2016-02-17 21:26:00 -04:00
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#pragma once
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2011-02-17 03:09:13 -04:00
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2015-08-11 03:28:40 -03:00
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#include <AP_Common/AP_Common.h>
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2011-02-17 03:09:13 -04:00
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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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2012-08-16 21:50:03 -03:00
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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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// 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, // deprecated
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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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k_param_NavEKF2_old, // deprecated - remove
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k_param_NavEKF2,
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k_param_g2, // 2nd block of parameters
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k_param_NavEKF3,
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k_param_BoardConfig_CAN,
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k_param_osd,
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// simulation
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k_param_sitl = 10,
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2012-12-18 06:15:11 -04:00
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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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// (old) EPM object
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k_param_epm_unused,
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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,
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// Landing gear object
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k_param_landinggear, // 18
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// Input Management object
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k_param_input_manager, // 19
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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, // unused, replaced by rssi_ library parameters
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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_speed_up, // renamed from k_param_pilot_velocity_z_max
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k_param_circle_rate, // deprecated - remove
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2016-04-27 08:37:04 -03:00
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k_param_rangefinder_gain,
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k_param_ch8_option_old, // deprecated
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k_param_arming_check_old, // deprecated - remove
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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, // unused - moved to AP_BattMonitor
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2014-02-03 03:39:43 -04:00
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k_param_angle_rate_max, // remove
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2015-08-28 03:00:55 -03:00
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k_param_rssi_range, // unused, replaced by rssi_ library parameters
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k_param_rc_feel_rp, // deprecated
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k_param_NavEKF, // deprecated - remove
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k_param_mission, // mission library
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k_param_rc_13_old,
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k_param_rc_14_old,
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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_rangefinder, // rangefinder object
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k_param_fs_ekf_thresh,
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k_param_terrain,
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k_param_acro_rp_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_old, // deprecated - remove
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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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2012-08-16 21:50:03 -03:00
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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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2015-11-25 19:22:21 -04:00
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// AP_ADSB Library
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k_param_adsb, // 72
