ardupilot/ArduSub/Parameters.cpp

#include "Sub.h"

/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

/*
 *  ArduSub parameter definitions
 *
 */

#define GSCALAR(v, name, def) { sub.g.v.vtype, name, Parameters::k_param_ ## v, &sub.g.v, {def_value : def} }
#define ASCALAR(v, name, def) { sub.aparm.v.vtype, name, Parameters::k_param_ ## v, (const void *)&sub.aparm.v, {def_value : def} }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &sub.g.v, {group_info : class::var_info} }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&sub.v, {group_info : class::var_info} }
#define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&sub.v, {group_info : class::var_info} }

const AP_Param::Info Sub::var_info[] = {

    // @Param: SURFACE_DEPTH
    // @DisplayName: Depth reading at surface
    // @Description: The depth the external pressure sensor will read when the vehicle is considered at the surface (in centimeters)
    // @Range: -100 0
    // @User: Standard
    GSCALAR(surface_depth, "SURFACE_DEPTH", SURFACE_DEPTH_DEFAULT),

    // @Param: SYSID_SW_MREV
    // @DisplayName: Eeprom format version number
    // @Description: This value is incremented when changes are made to the eeprom format
    // @User: Advanced
    // @ReadOnly: True
    GSCALAR(format_version, "SYSID_SW_MREV",   0),

    // @Param: SYSID_SW_TYPE
    // @DisplayName: Software Type
    // @Description: This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)
    // @Values: 0:ArduPlane,4:AntennaTracker,10:Copter,20:Rover,40:ArduSub
    // @User: Advanced
    // @ReadOnly: True
    GSCALAR(software_type,  "SYSID_SW_TYPE",   Parameters::k_software_type),

    // @Param: SYSID_THISMAV
    // @DisplayName: MAVLink system ID of this vehicle
    // @Description: Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
    // @Range: 1 255
    // @User: Advanced
    GSCALAR(sysid_this_mav, "SYSID_THISMAV",   MAV_SYSTEM_ID),

    // @Param: SYSID_MYGCS
    // @DisplayName: My ground station number
    // @Description: Allows restricting radio overrides to only come from my ground station
    // @Values: 255:Mission Planner and DroidPlanner, 252: AP Planner 2
    // @User: Advanced
    GSCALAR(sysid_my_gcs,   "SYSID_MYGCS",     255),

    // @Param: PILOT_THR_FILT
    // @DisplayName: Throttle filter cutoff
    // @Description: Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
    // @User: Advanced
    // @Units: Hz
    // @Range: 0 10
    // @Increment: .5
    GSCALAR(throttle_filt,  "PILOT_THR_FILT",     0),

    // @Group: SERIAL
    // @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
    GOBJECT(serial_manager, "SERIAL",   AP_SerialManager),

    // @Param: GCS_PID_MASK
    // @DisplayName: GCS PID tuning mask
    // @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
    // @User: Advanced
    // @Values: 0:None,1:Roll,2:Pitch,4:Yaw
    // @Bitmask: 0:Roll,1:Pitch,2:Yaw
    GSCALAR(gcs_pid_mask,           "GCS_PID_MASK",     0),

    // @Param: RNGFND_GAIN
    // @DisplayName: Rangefinder gain
    // @Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the sub
    // @Range: 0.01 2.0
    // @Increment: 0.01
    // @User: Standard
    GSCALAR(rangefinder_gain,     "RNGFND_GAIN",           RANGEFINDER_GAIN_DEFAULT),

    // @Param: FS_BATT_ENABLE
    // @DisplayName: Battery Failsafe Enable
    // @Description: Controls whether failsafe will be invoked when battery voltage or current runs low
    // @Values: 0:Disabled,1:Warn only,2:Disarm,3:Enter surface mode
    // @User: Standard
    GSCALAR(failsafe_battery_enabled, "FS_BATT_ENABLE", FS_BATT_DISABLED),

    // @Param: FS_BATT_VOLTAGE
    // @DisplayName: Failsafe battery voltage
    // @Description: Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe.
    // @Units: V
    // @Increment: 0.1
    // @User: Standard
    GSCALAR(fs_batt_voltage,        "FS_BATT_VOLTAGE", FS_BATT_VOLTAGE_DEFAULT),

    // @Param: FS_BATT_MAH
    // @DisplayName: Failsafe battery milliAmpHours
    // @Description: Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe.
    // @Units: mA.h
    // @Increment: 50
    // @User: Standard
    GSCALAR(fs_batt_mah,            "FS_BATT_MAH", FS_BATT_MAH_DEFAULT),

