mirror of https://github.com/ArduPilot/ardupilot
80 lines
3.0 KiB
C++
80 lines
3.0 KiB
C++
|
#include "AP_Torqeedo_Params.h"
|
||
|
|
#include <SRV_Channel/SRV_Channel.h>
|
||
|
|
|
||
|
|
// table of user settable parameters
|
||
|
|
const AP_Param::GroupInfo AP_Torqeedo_Params::var_info[] = {
|
||
|
|
|
||
|
|
// @Param: TYPE
|
||
|
|
// @DisplayName: Torqeedo connection type
|
||
|
|
// @Description: Torqeedo connection type
|
||
|
|
// @Values: 0:Disabled, 1:Tiller, 2:Motor
|
||
|
|
// @User: Standard
|
||
|
|
// @RebootRequired: True
|
||
|
|
AP_GROUPINFO_FLAGS("TYPE", 1, AP_Torqeedo_Params, type, 0, AP_PARAM_FLAG_ENABLE),
|
||
|
|
|
||
|
|
// @Param: ONOFF_PIN
|
||
|
|
// @DisplayName: Torqeedo ON/Off pin
|
||
|
|
// @Description: Pin number connected to Torqeedo's on/off pin. -1 to use serial port's RTS pin if available
|
||
|
|
// @Values: -1:Disabled,50:AUX1,51:AUX2,52:AUX3,53:AUX4,54:AUX5,55:AUX6
|
||
|
|
// @User: Standard
|
||
|
|
// @RebootRequired: True
|
||
|
|
AP_GROUPINFO("ONOFF_PIN", 2, AP_Torqeedo_Params, pin_onoff, -1),
|
||
|
|
|
||
|
|
// @Param: DE_PIN
|
||
|
|
// @DisplayName: Torqeedo DE pin
|
||
|
|
// @Description: Pin number connected to RS485 to Serial converter's DE pin. -1 to use serial port's CTS pin if available
|
||
|
|
// @Values: -1:Disabled,50:AUX1,51:AUX2,52:AUX3,53:AUX4,54:AUX5,55:AUX6
|
||
|
|
// @User: Standard
|
||
|
|
// @RebootRequired: True
|
||
|
|
AP_GROUPINFO("DE_PIN", 3, AP_Torqeedo_Params, pin_de, -1),
|
||
|
|
|
||
|
|
// @Param: OPTIONS
|
||
|
|
// @DisplayName: Torqeedo Options
|
||
|
|
// @Description: Torqeedo Options Bitmask
|
||
|
|
// @Bitmask: 0:Log,1:Send debug to GCS
|
||
|
|
// @User: Advanced
|
||
|
|
AP_GROUPINFO("OPTIONS", 4, AP_Torqeedo_Params, options, 1),
|
||
|
|
|
||
|
|
// @Param: POWER
|
||
|
|
// @DisplayName: Torqeedo Motor Power
|
||
|
|
// @Description: Torqeedo motor power. Only applied when using motor connection type (e.g. TRQD_TYPE=2)
|
||
|
|
// @Units: %
|
||
|
|
// @Range: 0 100
|
||
|
|
// @Increment: 1
|
||
|
|
// @User: Advanced
|
||
|
|
AP_GROUPINFO("POWER", 5, AP_Torqeedo_Params, motor_power, 100),
|
||
|
|
|
||
|
|
// @Param: SLEW_TIME
|
||
|
|
// @DisplayName: Torqeedo Throttle Slew Time
|
||
|
|
// @Description: Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100%. Higher values cause a slower response, lower values cause a faster response. A value of zero disables the limit
|
||
|
|
// @Units: s
|
||
|
|
// @Range: 0 5
|
||
|
|
// @Increment: 0.1
|
||
|
|
// @User: Advanced
|
||
|
|
AP_GROUPINFO("SLEW_TIME", 6, AP_Torqeedo_Params, slew_time, 2.0),
|
||
|
|
|
||
|
|
// @Param: DIR_DELAY
|
||
|
|
// @DisplayName: Torqeedo Direction Change Delay
|
||
|
|
// @Description: Torqeedo direction change delay. Output will remain at zero for this many seconds when transitioning between forward and backwards rotation
|
||
|
|
// @Units: s
|
||
|
|
// @Range: 0 5
|
||
|
|
// @Increment: 0.1
|
||
|
|
// @User: Advanced
|
||
|
|
AP_GROUPINFO("DIR_DELAY", 7, AP_Torqeedo_Params, dir_delay, 1.0),
|
||
|
|
|
||
|
|
// @Param: SERVO_FN
|
||
|
|
// @DisplayName: Torqeedo Servo Output Function
|
||
|
|
// @Description: Torqeedo Servo Output Function
|
||
|
|
// @Values: 70:Throttle,73:ThrottleLeft,74:ThrottleRight
|
||
|
|
// @Increment: 0.1
|
||
|
|
// @User: Advanced
|
||
|
|
AP_GROUPINFO("SERVO_FN", 8, AP_Torqeedo_Params, servo_fn, (int16_t)SRV_Channel::k_throttle),
|
||
|
|
|
||
|
|
AP_GROUPEND
|
||
|
|
};
|
||
|
|
|
||
|
|
AP_Torqeedo_Params::AP_Torqeedo_Params(void)
|
||
|
|
{
|
||
|
|
AP_Param::setup_object_defaults(this, var_info);
|
||
|
|
}
|