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k_param_notify, // 73
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2015-10-12 11:27:26 -03:00
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// 74: precision landing object
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k_param_precland = 74,
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2013-11-12 09:52:41 -04:00
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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, // remove
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k_param_single_servo_2, // remove
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k_param_single_servo_3, // remove
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k_param_single_servo_4, // 78 - remove
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2012-08-16 21:50:03 -03:00
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//
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// 80: Heli
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//
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k_param_heli_servo_1 = 80, // remove
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k_param_heli_servo_2, // remove
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k_param_heli_servo_3, // remove
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k_param_heli_servo_4, // remove
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2014-02-03 03:39:43 -04:00
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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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2015-10-12 22:05:49 -03:00
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k_param_heli_stab_col_min, // remove
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k_param_heli_stab_col_max, // remove
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2016-02-08 07:15:48 -04:00
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k_param_heli_servo_rsc, // 89 = full! - remove
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2012-08-16 21:50:03 -03:00
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//
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// 90: misc2
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//
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k_param_motors = 90,
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k_param_disarm_delay,
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2015-08-30 23:15:46 -03:00
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k_param_fs_crash_check,
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2015-12-18 05:46:56 -04:00
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k_param_throw_motor_start,
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2016-04-21 02:04:19 -03:00
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k_param_terrain_follow, // 94
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2016-06-20 05:27:14 -03:00
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k_param_avoid,
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2016-07-21 09:44:09 -03:00
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k_param_avoidance_adsb,
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2012-08-16 21:50:03 -03:00
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2015-08-28 03:00:55 -03:00
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// 97: RSSI
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k_param_rssi = 97,
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2012-11-07 06:03:30 -04:00
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//
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// 100: Inertial Nav
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//
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2015-03-12 10:24:40 -03:00
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k_param_inertial_nav = 100, // deprecated
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2014-01-10 10:29:55 -04:00
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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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2018-03-27 23:13:37 -03:00
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k_param_circle_nav,
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k_param_loiter_nav, // 105
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2012-11-07 06:03:30 -04:00
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2012-08-16 21:50:03 -03:00
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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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2014-05-20 23:39:34 -03:00
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k_param_serial1_baud_old, // deprecated
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2012-08-29 20:03:01 -03:00
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k_param_telem_delay,