    // @Param: FS_GCS_ENABLE
    // @DisplayName: Ground Station Failsafe Enable
    // @Description: Controls what action to take when GCS heartbeat is lost.
    // @Values: 0:Disabled,1:Warn only,2:Disarm,3:Enter depth hold mode,4:Enter surface mode
    // @User: Standard
    GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_DISARM),

    // @Param: FS_LEAK_ENABLE
    // @DisplayName: Leak Failsafe Enable
    // @Description: Controls what action to take if a leak is detected.
    // @Values: 0:Disabled,1:Warn only,2:Enter surface mode
    // @User: Standard
    GSCALAR(failsafe_leak, "FS_LEAK_ENABLE", FS_LEAK_WARN_ONLY),

    // @Param: FS_PRESS_ENABLE
    // @DisplayName: Internal Pressure Failsafe Enable
    // @Description: Controls what action to take if internal pressure exceeds FS_PRESS_MAX parameter.
    // @Values: 0:Disabled,1:Warn only
    // @User: Standard
    GSCALAR(failsafe_pressure, "FS_PRESS_ENABLE", FS_PRESS_DISABLED),

    // @Param: FS_TEMP_ENABLE
    // @DisplayName: Internal Temperature Failsafe Enable
    // @Description: Controls what action to take if internal temperature exceeds FS_TEMP_MAX parameter.
    // @Values: 0:Disabled,1:Warn only
    // @User: Standard
    GSCALAR(failsafe_temperature, "FS_TEMP_ENABLE", FS_TEMP_DISABLED),

    // @Param: FS_PRESS_MAX
    // @DisplayName: Internal Pressure Failsafe Threshold
    // @Description: The maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS_PRESS_ENABLE parameter
    // @Units: Pa
    // @User: Standard
    GSCALAR(failsafe_pressure_max, "FS_PRESS_MAX", FS_PRESS_MAX_DEFAULT),

    // @Param: FS_TEMP_MAX
    // @DisplayName: Internal Temperature Failsafe Threshold
    // @Description: The maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS_TEMP_ENABLE parameter.
    // @Units: degC
    // @User: Standard
    GSCALAR(failsafe_temperature_max, "FS_TEMP_MAX", FS_TEMP_MAX_DEFAULT),

    // @Param: FS_TERRAIN_ENAB
    // @DisplayName: Terrain Failsafe Enable
    // @Description: Controls what action to take if terrain information is lost during AUTO mode
    // @Values: 0:Disarm, 1:Hold Position, 2:Surface
    // @User: Standard
    GSCALAR(failsafe_terrain, "FS_TERRAIN_ENAB", FS_TERRAIN_DISARM),

    // @Param: FS_PILOT_INPUT
    // @DisplayName: Pilot input failsafe action
    // @Description: Controls what action to take if no pilot input has been received after the timeout period specified by the FS_PILOT_TIMEOUT parameter
    // @Values: 0:Disabled, 1:Warn Only, 2:Disarm
    // @User: Standard
    GSCALAR(failsafe_pilot_input, "FS_PILOT_INPUT", FS_PILOT_INPUT_DISARM),

    // @Param: FS_PILOT_TIMEOUT
    // @DisplayName: Timeout for activation of pilot input failsafe
    // @Description: Controls the maximum interval between received pilot inputs before the failsafe action is triggered
    // @Units: s
    // @Range: 0.1 3.0
    // @User: Standard
    GSCALAR(failsafe_pilot_input_timeout, "FS_PILOT_TIMEOUT", 1.0f),

    // @Param: XTRACK_ANG_LIM
    // @DisplayName: Crosstrack correction angle limit
    // @Description: Maximum allowed angle (in degrees) between current track and desired heading during waypoint navigation
    // @Range: 10 90
    // @User: Standard
    GSCALAR(xtrack_angle_limit,"XTRACK_ANG_LIM", 45),

    // @Param: MAG_ENABLE
    // @DisplayName: Compass enable/disable
    // @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass
    // @Values: 0:Disabled,1:Enabled
    // @User: Standard
    GSCALAR(compass_enabled,        "MAG_ENABLE",   ENABLED),

    // @Param: WP_YAW_BEHAVIOR
    // @DisplayName: Yaw behaviour during missions
    // @Description: Determines how the autopilot controls the yaw during missions and RTL
    // @Values: 0:Never change yaw, 1:Face next waypoint, 2:Face next waypoint except RTL, 3:Face along GPS course
    // @User: Standard
    GSCALAR(wp_yaw_behavior,  "WP_YAW_BEHAVIOR",    WP_YAW_BEHAVIOR_DEFAULT),

