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289 lines
11 KiB
289 lines
11 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 = 1; |
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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_Var 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_Var 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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// Misc |
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// |
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k_param_log_bitmask, |
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k_param_frame_type, |
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// |
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// 140: Sensor parameters |
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// |
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k_param_IMU_calibration = 140, |
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k_param_ground_temperature, |
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k_param_ground_pressure, |
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k_param_current, |
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k_param_milliamp_hours, |
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k_param_compass_enabled, |
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k_param_compass, |
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k_param_sonar, |
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// |
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// 160: Navigation parameters |
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// |
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k_param_crosstrack_gain = 160, |
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k_param_crosstrack_entry_angle, |
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k_param_pitch_max, |
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k_param_RTL_altitude, |
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// |
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// 180: Radio settings |
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// |
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k_param_rc_1 = 180, |
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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_9, |
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k_param_rc_10, |
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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, |
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k_param_throttle_fs_action, |
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k_param_throttle_fs_value, |
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k_param_throttle_cruise, |
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k_param_flight_mode_channel, |
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k_param_flight_modes, |
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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_waypoint_total, |
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k_param_waypoint_index, |
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k_param_command_must_index, |
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k_param_waypoint_radius, |
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k_param_loiter_radius, |
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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 commnd to roll command deviation from trim |
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// (bank to turn strategy) |
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// |
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k_param_pid_acro_rate_roll = 240, |
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k_param_pid_acro_rate_pitch, |
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k_param_pid_acro_rate_yaw, |
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k_param_pid_stabilize_roll, |
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k_param_pid_stabilize_pitch, |
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k_param_pid_yaw, |
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k_param_pid_nav_lat, |
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k_param_pid_nav_lon, |
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k_param_pid_baro_throttle, |
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k_param_pid_sonar_throttle, |
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// special D term alternatives |
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k_param_stabilize_dampener, |
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k_param_hold_yaw_dampener, |
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// 255: reserved |
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}; |
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AP_Int16 format_version; |
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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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// Waypoints |
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// |
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AP_Int8 waypoint_mode; |
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AP_Int8 waypoint_total; |
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AP_Int8 waypoint_index; |
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AP_Int8 command_must_index; |
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AP_Int8 waypoint_radius; |
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AP_Int8 loiter_radius; |
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// Throttle |
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// |
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AP_Int16 throttle_min; |
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AP_Int16 throttle_max; |
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AP_Int8 throttle_fs_enabled; |
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AP_Int8 throttle_fs_action; |
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AP_Int16 throttle_fs_value; |
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AP_Int16 throttle_cruise; |
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// Flight modes |
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// |
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AP_Int8 flight_mode_channel; |
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AP_VarA<uint8_t,6> flight_modes; |
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// Radio settings |
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// |
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//AP_Var_group pwm_roll; |
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//AP_Var_group pwm_pitch; |
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//AP_Var_group pwm_throttle; |
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//AP_Var_group pwm_yaw; |
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AP_Int16 pitch_max; |
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// Misc |
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// |
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AP_Int16 log_bitmask; |
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AP_Int16 ground_temperature; |
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AP_Int16 ground_pressure; |
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AP_Int16 RTL_altitude; |
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AP_Int8 frame_type; |
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AP_Int8 sonar_enabled; |
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AP_Int8 current_enabled; |
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AP_Int16 milliamp_hours; |
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AP_Int8 compass_enabled; |
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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 rc_5; |
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RC_Channel rc_6; |
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RC_Channel rc_7; |
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RC_Channel rc_8; |
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RC_Channel rc_camera_pitch; |
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RC_Channel rc_camera_roll; |
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// PID controllers |
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PID pid_acro_rate_roll; |
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PID pid_acro_rate_pitch; |