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2013-11-23 06:45:42 -04:00
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k_param_gcs2,
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2014-05-20 23:39:34 -03:00
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k_param_serial2_baud_old, // deprecated
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2015-01-19 09:52:54 -04:00
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k_param_serial2_protocol, // deprecated
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2015-06-13 15:37:07 -03:00
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k_param_serial_manager,
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2018-06-04 00:06:32 -03:00
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k_param_ch9_option_old,
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k_param_ch10_option_old,
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k_param_ch11_option_old,
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k_param_ch12_option_old,
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2015-04-30 03:04:17 -03:00
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k_param_takeoff_trigger_dz,
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2015-06-13 15:37:07 -03:00
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k_param_gcs3,
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k_param_gcs_pid_mask, // 126
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2012-08-16 21:50:03 -03:00
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2015-06-14 02:47:02 -03:00
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//
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// 135 : reserved for Solo until features merged with master
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//
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k_param_rtl_speed_cms = 135,
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2016-01-06 03:00:29 -04:00
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k_param_fs_batt_curr_rtl,
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k_param_rtl_cone_slope, // 137
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2015-06-13 15:33:35 -03:00
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2012-08-16 21:50:03 -03:00
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//
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// 140: Sensor parameters
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//
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2012-11-05 00:32:38 -04:00
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k_param_imu = 140, // deprecated - can be deleted
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2013-10-01 10:34:44 -03:00
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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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2013-03-03 10:23:54 -04:00
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k_param_input_voltage, // deprecated - can be deleted
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2013-10-01 10:34:44 -03:00
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k_param_pack_capacity, // deprecated - can be deleted
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2012-08-16 21:50:03 -03:00
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k_param_compass_enabled,
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k_param_compass,
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2016-04-27 08:37:04 -03:00
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k_param_rangefinder_enabled_old, // deprecated
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2016-12-14 21:26:36 -04:00
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k_param_frame_type,
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2014-07-11 23:32:00 -03:00
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k_param_optflow_enabled, // deprecated
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2018-02-28 19:32:16 -04:00
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k_param_fs_batt_voltage, // unused - moved to AP_BattMonitor
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2018-06-04 00:06:32 -03:00
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k_param_ch7_option_old,
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2013-05-17 04:09:17 -03:00
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k_param_auto_slew_rate, // deprecated - can be deleted
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2016-04-27 08:37:04 -03:00
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k_param_rangefinder_type_old, // deprecated
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2012-10-13 06:40:46 -03:00
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k_param_super_simple = 155,
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2013-08-04 08:06:55 -03:00