    // @Param: PILOT_VELZ_MAX
    // @DisplayName: Pilot maximum vertical speed
    // @Description: The maximum vertical velocity the pilot may request in cm/s
    // @Units: cm/s
    // @Range: 50 500
    // @Increment: 10
    // @User: Standard
    GSCALAR(pilot_velocity_z_max,     "PILOT_VELZ_MAX",   PILOT_VELZ_MAX),

    // @Param: PILOT_ACCEL_Z
    // @DisplayName: Pilot vertical acceleration
    // @Description: The vertical acceleration used when pilot is controlling the altitude
    // @Units: cm/s/s
    // @Range: 50 500
    // @Increment: 10
    // @User: Standard
    GSCALAR(pilot_accel_z,  "PILOT_ACCEL_Z",    PILOT_ACCEL_Z_DEFAULT),

    // @Param: THR_DZ
    // @DisplayName: Throttle deadzone
    // @Description: The PWM deadzone in microseconds above and below mid throttle. Used in AltHold, Loiter, PosHold flight modes
    // @User: Standard
    // @Range: 0 300
    // @Units: PWM
    // @Increment: 1
    GSCALAR(throttle_deadzone,  "THR_DZ",    THR_DZ_DEFAULT),

    // @Param: LOG_BITMASK
    // @DisplayName: Log bitmask
    // @Description: 4 byte bitmap of log types to enable
    // @Values: 830:Default,894:Default+RCIN,958:Default+IMU,1854:Default+Motors,-6146:NearlyAll-AC315,45054:NearlyAll,131071:All+FastATT,262142:All+MotBatt,393214:All+FastIMU,397310:All+FastIMU+PID,655358:All+FullIMU,0:Disabled
    // @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW
    // @User: Standard
    GSCALAR(log_bitmask,    "LOG_BITMASK",          DEFAULT_LOG_BITMASK),

    // @Param: ANGLE_MAX
    // @DisplayName: Angle Max
    // @Description: Maximum lean angle in all flight modes
    // @Units: cdeg
    // @Range: 1000 8000
    // @User: Advanced
    ASCALAR(angle_max, "ANGLE_MAX",                 DEFAULT_ANGLE_MAX),

    // @Param: RC_FEEL_RP
    // @DisplayName: RC Feel Roll/Pitch
    // @Description: RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp
    // @Range: 0 100
    // @Increment: 10
    // @User: Standard
    // @Values: 0:Very Soft, 25:Soft, 50:Medium, 75:Crisp, 100:Very Crisp
    GSCALAR(rc_feel_rp, "RC_FEEL_RP",  RC_FEEL_RP_MEDIUM),

    // @Param: FS_EKF_ACTION
    // @DisplayName: EKF Failsafe Action
    // @Description: Controls the action that will be taken when an EKF failsafe is invoked
    // @Values: 0:Disabled, 1:Warn only, 2:Disarm
    // @User: Advanced
    GSCALAR(fs_ekf_action, "FS_EKF_ACTION",    FS_EKF_ACTION_DEFAULT),

    // @Param: FS_EKF_THRESH
    // @DisplayName: EKF failsafe variance threshold
    // @Description: Allows setting the maximum acceptable compass and velocity variance
    // @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
    // @User: Advanced
    GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH",    FS_EKF_THRESHOLD_DEFAULT),

    // @Param: FS_CRASH_CHECK
    // @DisplayName: Crash check enable
    // @Description: This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
    // @Values: 0:Disabled,1:Warn only,2:Disarm
    // @User: Advanced
    GSCALAR(fs_crash_check, "FS_CRASH_CHECK",    FS_CRASH_DISABLED),

    // @Param: JS_GAIN_DEFAULT
    // @DisplayName: Default gain at boot
    // @Description: Default gain at boot, must be in range [JS_GAIN_MIN , JS_GAIN_MAX]
    // @User: Standard
    // @Range: 0.1 1.0
    GSCALAR(gain_default, "JS_GAIN_DEFAULT", 0.5),

    // @Param: JS_GAIN_MAX
    // @DisplayName: Maximum joystick gain
    // @Description: Maximum joystick gain
    // @User: Standard
    // @Range: 0.2 1.0
    GSCALAR(maxGain, "JS_GAIN_MAX", 1.0),

    // @Param: JS_GAIN_MIN
    // @DisplayName: Minimum joystick gain
    // @Description: Minimum joystick gain
    // @User: Standard
    // @Range: 0.1 0.8
    GSCALAR(minGain, "JS_GAIN_MIN", 0.25),

