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525 lines
17 KiB
525 lines
17 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 = 13; |
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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 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 = 20; // 0 for APM trunk |
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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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// Misc |
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// |
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k_param_auto_trim, |
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k_param_switch_enable, |
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k_param_log_bitmask, |
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k_param_pitch_trim, |
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k_param_mix_mode, |
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k_param_reverse_elevons, |
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k_param_reverse_ch1_elevon, |
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k_param_reverse_ch2_elevon, |
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k_param_flap_1_percent, |
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k_param_flap_1_speed, |
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k_param_flap_2_percent, |
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k_param_flap_2_speed, |
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k_param_num_resets, |
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k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change |
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k_param_reset_switch_chan, |
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k_param_manual_level, |
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// 110: Telemetry control |
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// |
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k_param_gcs0 = 110, // stream rates for port0 |
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k_param_gcs3, // stream rates for port3 |
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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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// 120: Fly-by-wire control |
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// |
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k_param_flybywire_airspeed_min = 120, |
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k_param_flybywire_airspeed_max, |
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k_param_FBWB_min_altitude, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm) |
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// |
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// 130: Sensor parameters |
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// |
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k_param_imu = 130, // sensor calibration |
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k_param_altitude_mix, |
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k_param_airspeed_ratio, |
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k_param_ground_temperature, |
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k_param_ground_pressure, |
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k_param_compass_enabled, |
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k_param_compass, |
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k_param_battery_monitoring, |
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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, |
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k_param_pack_capacity, |
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k_param_airspeed_offset, |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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#if CONFIG_SONAR == ENABLED |
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k_param_sonar_enabled, |
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k_param_sonar_type, |
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#endif |
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#endif |
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k_param_airspeed_enabled, |
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// |
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// 150: Navigation parameters |
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// |
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k_param_crosstrack_gain = 150, |
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k_param_crosstrack_entry_angle, |
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k_param_roll_limit, |
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k_param_pitch_limit_max, |
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k_param_pitch_limit_min, |
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k_param_airspeed_cruise, |
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k_param_RTL_altitude, |
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k_param_inverted_flight_ch, |
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k_param_min_gndspeed, |
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k_param_ch7_option, |
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// |
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// 160: Radio settings |
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// |
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k_param_channel_roll = 160, |
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k_param_channel_pitch, |
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k_param_channel_throttle, |
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k_param_channel_rudder, |
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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_throttle_min, |
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k_param_throttle_max, |
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k_param_throttle_fs_enabled, // 170 |
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k_param_throttle_fs_value, |
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k_param_throttle_cruise, |
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k_param_short_fs_action, |
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k_param_long_fs_action, |
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k_param_gcs_heartbeat_fs_enabled, |
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k_param_throttle_slewrate, |
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// ************************************************************ |
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// 180: APMrover parameters - JLN update |
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k_param_closed_loop_nav, |
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k_param_auto_wp_radius, |
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k_param_sonar_trigger, |
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k_param_turn_gain, |
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k_param_booster, |
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// ************************************************************ |
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// |
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// 200: Feed-forward gains |
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// |
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k_param_kff_pitch_compensation = 200, |
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k_param_kff_rudder_mix, |
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k_param_kff_pitch_to_throttle, |
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k_param_kff_throttle_to_pitch, |
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// |
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// 210: flight modes |
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// |
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k_param_flight_mode_channel = 210, |
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k_param_flight_mode1, |
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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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// |