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k_param_axis_enabled = 157, // deprecated - remove with next eeprom number change
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2013-11-27 23:59:05 -04:00
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k_param_copter_leds_mode, // deprecated - remove with next eeprom number change
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2013-10-01 10:34:44 -03:00
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k_param_ahrs, // AHRS group // 159
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2012-08-16 21:50:03 -03:00
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//
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// 160: Navigation parameters
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//
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2012-11-29 08:08:19 -04:00
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k_param_rtl_altitude = 160,
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2013-03-17 04:46:31 -03:00
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k_param_crosstrack_gain, // deprecated - remove with next eeprom number change
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2012-11-29 08:08:19 -04:00
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k_param_rtl_loiter_time,
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k_param_rtl_alt_final,
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2013-03-17 04:53:32 -03:00
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k_param_tilt_comp, //164 deprecated - remove with next eeprom number change
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2012-08-16 21:50:03 -03:00
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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,
|
2014-12-16 08:23:33 -04:00
|
|
|
k_param_camera_mount2, // deprecated
|
2012-08-16 21:50:03 -03:00
|
|
|
|
2012-10-13 06:40:46 -03:00
|
|
|
//
|
|
|
|
// Batery monitoring parameters
|
|
|
|
//
|
2013-10-01 10:34:44 -03:00
|
|
|
k_param_battery_volt_pin = 168, // deprecated - can be deleted
|
|
|
|
k_param_battery_curr_pin, // 169 deprecated - can be deleted
|
2012-10-13 06:40:46 -03:00
|
|
|
|
2012-08-16 21:50:03 -03:00
|
|
|
//
|
|
|
|
// 170: Radio settings
|
|
|
|
//
|
2017-01-06 21:06:40 -04:00
|
|
|
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_10_old,
|
|
|
|
k_param_rc_11_old,
|
2016-06-09 09:48:21 -03:00
|
|
|
k_param_throttle_min, // remove
|
2015-03-16 01:35:57 -03:00
|
|
|
k_param_throttle_max, // remove
|
2012-12-10 10:38:43 -04:00
|
|
|
k_param_failsafe_throttle,
|
|
|
|
k_param_throttle_fs_action, // remove
|
|
|
|
k_param_failsafe_throttle_value,
|
2015-01-31 03:04:54 -04:00
|
|
|
k_param_throttle_trim, // remove
|
2012-08-16 21:50:03 -03:00
|
|
|
k_param_esc_calibrate,
|
|
|
|
k_param_radio_tuning,
|
|
|
|
k_param_radio_tuning_high,
|
|
|
|
k_param_radio_tuning_low,
|
|
|
|
k_param_rc_speed = 192,
|
2018-02-28 19:32:16 -04:00
|
|
|
k_param_failsafe_battery_enabled, // unused - moved to AP_BattMonitor
|
2016-06-09 10:09:55 -03:00
|
|
|
k_param_throttle_mid, // remove
|
2015-03-12 23:05:30 -03:00
|
|
|
k_param_failsafe_gps_enabled, // remove
|
2017-01-06 21:06:40 -04:00
|
|
|
k_param_rc_9_old,
|
|
|
|
k_param_rc_12_old,
|
2015-06-13 15:37:07 -03:00
|
|
|
k_param_failsafe_gcs,
|
2015-04-16 01:54:29 -03:00
|
|
|
k_param_rcmap, // 199
|
2012-08-16 21:50:03 -03:00
|
|
|
|
|
|
|
//
|
|
|
|
// 200: flight modes
|
|
|
|
//
|
|
|
|
k_param_flight_mode1 = 200,
|
|
|
|
k_param_flight_mode2,
|
|
|
|
k_param_flight_mode3,
|
|
|
|
k_param_flight_mode4,
|
|
|
|
k_param_flight_mode5,
|
|
|
|
k_param_flight_mode6,
|
|
|
|
k_param_simple_modes,
|
2017-04-10 05:39:10 -03:00
|
|
|
k_param_flight_mode_chan,
|
2012-08-16 21:50:03 -03:00
|
|
|
|
|
|
|
//
|
|
|
|
// 210: Waypoint data
|
|
|
|
//
|
|
|
|
k_param_waypoint_mode = 210, // remove
|
2014-02-27 21:15:40 -04:00
|
|
|
k_param_command_total, // remove
|
|
|
|
k_param_command_index, // remove
|
2012-12-10 08:45:57 -04:00
|
|
|
k_param_command_nav_index, // remove
|
2013-04-14 01:27:37 -03:00
|
|
|
k_param_waypoint_radius, // remove
|
2014-02-03 03:39:43 -04:00
|
|
|
k_param_circle_radius, // remove
|
2013-04-14 01:27:37 -03:00
|
|
|
k_param_waypoint_speed_max, // remove
|
2012-12-21 23:52:49 -04:00
|
|
|
k_param_land_speed,
|
2013-04-18 02:52:21 -03:00
|
|
|
k_param_auto_velocity_z_min, // remove
|
|
|
|
k_param_auto_velocity_z_max, // remove - 219
|
2016-03-29 22:03:41 -03:00
|
|
|
k_param_land_speed_high,
|
2012-08-16 21:50:03 -03:00
|
|
|
|
|
|
|
//
|
|
|
|
// 220: PI/D Controllers
|
|
|
|
//
|
2013-08-04 08:22:12 -03:00
|
|
|
k_param_acro_rp_p = 221,
|
2012-12-10 08:45:57 -04:00
|
|
|
k_param_axis_lock_p, // remove
|
2016-02-12 20:08:14 -04:00
|
|
|
k_param_pid_rate_roll, // remove
|
|
|
|
k_param_pid_rate_pitch, // remove
|
|
|
|
k_param_pid_rate_yaw, // remove
|
|
|
|
k_param_p_stabilize_roll, // remove
|
|
|
|
k_param_p_stabilize_pitch, // remove
|
|
|
|
k_param_p_stabilize_yaw, // remove
|
2017-11-20 21:49:11 -04:00
