin, // unused, replaced by rssi_ library parameters - 167 |
|
k_param_battery_volt_pin, // unused - 168 |
|
k_param_battery_curr_pin, // unused - 169 |
|
|
|
// |
|
// 170: Radio settings - all unused now |
|
// |
|
k_param_rc_1_old = 170, |
|
k_param_rc_2_old, |
|
k_param_rc_3_old, |
|
k_param_rc_4_old, |
|
k_param_rc_5_old, |
|
k_param_rc_6_old, |
|
k_param_rc_7_old, |
|
k_param_rc_8_old, |
|
k_param_rc_9_old, |
|
k_param_rc_10_old, |
|
k_param_rc_11_old, |
|
|
|
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, |
|
k_param_throttle_suppress_manual, |
|
k_param_throttle_passthru_stabilize, |
|
k_param_rc_12_old, |
|
k_param_fs_batt_voltage, |
|
k_param_fs_batt_mah, |
|
k_param_short_fs_timeout, |
|
k_param_long_fs_timeout, |
|
k_param_rc_13_old, |
|
k_param_rc_14_old, |
|
k_param_tuning, |
|
|
|
// |
|
// 200: Feed-forward gains |
|
// |
|
k_param_kff_pitch_compensation = 200, // unused |
|
k_param_kff_rudder_mix, |
|
k_param_kff_pitch_to_throttle, // unused |
|
k_param_kff_throttle_to_pitch, |
|
k_param_scaling_speed, |
|
k_param_quadplane, |
|
k_param_rtl_radius, |
|
k_param_land_then_servos_neutral, // unused - moved to AP_Landing |
|
k_param_rc_15_old, |
|
k_param_rc_16_old, |
|
|
|
// |
|
// 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, |
|
k_param_initial_mode, |
|
k_param_land_slope_recalc_shallow_threshold, // unused - moved to AP_Landing |
|
k_param_land_slope_recalc_steep_threshold_to_abort, // unused - moved to AP_Landing |
|
|
|
// |
|
// 220: Waypoint data |
|
// |
|
k_param_waypoint_mode = 220, |
|
k_param_command_total, // unused |
|
k_param_command_index, // unused |
|
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, |
|
|
|
// other objects |
|
k_param_sitl = 230, |
|
k_param_afs, |
|
k_param_rollController, |
|
k_param_pitchController, |
|
k_param_yawController, |
|
k_param_L1_controller, |
|
k_param_rcmap, |
|
k_param_TECS_controller, |
|
k_param_rally_total_old, //unused |
|
k_param_steerController, |
|
|
|
// |
|
// 240: PID Controllers |
|
k_param_pidNavRoll = 240, // unused |
|
k_param_pidServoRoll, // unused |
|
k_param_pidServoPitch, // unused |
|
k_param_pidNavPitchAirspeed, // unused |
|
k_param_pidServoRudder, // unused |
|
k_param_pidTeThrottle, // unused |
|
k_param_pidNavPitchAltitude, // unused |
|
k_param_pidWheelSteer, // unused |
|
|
|
k_param_mixing_offset, |
|
k_param_dspoiler_rud_rate, |
|
|
|
k_param_DataFlash = 253, // Logging Group |
|
|
|
// 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 telem_delay; |
|
#if CLI_ENABLED == ENABLED |
|
AP_Int8 cli_enabled; |
|
#endif |
|
|
|
AP_Float hil_err_limit; |
|
|
|
AP_Int8 rtl_autoland; |
|
|
|
AP_Int8 trim_rc_at_start; |
|
AP_Int8 crash_accel_threshold; |
|
|
|
// Feed-forward gains |
|
// |
|
AP_Float kff_rudder_mix; |
|
AP_Float kff_pitch_to_throttle; |
|
AP_Float kff_throttle_to_pitch; |
|
AP_Float ground_steer_alt; |
|
AP_Int16 ground_steer_dps; |
|
AP_Float stab_pitch_down; |
|
|
|
// speed used for speed scaling |
|
AP_Float scaling_speed; |
|
|
|
// navigation controller type. See AP_Navigation::ControllerType |
|
AP_Int8 nav_controller; |
|
|
|
// attitude controller type. |
|
AP_Int8 att_controller; |
|
|
|
AP_Int8 auto_fbw_steer; |
|
|
|
// Estimation |
|
// |
|
AP_Int8 alt_control_algorithm; |
|
|
|
// Waypoints |
|
// |
|
AP_Int8 waypoint_mode; |
|
AP_Int16 waypoint_radius; |
|
AP_Int16 waypoint_max_radius; |
|
AP_Int16 rtl_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 |