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// 220: Waypoint data |
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// |
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k_param_waypoint_mode = 220, |
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k_param_command_total, |
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k_param_command_index, |
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k_param_waypoint_radius, |
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k_param_loiter_radius, |
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k_param_fence_action, |
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k_param_fence_total, |
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k_param_fence_channel, |
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k_param_fence_minalt, |
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k_param_fence_maxalt, |
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// |
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// 240: PID Controllers |
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// |
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// Heading-to-roll PID: |
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// heading error from command to roll command deviation from trim |
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// (bank to turn strategy) |
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// |
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k_param_pidNavRoll = 240, |
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// Roll-to-servo PID: |
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// roll error from command to roll servo deviation from trim |
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// (tracks commanded bank angle) |
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// |
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k_param_pidServoRoll, |
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// |
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// Pitch control |
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// |
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// Pitch-to-servo PID: |
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// pitch error from command to pitch servo deviation from trim |
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// (front-side strategy) |
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// |
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k_param_pidServoPitch, |
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// Airspeed-to-pitch PID: |
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// airspeed error from command to pitch servo deviation from trim |
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// (back-side strategy) |
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// |
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k_param_pidNavPitchAirspeed, |
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// |
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// Yaw control |
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// |
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// Yaw-to-servo PID: |
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// yaw rate error from command to yaw servo deviation from trim |
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// (stabilizes dutch roll) |
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// |
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k_param_pidServoRudder, |
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// |
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// Throttle control |
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// |
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// Energy-to-throttle PID: |
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// total energy error from command to throttle servo deviation from trim |
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// (throttle back-side strategy alternative) |
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// |
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k_param_pidTeThrottle, |
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// Altitude-to-pitch PID: |
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// altitude error from command to pitch servo deviation from trim |
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// (throttle front-side strategy alternative) |
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// |
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k_param_pidNavPitchAltitude, |
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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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// Feed-forward gains |
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// |
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AP_Float kff_pitch_compensation; |
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AP_Float kff_rudder_mix; |
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AP_Float kff_pitch_to_throttle; |
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AP_Float kff_throttle_to_pitch; |
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// Crosstrack navigation |
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// |
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AP_Float crosstrack_gain; |
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AP_Int16 crosstrack_entry_angle; |
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// Estimation |
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// |
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AP_Float altitude_mix; |
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AP_Float airspeed_ratio; |
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AP_Int16 airspeed_offset; |
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// Waypoints |
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// |
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AP_Int8 waypoint_mode; |
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AP_Int8 command_total; |
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AP_Int8 command_index; |
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AP_Int8 waypoint_radius; |
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AP_Int8 loiter_radius; |
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#if GEOFENCE_ENABLED == ENABLED |
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AP_Int8 fence_action; |
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AP_Int8 fence_total; |
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AP_Int8 fence_channel; |
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AP_Int16 fence_minalt; // meters |
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AP_Int16 fence_maxalt; // meters |
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#endif |
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// Fly-by-wire |
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// |
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AP_Int8 flybywire_airspeed_min; |
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AP_Int8 flybywire_airspeed_max; |
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AP_Int16 FBWB_min_altitude; |
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// Throttle |
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// |
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AP_Int8 throttle_min; |
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AP_Int8 throttle_max; |
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AP_Int8 throttle_slewrate; |
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AP_Int8 throttle_fs_enabled; |
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AP_Int16 throttle_fs_value; |
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AP_Int8 throttle_cruise; |
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// Failsafe |
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AP_Int8 short_fs_action; |
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AP_Int8 long_fs_action; |
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AP_Int8 gcs_heartbeat_fs_enabled; |
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// Flight modes |