|
|
|
k_param_p_pos_xy, // remove
|
2014-02-14 03:08:59 -04:00
|
|
|
k_param_p_loiter_lon, // remove
|
2015-01-29 02:51:21 -04:00
|
|
|
k_param_pid_loiter_rate_lat, // remove
|
|
|
|
k_param_pid_loiter_rate_lon, // remove
|
2015-06-13 15:37:07 -03:00
|
|
|
k_param_pid_nav_lat, // remove
|
|
|
|
k_param_pid_nav_lon, // remove
|
2017-11-20 21:49:11 -04:00
|
|
|
k_param_p_alt_hold, // remove
|
|
|
|
k_param_p_vel_z, // remove
|
2015-06-13 15:37:07 -03:00
|
|
|
k_param_pid_optflow_roll, // remove
|
|
|
|
k_param_pid_optflow_pitch, // remove
|
|
|
|
k_param_acro_balance_roll_old, // remove
|
|
|
|
k_param_acro_balance_pitch_old, // remove
|
2017-11-20 21:49:11 -04:00
|
|
|
k_param_pid_accel_z, // remove
|
2013-08-04 06:14:07 -03:00
|
|
|
k_param_acro_balance_roll,
|
2013-08-04 08:22:12 -03:00
|
|
|
k_param_acro_balance_pitch,
|
2015-06-13 15:37:07 -03:00
|
|
|
k_param_acro_yaw_p,
|
|
|
|
k_param_autotune_axis_bitmask,
|
|
|
|
k_param_autotune_aggressiveness,
|
2017-11-20 07:26:32 -04:00
|
|
|
k_param_pi_vel_xy, // remove
|
2015-07-12 22:39:54 -03:00
|
|
|
k_param_fs_ekf_action,
|
2015-08-23 02:44:45 -03:00
|
|
|
k_param_rtl_climb_min,
|
2015-08-07 02:34:56 -03:00
|
|
|
k_param_rpm_sensor,
|
2015-08-23 02:44:45 -03:00
|
|
|
k_param_autotune_min_d, // 251
|
2017-01-09 03:45:48 -04:00
|
|
|
k_param_arming, // 252 - AP_Arming
|
2015-11-09 18:14:31 -04:00
|
|
|
k_param_DataFlash = 253, // 253 - Logging Group
|
2012-08-16 21:50:03 -03:00
|
|
|
|
|
|
|
// 254,255: reserved
|
2016-07-21 09:44:09 -03:00
|
|
|
|
|
|
|
// the k_param_* space is 9-bits in size
|
|
|
|
// 511: reserved
|
2012-08-16 21:50:03 -03:00
|
|
|
};
|
|
|
|
|
|
|
|
AP_Int16 format_version;
|
|
|
|
|
|
|
|
// Telemetry control
|
|
|
|
//
|
|
|
|
AP_Int16 sysid_this_mav;
|
|
|
|
AP_Int16 sysid_my_gcs;
|
2012-08-29 20:03:01 -03:00
|
|
|
AP_Int8 telem_delay;
|
2012-08-16 21:50:03 -03:00
|
|
|
|
2015-04-16 01:54:29 -03:00
|
|
|
AP_Float throttle_filt;
|
2015-04-30 03:04:17 -03:00
|
|
|
AP_Int16 throttle_behavior;
|
|
|
|
AP_Int16 takeoff_trigger_dz;
|
2015-04-30 03:06:55 -03:00
|
|
|
AP_Float pilot_takeoff_alt;
|
2015-04-16 01:54:29 -03:00
|
|
|
|
2012-11-29 08:08:19 -04:00
|
|
|
AP_Int16 rtl_altitude;
|
2015-10-19 21:19:37 -03:00
|
|
|
AP_Int16 rtl_speed_cms;
|
2016-01-06 03:00:29 -04:00
|
|
|
AP_Float rtl_cone_slope;
|
2018-03-15 09:39:26 -03:00
|
|
|
#if RANGEFINDER_ENABLED == ENABLED
|
2016-04-27 08:37:04 -03:00
|
|
|
AP_Float rangefinder_gain;
|
2018-03-15 09:39:26 -03:00
|
|
|
#endif
|
2013-10-01 10:34:44 -03:00
|
|
|
|
2013-04-29 09:30:22 -03:00
|
|
|
AP_Int8 failsafe_gcs; // ground station failsafe behavior
|
2013-10-13 01:53:26 -03:00
|
|
|
AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position
|
2012-11-13 10:43:54 -04:00
|
|
|
|
2012-08-16 21:50:03 -03:00
|
|
|
AP_Int8 compass_enabled;
|
|
|
|
AP_Int8 super_simple;
|
2012-11-29 08:08:19 -04:00
|
|
|
AP_Int16 rtl_alt_final;
|
2015-07-12 22:39:54 -03:00
|
|
|
AP_Int16 rtl_climb_min; // rtl minimum climb in cm
|
2012-08-16 21:50:03 -03:00
|
|
|
|
2013-04-18 03:30:18 -03:00
|
|
|
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
|
2014-04-11 05:15:09 -03:00
|
|
|
|
2014-07-11 02:08:09 -03:00
|
|
|
AP_Int16 poshold_brake_rate; // PosHold flight mode's rotation rate during braking in deg/sec
|
|
|
|
AP_Int16 poshold_brake_angle_max; // PosHold flight mode's max lean angle during braking in centi-degrees
|
2013-12-17 00:58:11 -04:00
|
|
|
|
2012-08-16 21:50:03 -03:00
|
|
|
// Waypoints
|
|
|
|
//
|
2012-11-29 08:08:19 -04:00
|
|
|
AP_Int32 rtl_loiter_time;
|
2012-11-24 09:50:09 -04:00
|
|
|
AP_Int16 land_speed;
|
2016-03-29 22:03:41 -03:00
|
|
|
AP_Int16 land_speed_high;
|
2017-11-08 09:25:53 -04:00
|
|
|
AP_Int16 pilot_speed_up; // maximum vertical ascending velocity the pilot may request
|
2014-04-30 00:05:02 -03:00
|
|
|
AP_Int16 pilot_accel_z; // vertical acceleration the pilot may request
|
2012-08-16 21:50:03 -03:00
|
|
|
|
|
|
|
// Throttle
|
|
|
|
//
|
2012-12-10 10:38:43 -04:00
|
|
|
AP_Int8 failsafe_throttle;
|
|
|
|
AP_Int16 failsafe_throttle_value;
|
2013-10-27 10:13:42 -03:00
|
|
|
AP_Int16 throttle_deadzone;
|
2012-08-16 21:50:03 -03:00
|
|
|
|
|
|
|
// Flight modes
|
|
|
|
//
|
|
|
|
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 simple_modes;
|
2017-04-10 05:39:10 -03:00
|
|
|
AP_Int8 flight_mode_chan;
|
2012-08-16 21:50:03 -03:00
|
|
|
|
|
|
|
// Misc
|
|
|
|
//
|
2014-10-16 21:37:49 -03:00
|
|
|
AP_Int32 log_bitmask;
|
2012-08-16 21:50:03 -03:00
|
|
|
AP_Int8 esc_calibrate;
|
|
|
|
AP_Int8 radio_tuning;
|
|
|
|
AP_Int16 radio_tuning_high;
|
|
|
|
AP_Int16 radio_tuning_low;
|
2016-12-14 21:26:36 -04:00
|
|
|
AP_Int8 frame_type;
|
2015-08-30 22:44:08 -03:00
|
|
|
AP_Int8 disarm_delay;
|
2012-08-16 21:50:03 -03:00
|
|
|
|
2014-07-06 06:05:43 -03:00
|
|
|
AP_Int8 land_repositioning;
|
2015-06-09 23:39:06 -03:00
|
|
|
AP_Int8 fs_ekf_action;
|
2015-08-30 23:15:46 -03:00
|
|
|
AP_Int8 fs_crash_check;
|
2015-06-09 22:16:52 -03:00
|