    // @Param: JS_GAIN_STEPS
    // @DisplayName: Gain steps
    // @Description: Controls the number of steps between minimum and maximum joystick gain when the gain is adjusted using buttons. Set to 1 to always use JS_GAIN_DEFAULT.
    // @User: Standard
    // @Range: 1 10
    GSCALAR(numGainSettings, "JS_GAIN_STEPS", 4),

    // @Param: JS_CAM_TILT_STEP
    // @DisplayName: Camera tilt step size
    // @Description: Size of PWM increment in microseconds on camera tilt servo
    // @User: Standard
    // @Range: 30 400
    // @Units: PWM
    GSCALAR(cam_tilt_step, "JS_CAM_TILT_STEP", 50),

    // @Param: JS_LIGHTS_STEP
    // @DisplayName: Lights step size
    // @Description: Size of PWM increment in microseconds on lights servo
    // @User: Standard
    // @Range: 30 400
    // @Units: PWM
    GSCALAR(lights_step, "JS_LIGHTS_STEP", 100),

    // @Param: JS_THR_GAIN
    // @DisplayName: Throttle gain scalar
    // @Description: Scalar for gain on the throttle channel
    // @User: Standard
    // @Range: 0.5 4.0
    GSCALAR(throttle_gain, "JS_THR_GAIN", 1.0f),

    // @Param: CAM_CENTER
    // @DisplayName: Camera tilt mount center
    // @Description: Servo PWM in microseconds at camera center position
    // @User: Standard
    // @Range: 1000 2000
    // @Units: PWM
    GSCALAR(cam_tilt_center, "CAM_CENTER", 1500),

    // @Param: FRAME_CONFIG
    // @DisplayName: Frame configuration
    // @Description: Set this parameter according to your vehicle/motor configuration
    // @User: Standard
    // @RebootRequired: True
    // @Values: 0:BlueROV1, 1:Vectored, 2:Vectored_6DOF, 3:Vectored_6DOF_90, 4:SimpleROV-3, 5:SimpleROV-4, 6:SimpleROV-5, 7:Custom
    GSCALAR(frame_configuration, "FRAME_CONFIG", AP_Motors6DOF::SUB_FRAME_VECTORED),

    // @Group: BTN0_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_0,                   "BTN0_", JSButton),

    // @Group: BTN1_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_1,                   "BTN1_", JSButton),

    // @Group: BTN2_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_2,                   "BTN2_", JSButton),

    // @Group: BTN3_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_3,                   "BTN3_", JSButton),

    // @Group: BTN4_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_4,                   "BTN4_", JSButton),

    // @Group: BTN5_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_5,                   "BTN5_", JSButton),

    // @Group: BTN6_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_6,                   "BTN6_", JSButton),

    // @Group: BTN7_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_7,                   "BTN7_", JSButton),

    // @Group: BTN8_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_8,                   "BTN8_", JSButton),

    // @Group: BTN9_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_9,                   "BTN9_", JSButton),

    // @Group: BTN10_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_10,                   "BTN10_", JSButton),

    // @Group: BTN11_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_11,                   "BTN11_", JSButton),

    // @Group: BTN12_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_12,                   "BTN12_", JSButton),

    // @Group: BTN13_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_13,                   "BTN13_", JSButton),

    // @Group: BTN14_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_14,                   "BTN14_", JSButton),

    // @Group: BTN15_
    // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
    GGROUP(jbtn_15,                   "BTN15_", JSButton),

    // @Param: RC_SPEED
    // @DisplayName: ESC Update Speed
    // @Description: This is the speed in Hertz that your ESCs will receive updates
    // @Units: Hz
    // @Range: 50 490
    // @Increment: 1
    // @User: Advanced
    GSCALAR(rc_speed, "RC_SPEED",              RC_SPEED_DEFAULT),

    // @Param: ACRO_RP_P
    // @DisplayName: Acro Roll and Pitch P gain
    // @Description: Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation.
    // @Range: 1 10
    // @User: Standard
    GSCALAR(acro_rp_p,                 "ACRO_RP_P",           ACRO_RP_P),

    // @Param: ACRO_YAW_P
    // @DisplayName: Acro Yaw P gain
    // @Description: Converts pilot yaw input into a desired rate of rotation.  Higher values mean faster rate of rotation.
    // @Range: 1 10
    // @User: Standard
    GSCALAR(acro_yaw_p,                 "ACRO_YAW_P",           ACRO_YAW_P),