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// |
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AP_Int8 flight_mode_channel; |
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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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// Navigational maneuvering limits |
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// |
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AP_Int16 roll_limit; |
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AP_Int16 pitch_limit_max; |
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AP_Int16 pitch_limit_min; |
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// Misc |
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// |
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AP_Int8 auto_trim; |
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AP_Int8 switch_enable; |
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AP_Int8 mix_mode; |
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AP_Int8 reverse_elevons; |
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AP_Int8 reverse_ch1_elevon; |
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AP_Int8 reverse_ch2_elevon; |
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AP_Int16 num_resets; |
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AP_Int16 log_bitmask; |
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AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change |
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AP_Int8 reset_switch_chan; |
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AP_Int8 manual_level; |
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AP_Int16 airspeed_cruise; |
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AP_Int16 min_gndspeed; |
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AP_Int8 ch7_option; |
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AP_Int16 pitch_trim; |
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AP_Int16 RTL_altitude; |
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AP_Int16 ground_temperature; |
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AP_Int32 ground_pressure; |
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AP_Int8 compass_enabled; |
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AP_Int16 angle_of_attack; |
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AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 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_Float input_voltage; |
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AP_Int16 pack_capacity; // Battery pack capacity less reserve |
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AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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#if CONFIG_SONAR == ENABLED |
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AP_Int8 sonar_enabled; |
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AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m range) |
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#endif |
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#endif |
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AP_Int8 airspeed_enabled; |
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AP_Int8 flap_1_percent; |
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AP_Int8 flap_1_speed; |
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AP_Int8 flap_2_percent; |
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AP_Int8 flap_2_speed; |
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// ************ ThermoPilot parameters ************************ |
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// - JLN update |
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AP_Int8 closed_loop_nav; |
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AP_Int8 auto_wp_radius; |
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AP_Int16 sonar_trigger; |
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AP_Int16 turn_gain; |
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AP_Int8 booster; |
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// ************************************************************ |
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// RC channels |
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RC_Channel channel_roll; |
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RC_Channel channel_pitch; |
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RC_Channel channel_throttle; |
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RC_Channel channel_rudder; |
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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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// PID controllers |
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// |
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PID pidNavRoll; |
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PID pidServoRoll; |
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PID pidServoPitch; |
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PID pidNavPitchAirspeed; |
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PID pidServoRudder; |
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PID pidTeThrottle; |
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PID pidNavPitchAltitude; |
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Parameters() : |
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format_version (k_format_version), |
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software_type (k_software_type), |
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sysid_this_mav (MAV_SYSTEM_ID), |
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sysid_my_gcs (255), |
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serial3_baud (SERIAL3_BAUD/1000), |
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kff_pitch_compensation (PITCH_COMP), |
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kff_rudder_mix (RUDDER_MIX), |
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kff_pitch_to_throttle (P_TO_T), |
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kff_throttle_to_pitch (T_TO_P), |
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crosstrack_gain (XTRACK_GAIN_SCALED), |
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crosstrack_entry_angle (XTRACK_ENTRY_ANGLE_CENTIDEGREE), |
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altitude_mix (ALTITUDE_MIX), |
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airspeed_ratio (AIRSPEED_RATIO), |
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airspeed_offset (0), |
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/* XXX waypoint_mode missing here */ |
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command_total (0), |
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command_index (0), |
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waypoint_radius (WP_RADIUS_DEFAULT), |
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loiter_radius (LOITER_RADIUS_DEFAULT), |
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#if GEOFENCE_ENABLED == ENABLED |
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fence_action (0), |
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fence_total (0), |
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fence_channel (0), |
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fence_minalt (0), |
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fence_maxalt (0), |
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#endif |
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flybywire_airspeed_min (AIRSPEED_FBW_MIN), |
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flybywire_airspeed_max (AIRSPEED_FBW_MAX), |
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throttle_min (THROTTLE_MIN), |
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throttle_max (THROTTLE_MAX), |
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throttle_slewrate (THROTTLE_SLEW_LIMIT), |
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throttle_fs_enabled (THROTTLE_FAILSAFE), |
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throttle_fs_value (THROTTLE_FS_VALUE), |
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throttle_cruise (THROTTLE_CRUISE), |