|
|
AP_Float fs_ekf_thresh;
|
2015-05-27 01:32:05 -03:00
|
|
|
AP_Int16 gcs_pid_mask;
|
2014-07-06 06:05:43 -03:00
|
|
|
|
2018-03-14 17:16:16 -03:00
|
|
|
#if MODE_THROW_ENABLED == ENABLED
|
2015-12-18 05:46:56 -04:00
|
|
|
AP_Int8 throw_motor_start;
|
2018-03-14 17:16:16 -03:00
|
|
|
#endif
|
2018-03-15 09:39:26 -03:00
|
|
|
|
|
|
|
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
|
2016-04-21 02:04:19 -03:00
|
|
|
AP_Int8 terrain_follow;
|
2018-03-15 09:39:26 -03:00
|
|
|
#endif
|
2015-12-18 05:46:56 -04:00
|
|
|
|
2012-08-16 21:50:03 -03:00
|
|
|
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
|
|
|
|
|
2012-10-23 09:30:50 -03:00
|
|
|
// Acro parameters
|
2013-08-04 08:22:12 -03:00
|
|
|
AP_Float acro_rp_p;
|
|
|
|
AP_Float acro_yaw_p;
|
2013-08-04 06:14:07 -03:00
|
|
|
AP_Float acro_balance_roll;
|
|
|
|
AP_Float acro_balance_pitch;
|
|
|
|
AP_Int8 acro_trainer;
|
2016-06-22 01:16:28 -03:00
|
|
|
AP_Float acro_rp_expo;
|
2012-08-16 21:50:03 -03:00
|
|
|
|
2015-02-11 08:17:58 -04:00
|
|
|
// Autotune
|
2018-03-15 09:39:26 -03:00
|
|
|
#if AUTOTUNE_ENABLED == ENABLED
|
2015-02-11 08:17:58 -04:00
|
|
|
AP_Int8 autotune_axis_bitmask;
|
2015-03-04 01:27:10 -04:00
|
|
|
AP_Float autotune_aggressiveness;
|
2015-08-23 02:44:45 -03:00
|
|
|
AP_Float autotune_min_d;
|
2018-03-15 09:39:26 -03:00
|
|
|
#endif
|
2015-02-11 08:17:58 -04:00
|
|
|
|
2012-08-16 21:50:03 -03:00
|
|
|
// Note: keep initializers here in the same order as they are declared
|
|
|
|
// above.
|
2017-11-20 21:49:11 -04:00
|
|
|
Parameters()
|
2012-08-16 21:50:03 -03:00
|
|
|
{
|
|
|
|
}
|
2011-02-17 03:09:13 -04:00
|
|
|
};
|
|
|
|
|
2016-06-04 23:37:55 -03:00
|
|
|
/*
|
|
|
|
2nd block of parameters, to avoid going past 256 top level keys
|
|
|
|
*/
|
|
|
|
class ParametersG2 {
|
|
|
|
public:
|
2016-08-16 07:23:27 -03:00
|
|
|
ParametersG2(void);
|
2016-06-04 23:37:55 -03:00
|
|
|
|
|
|
|
// var_info for holding Parameter information
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
|
|
|
|
// altitude at which nav control can start in takeoff
|
2016-08-15 00:57:38 -03:00
|
|
|
AP_Float wp_navalt_min;
|
2016-07-21 22:24:13 -03:00
|
|
|
|
|
|
|
// button checking
|
|
|
|
AP_Button button;
|
2016-08-01 09:42:09 -03:00
|
|
|
|
2018-02-28 08:20:57 -04:00
|
|
|
#if STATS_ENABLED == ENABLED
|
2016-10-13 03:30:30 -03:00
|
|
|
// vehicle statistics
|
|
|
|
AP_Stats stats;
|
2018-02-28 08:20:57 -04:00
|
|
|
#endif
|
2016-10-13 03:30:30 -03:00
|
|
|
|
2016-10-28 19:08:22 -03:00
|
|
|
#if GRIPPER_ENABLED
|
|
|
|
AP_Gripper gripper;
|
|
|
|
#endif
|
|
|
|
|
2018-03-14 17:16:16 -03:00
|
|
|
#if MODE_THROW_ENABLED == ENABLED
|
2016-08-01 23:26:48 -03:00
|
|
|
// Throw mode parameters
|
2016-08-01 09:42:09 -03:00
|
|
|
AP_Int8 throw_nextmode;
|
2016-08-01 23:26:48 -03:00
|
|
|
AP_Int8 throw_type;
|
2018-03-14 17:16:16 -03:00
|
|
|
#endif
|
2016-08-08 05:16:36 -03:00
|
|
|
|
|
|
|
// ground effect compensation enable/disable
|
|
|
|
AP_Int8 gndeffect_comp_enabled;
|
2016-08-16 07:23:27 -03:00
|
|
|
|
2018-04-10 23:31:17 -03:00
|
|
|
// temperature calibration handling
|
|
|
|
AP_TempCalibration temp_calibration;
|
|
|
|
|
2018-02-22 00:53:20 -04:00
|
|
|
#if BEACON_ENABLED == ENABLED
|
2017-01-04 06:58:53 -04:00
|
|
|
// beacon (non-GPS positioning) library
|
|
|
|
AP_Beacon beacon;
|
2018-02-22 00:53:20 -04:00
|
|
|
#endif
|
2017-01-04 06:58:53 -04:00
|
|
|
|
2017-03-01 07:18:11 -04:00
|
|
|
#if VISUAL_ODOMETRY_ENABLED == ENABLED
|
|
|
|
// Visual Odometry camera
|
|
|
|
AP_VisualOdom visual_odom;
|
|
|
|
#endif
|
|
|
|
|
2016-10-14 02:02:29 -03:00
|
|
|
#if PROXIMITY_ENABLED == ENABLED
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// proximity (aka object avoidance) library
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AP_Proximity proximity;
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#endif
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2016-08-19 01:36:47 -03:00
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// whether to enforce acceptance of packets only from sysid_my_gcs
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AP_Int8 sysid_enforce;
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2016-08-16 07:23:27 -03:00
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#if ADVANCED_FAILSAFE == ENABLED
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// advanced failsafe library
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AP_AdvancedFailsafe_Copter afs;
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#endif
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2016-09-12 03:23:53 -03:00
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// developer options
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AP_Int32 dev_options;
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2016-06-22 01:16:28 -03:00
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// acro exponent parameters
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AP_Float acro_y_expo;