|
AP_Int16 fence_retalt; // meters |
|
AP_Int8 fence_autoenable; |
|
AP_Int8 fence_ret_rally; |
|
#endif |
|
|
|
// Fly-by-wire |
|
// |
|
AP_Int8 flybywire_elev_reverse; |
|
AP_Int8 flybywire_climb_rate; |
|
|
|
// Throttle |
|
// |
|
AP_Int8 throttle_suppress_manual; |
|
AP_Int8 throttle_passthru_stabilize; |
|
AP_Int8 throttle_fs_enabled; |
|
AP_Int16 throttle_fs_value; |
|
AP_Int8 throttle_nudge; |
|
AP_Int16 use_reverse_thrust; |
|
|
|
// Failsafe |
|
AP_Int8 short_fs_action; |
|
AP_Int8 long_fs_action; |
|
AP_Float short_fs_timeout; |
|
AP_Float long_fs_timeout; |
|
AP_Int8 gcs_heartbeat_fs_enabled; |
|
AP_Float fs_batt_voltage; |
|
AP_Float fs_batt_mah; |
|
|
|
// 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; |
|
AP_Int8 initial_mode; |
|
|
|
// Navigational maneuvering limits |
|
// |
|
AP_Int16 alt_offset; |
|
AP_Int16 acro_roll_rate; |
|
AP_Int16 acro_pitch_rate; |
|
AP_Int8 acro_locking; |
|
|
|
// Misc |
|
// |
|
AP_Int8 auto_trim; |
|
AP_Int8 rudder_only; |
|
AP_Float mixing_gain; |
|
AP_Int16 mixing_offset; |
|
AP_Int16 dspoiler_rud_rate; |
|
AP_Int16 num_resets; |
|
AP_Int32 log_bitmask; |
|
AP_Int8 reset_switch_chan; |
|
AP_Int8 reset_mission_chan; |
|
AP_Int32 RTL_altitude_cm; |
|
AP_Int16 pitch_trim_cd; |
|
AP_Int16 FBWB_min_altitude_cm; |
|
AP_Int8 hil_servos; |
|
#if HIL_SUPPORT |
|
AP_Int8 hil_mode; |
|
#endif |
|
|
|
AP_Int8 compass_enabled; |
|
AP_Int8 flap_1_percent; |
|
AP_Int8 flap_1_speed; |
|
AP_Int8 flap_2_percent; |
|
AP_Int8 flap_2_speed; |
|
AP_Int8 takeoff_flap_percent; |
|
AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger |
|
AP_Int8 stick_mixing; |
|
AP_Float takeoff_throttle_min_speed; |
|
AP_Float takeoff_throttle_min_accel; |
|
AP_Int8 takeoff_throttle_delay; |
|
AP_Int8 takeoff_tdrag_elevator; |
|
AP_Float takeoff_tdrag_speed1; |
|
AP_Float takeoff_rotate_speed; |
|
AP_Int8 takeoff_throttle_slewrate; |
|
AP_Float takeoff_pitch_limit_reduction_sec; |
|
AP_Int8 level_roll_limit; |
|
AP_Int8 flapin_channel; |
|
#if AP_TERRAIN_AVAILABLE |
|
AP_Int8 terrain_follow; |
|
AP_Int16 terrain_lookahead; |
|
#endif |
|
AP_Int16 glide_slope_min; |
|
AP_Float glide_slope_threshold; |
|
AP_Int8 fbwa_tdrag_chan; |
|
AP_Int8 rangefinder_landing; |
|
AP_Int8 flap_slewrate; |
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
|
AP_Int8 override_channel; |
|
AP_Int8 override_safety; |
|
#endif |
|
AP_Int16 gcs_pid_mask; |
|
AP_Int8 parachute_channel; |
|
}; |
|
|
|
/* |
|
2nd block of parameters, to avoid going past 256 top level keys |
|
*/ |
|
class ParametersG2 { |
|
public: |
|
ParametersG2(void); |
|
|
|
// var_info for holding Parameter information |
|
static const struct AP_Param::GroupInfo var_info[]; |
|
|
|
// button reporting library |
|
AP_Button button; |
|
|
|
// vehicle statistics |
|
AP_Stats stats; |
|
|
|
// internal combustion engine control |
|
AP_ICEngine ice_control; |
|
|
|
// RC input channels |
|
RC_Channels rc_channels; |
|
|
|
// control over servo output ranges |
|
SRV_Channels servo_channels; |
|
|
|
// whether to enforce acceptance of packets only from sysid_my_gcs |
|
AP_Int8 sysid_enforce; |
|
|
|
// ArduSoar parameters |
|
SoaringController soaring_controller; |
|
|
|
// dual motor tailsitter rudder to differential thrust scaling: 0-100% |
|
AP_Int8 rudd_dt_gain; |
|
|
|
// mask of channels to do manual pass-thru for |
|
AP_Int32 manual_rc_mask; |
|
}; |
|
|
|
extern const AP_Param::Info var_info[];
|
|
|