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short_fs_action (SHORT_FAILSAFE_ACTION), |
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long_fs_action (LONG_FAILSAFE_ACTION), |
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gcs_heartbeat_fs_enabled(GCS_HEARTBEAT_FAILSAFE), |
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flight_mode_channel (FLIGHT_MODE_CHANNEL), |
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flight_mode1 (FLIGHT_MODE_1), |
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flight_mode2 (FLIGHT_MODE_2), |
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flight_mode3 (FLIGHT_MODE_3), |
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flight_mode4 (FLIGHT_MODE_4), |
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flight_mode5 (FLIGHT_MODE_5), |
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flight_mode6 (FLIGHT_MODE_6), |
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roll_limit (HEAD_MAX_CENTIDEGREE), |
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pitch_limit_max (PITCH_MAX_CENTIDEGREE), |
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pitch_limit_min (PITCH_MIN_CENTIDEGREE), |
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auto_trim (AUTO_TRIM), |
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manual_level (MANUAL_LEVEL), |
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switch_enable (REVERSE_SWITCH), |
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mix_mode (ELEVON_MIXING), |
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reverse_elevons (ELEVON_REVERSE), |
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reverse_ch1_elevon (ELEVON_CH1_REVERSE), |
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reverse_ch2_elevon (ELEVON_CH2_REVERSE), |
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num_resets (0), |
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log_bitmask (DEFAULT_LOG_BITMASK), |
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log_last_filenumber (0), |
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reset_switch_chan (0), |
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airspeed_cruise (AIRSPEED_CRUISE_CM), |
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min_gndspeed (MIN_GNDSPEED_CM), |
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ch7_option (CH7_OPTION), |
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pitch_trim (0), |
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RTL_altitude (ALT_HOLD_HOME_CM), |
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FBWB_min_altitude (ALT_HOLD_FBW_CM), |
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ground_temperature (0), |
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ground_pressure (0), |
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compass_enabled (MAGNETOMETER), |
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flap_1_percent (FLAP_1_PERCENT), |
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flap_1_speed (FLAP_1_SPEED), |
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flap_2_percent (FLAP_2_PERCENT), |
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flap_2_speed (FLAP_2_SPEED), |
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battery_monitoring (DISABLED), |
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volt_div_ratio (VOLT_DIV_RATIO), |
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curr_amp_per_volt (CURR_AMP_PER_VOLT), |
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input_voltage (INPUT_VOLTAGE), |
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pack_capacity (HIGH_DISCHARGE), |
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inverted_flight_ch (0), |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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#if CONFIG_SONAR == ENABLED |
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sonar_enabled (SONAR_ENABLED), |
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sonar_type (AP_RANGEFINDER_MAXSONARXL), |
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#endif |
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#endif |
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airspeed_enabled (AIRSPEED_SENSOR), |
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// ************ APMrover parameters ************************ |
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// - JLN update |
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closed_loop_nav (CLOSED_LOOP_NAV), |
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auto_wp_radius (AUTO_WP_RADIUS), |
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sonar_trigger (SONAR_TRIGGER), |
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turn_gain (TURN_GAIN), |
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booster (BOOSTER), |
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// ************************************************************ |
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// PID controller initial P initial I initial D initial imax |
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//----------------------------------------------------------------------------------- |
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pidNavRoll (NAV_ROLL_P, NAV_ROLL_I, NAV_ROLL_D, NAV_ROLL_INT_MAX_CENTIDEGREE), |
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pidServoRoll (SERVO_ROLL_P, SERVO_ROLL_I, SERVO_ROLL_D, SERVO_ROLL_INT_MAX_CENTIDEGREE), |
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pidServoPitch (SERVO_PITCH_P, SERVO_PITCH_I, SERVO_PITCH_D, SERVO_PITCH_INT_MAX_CENTIDEGREE), |
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pidNavPitchAirspeed (NAV_PITCH_ASP_P, NAV_PITCH_ASP_I, NAV_PITCH_ASP_D, NAV_PITCH_ASP_INT_MAX_CMSEC), |
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pidServoRudder (SERVO_YAW_P, SERVO_YAW_I, SERVO_YAW_D, SERVO_YAW_INT_MAX), |
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pidTeThrottle (THROTTLE_TE_P, THROTTLE_TE_I, THROTTLE_TE_D, THROTTLE_TE_INT_MAX), |
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pidNavPitchAltitude (NAV_PITCH_ALT_P, NAV_PITCH_ALT_I, NAV_PITCH_ALT_D, NAV_PITCH_ALT_INT_MAX_CM) |
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{} |
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}; |
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#endif // PARAMETERS_H |
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/* ************ ThermoPilot parameters (old parameters setup ) ************************ |
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low_rate_turn (LOW_RATE_TURN, k_param_low_rate_turn, PSTR("TP_LOWR_TURN")), |
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medium_rate_turn (MEDIUM_RATE_TURN, k_param_medium_rate_turn, PSTR("TP_MEDR_TURN")), |
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high_rate_turn (HIGH_RATE_TURN, k_param_high_rate_turn, PSTR("TP_HIGR_TURN")), |
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search_mode_turn (SEARCH_MODE_TURN, k_param_search_mode_turn, PSTR("TP_SRCM_TURN")), |
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slope_thermal (SLOPE_THERMAL, k_param_slope_thermal, PSTR("TP_SLOPE_THER")), |
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auto_thermal (AUTO_THERMAL, k_param_auto_thermal, PSTR("TP_AUTO_THER")), |
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stab_thermal (STAB_THERMAL, k_param_auto_thermal, PSTR("TP_STAB_THER")), |
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closed_loop_nav (CLOSED_LOOP_NAV, k_param_closed_loop_nav, PSTR("TP_CL_NAV")), |
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auto_wp_radius (AUTO_WP_RADIUS, k_param_closed_loop_nav, PSTR("TP_AWPR_NAV")), |
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min_alt (MIN_ALT, k_param_min_alt, PSTR("TP_MIN_ALT")), |
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max_alt (MAX_ALT, k_param_max_alt, PSTR("TP_MAX_ALT")), |
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max_dist (MAX_DIST, k_param_max_dist, PSTR("TP_MAX_DIST")), |
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sarsec_branch (SARSEC_BRANCH, k_param_sarsec_branch, PSTR("TP_SARSEC")), |
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************************************************************/ |
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