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PID pid_acro_rate_yaw; |
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PID pid_stabilize_roll; |
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PID pid_stabilize_pitch; |
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PID pid_yaw; |
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PID pid_nav_lat; |
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PID pid_nav_lon; |
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PID pid_baro_throttle; |
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PID pid_sonar_throttle; |
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AP_Float stabilize_dampener; |
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AP_Float hold_yaw_dampener; |
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uint8_t junk; |
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Parameters() : |
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// variable default key name |
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//------------------------------------------------------------------------------------------------------------------- |
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format_version (k_format_version, k_param_format_version, NULL), |
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crosstrack_gain (XTRACK_GAIN * 100, k_param_crosstrack_gain, PSTR("XTRK_GAIN")), |
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crosstrack_entry_angle (XTRACK_ENTRY_ANGLE * 100, k_param_crosstrack_entry_angle, PSTR("XTRACK_ANGLE")), |
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frame_type (FRAME_CONFIG, k_param_frame_type, PSTR("FRAME_CONFIG")), |
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sonar_enabled (DISABLED, k_param_sonar, PSTR("SONAR_ENABLE")), |
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current_enabled (DISABLED, k_param_current, PSTR("CURRENT_ENABLE")), |
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milliamp_hours (CURR_AMP_HOURS, k_param_milliamp_hours, PSTR("MAH")), |
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compass_enabled (MAGNETOMETER, k_param_compass_enabled, PSTR("MAG_ENABLE")), |
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waypoint_mode (0, k_param_waypoint_mode, PSTR("WP_MODE")), |
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waypoint_total (0, k_param_waypoint_total, PSTR("WP_TOTAL")), |
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waypoint_index (0, k_param_waypoint_index, PSTR("WP_INDEX")), |
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command_must_index (0, k_param_command_must_index, PSTR("WP_MUST_INDEX")), |
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waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")), |
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loiter_radius (LOITER_RADIUS_DEFAULT, k_param_loiter_radius, PSTR("LOITER_RADIUS")), |
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throttle_min (THROTTLE_MIN, k_param_throttle_min, PSTR("THR_MIN")), |
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throttle_max (THROTTLE_MAX, k_param_throttle_max, PSTR("THR_MAX")), |
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throttle_fs_enabled (THROTTLE_FAILSAFE, k_param_throttle_fs_enabled, PSTR("THR_FAILSAFE")), |
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throttle_fs_action (THROTTLE_FAILSAFE_ACTION, k_param_throttle_fs_action, PSTR("THR_FS_ACTION")), |
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throttle_fs_value (THROTTLE_FS_VALUE, k_param_throttle_fs_value, PSTR("THR_FS_VALUE")), |
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throttle_cruise (THROTTLE_CRUISE, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")), |
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flight_mode_channel (FLIGHT_MODE_CHANNEL+1, k_param_flight_mode_channel, PSTR("FLT_MODE_CH")), |
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flight_modes (k_param_flight_modes, PSTR("FLIGHT_MODES")), |
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pitch_max (PITCH_MAX * 100, k_param_pitch_max, PSTR("PITCH_MAX")), |
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log_bitmask (MASK_LOG_SET_DEFAULTS, k_param_log_bitmask, PSTR("LOG_BITMASK")), |
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ground_temperature (0, k_param_ground_temperature, PSTR("GND_TEMP")), |
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ground_pressure (0, k_param_ground_pressure, PSTR("GND_ABS_PRESS")), |
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RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")), |
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// RC channel group key name |
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//---------------------------------------------------------------------- |
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rc_1 (k_param_rc_1, PSTR("RC1_")), |
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rc_2 (k_param_rc_2, PSTR("RC2_")), |
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rc_3 (k_param_rc_3, PSTR("RC3_")), |
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rc_4 (k_param_rc_4, PSTR("RC4_")), |
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rc_5 (k_param_rc_5, PSTR("RC5_")), |
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rc_6 (k_param_rc_6, PSTR("RC6_")), |
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rc_7 (k_param_rc_7, PSTR("RC7_")), |
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rc_8 (k_param_rc_8, PSTR("RC8_")), |
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rc_camera_pitch (k_param_rc_9, PSTR("RC9_")), |
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rc_camera_roll (k_param_rc_10, PSTR("RC10_")), |
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// PID controller group key name initial P initial I initial D initial imax |
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//-------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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pid_acro_rate_roll (k_param_pid_acro_rate_roll, PSTR("ACR_RLL_"), ACRO_RATE_ROLL_P, ACRO_RATE_ROLL_I, ACRO_RATE_ROLL_D, ACRO_RATE_ROLL_IMAX * 100), |
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pid_acro_rate_pitch (k_param_pid_acro_rate_pitch, PSTR("ACR_PIT_"), ACRO_RATE_PITCH_P, ACRO_RATE_PITCH_I, ACRO_RATE_PITCH_D, ACRO_RATE_PITCH_IMAX * 100), |
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pid_acro_rate_yaw (k_param_pid_acro_rate_yaw, PSTR("ACR_YAW_"), ACRO_RATE_YAW_P, ACRO_RATE_YAW_I, ACRO_RATE_YAW_D, ACRO_RATE_YAW_IMAX * 100), |
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pid_stabilize_roll (k_param_pid_stabilize_roll, PSTR("STB_RLL_"), STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_D, STABILIZE_ROLL_IMAX * 100), |
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pid_stabilize_pitch (k_param_pid_stabilize_pitch, PSTR("STB_PIT_"), STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_D, STABILIZE_PITCH_IMAX * 100), |
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pid_yaw (k_param_pid_yaw, PSTR("STB_YAW_"), YAW_P, YAW_I, YAW_D, YAW_IMAX * 100), |
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pid_nav_lat (k_param_pid_nav_lat, PSTR("NAV_LAT_"), NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), |
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pid_nav_lon (k_param_pid_nav_lon, PSTR("NAV_LON_"), NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), |
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pid_baro_throttle (k_param_pid_baro_throttle, PSTR("THR_BAR_"), THROTTLE_BARO_P, THROTTLE_BARO_I, THROTTLE_BARO_D, THROTTLE_BARO_IMAX * 100), |
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pid_sonar_throttle (k_param_pid_sonar_throttle, PSTR("THR_SON_"), THROTTLE_SONAR_P, THROTTLE_SONAR_I, THROTTLE_SONAR_D, THROTTLE_SONAR_IMAX * 100), |
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stabilize_dampener (STABILIZE_DAMPENER, k_param_stabilize_dampener, PSTR("STB_DAMP")), |
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hold_yaw_dampener (HOLD_YAW_DAMPENER, k_param_hold_yaw_dampener, PSTR("YAW_DAMP")), |
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junk(0) // XXX just so that we can add things without worrying about the trailing comma |
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{ |
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} |
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}; |
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#endif // PARAMETERS_H
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