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2018-03-22 15:39:26 -03:00
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#if MODE_ACRO_ENABLED == ENABLED
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2016-06-22 01:16:28 -03:00
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AP_Float acro_thr_mid;
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2018-03-22 15:39:26 -03:00
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#endif
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2016-12-12 06:22:56 -04:00
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// frame class
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AP_Int8 frame_class;
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2017-01-06 21:06:40 -04:00
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// RC input channels
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2018-06-04 00:06:32 -03:00
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RC_Channels_Copter rc_channels;
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2017-01-06 21:06:40 -04:00
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// control over servo output ranges
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SRV_Channels servo_channels;
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2017-07-26 14:14:40 -03:00
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2018-02-21 23:58:28 -04:00
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#if MODE_SMARTRTL_ENABLED == ENABLED
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2017-07-26 14:14:40 -03:00
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// Safe RTL library
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2017-09-08 23:45:31 -03:00
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AP_SmartRTL smart_rtl;
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2018-02-21 23:58:28 -04:00
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#endif
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2017-10-04 23:21:23 -03:00
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// wheel encoder and winch
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2018-02-10 10:23:06 -04:00
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#if WINCH_ENABLED == ENABLED
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2017-10-04 23:21:23 -03:00
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AP_WheelEncoder wheel_encoder;
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AP_Winch winch;
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2018-02-10 10:23:06 -04:00
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#endif
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2017-11-08 09:25:53 -04:00
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// Additional pilot velocity items
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AP_Int16 pilot_speed_dn;
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2018-01-23 08:33:24 -04:00
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// Land alt final stage
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AP_Int16 land_alt_low;
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2017-04-13 00:20:12 -03:00
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2018-01-18 02:49:20 -04:00
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#if TOY_MODE_ENABLED == ENABLED
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ToyMode toy_mode;
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#endif
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2018-02-07 22:21:09 -04:00
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#if OPTFLOW == ENABLED
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// we need a pointer to the mode for the G2 table
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void *mode_flowhold_ptr;
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#endif
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2018-03-22 15:40:32 -03:00
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2018-02-06 02:16:09 -04:00
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#if MODE_FOLLOW_ENABLED == ENABLED
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2018-01-25 08:36:03 -04:00
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// follow
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AP_Follow follow;
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2018-02-06 02:16:09 -04:00
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#endif
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2018-06-23 04:11:05 -03:00
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2016-06-04 23:37:55 -03:00
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};
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2012-08-16 21:50:03 -03:00
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extern const AP_Param::Info var_info[];
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