    // @Param: ACRO_BAL_ROLL
    // @DisplayName: Acro Balance Roll
    // @Description: rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster.
    // @Range: 0 3
    // @Increment: 0.1
    // @User: Advanced
    GSCALAR(acro_balance_roll,      "ACRO_BAL_ROLL",    ACRO_BALANCE_ROLL),

    // @Param: ACRO_BAL_PITCH
    // @DisplayName: Acro Balance Pitch
    // @Description: rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster.
    // @Range: 0 3
    // @Increment: 0.1
    // @User: Advanced
    GSCALAR(acro_balance_pitch,     "ACRO_BAL_PITCH",   ACRO_BALANCE_PITCH),

    // @Param: ACRO_TRAINER
    // @DisplayName: Acro Trainer
    // @Description: Type of trainer used in acro mode
    // @Values: 0:Disabled,1:Leveling,2:Leveling and Limited
    // @User: Advanced
    GSCALAR(acro_trainer,   "ACRO_TRAINER",     ACRO_TRAINER_LIMITED),

    // @Param: ACRO_EXPO
    // @DisplayName: Acro Expo
    // @Description: Acro roll/pitch Expo to allow faster rotation when stick at edges
    // @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
    // @User: Advanced
    GSCALAR(acro_expo,  "ACRO_EXPO",    ACRO_EXPO_DEFAULT),

    // @Param: VEL_XY_P
    // @DisplayName: Velocity (horizontal) P gain
    // @Description: Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration
    // @Range: 0.1 6.0
    // @Increment: 0.1
    // @User: Advanced

    // @Param: VEL_XY_I
    // @DisplayName: Velocity (horizontal) I gain
    // @Description: Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration
    // @Range: 0.02 1.00
    // @Increment: 0.01
    // @User: Advanced

    // @Param: VEL_XY_IMAX
    // @DisplayName: Velocity (horizontal) integrator maximum
    // @Description: Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output
    // @Range: 0 4500
    // @Increment: 10
    // @Units: cm/s/s
    // @User: Advanced

    // @Param: VEL_XY_FILT_HZ
    // @DisplayName: Velocity (horizontal) integrator maximum
    // @Description: Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output
    // @Range: 0 4500
    // @Increment: 10
    // @Units: cm/s/s
    // @User: Advanced
    GGROUP(pi_vel_xy,   "VEL_XY_",  AC_PI_2D),

    // @Param: VEL_Z_P
    // @DisplayName: Velocity (vertical) P gain
    // @Description: Velocity (vertical) P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
    // @Range: 1.000 8.000
    // @User: Standard
    GGROUP(p_vel_z,     "VEL_Z_", AC_P),

    // @Param: ACCEL_Z_P
    // @DisplayName: Throttle acceleration controller P gain
    // @Description: Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output
    // @Range: 0.500 1.500
    // @Increment: 0.05
    // @User: Standard

    // @Param: ACCEL_Z_I
    // @DisplayName: Throttle acceleration controller I gain
    // @Description: Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration
    // @Range: 0.000 3.000
    // @User: Standard

    // @Param: ACCEL_Z_IMAX
    // @DisplayName: Throttle acceleration controller I gain maximum
    // @Description: Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate
    // @Range: 0 1000
    // @Units: d%
    // @User: Standard

    // @Param: ACCEL_Z_D
    // @DisplayName: Throttle acceleration controller D gain
    // @Description: Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration
    // @Range: 0.000 0.400
    // @User: Standard

    // @Param: ACCEL_Z_FILT
    // @DisplayName: Throttle acceleration filter
    // @Description: Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay.
    // @Range: 1.000 100.000
    // @Units: Hz
    // @User: Standard
    GGROUP(pid_accel_z, "ACCEL_Z_", AC_PID),

    // @Param: POS_Z_P
    // @DisplayName: Position (vertical) controller P gain
    // @Description: Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller
    // @Range: 1.000 3.000
    // @User: Standard
    GGROUP(p_alt_hold,              "POS_Z_", AC_P),

    // @Param: POS_XY_P
    // @DisplayName: Position (horizonal) controller P gain
    // @Description: Loiter position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller
    // @Range: 0.500 2.000
    // @User: Standard
    GGROUP(p_pos_xy,                "POS_XY_", AC_P),

    // variables not in the g class which contain EEPROM saved variables

#if CAMERA == ENABLED
    // @Group: CAM_
    // @Path: ../libraries/AP_Camera/AP_Camera.cpp
    GOBJECT(camera,           "CAM_", AP_Camera),
#endif

    // @Group: RELAY_
    // @Path: ../libraries/AP_Relay/AP_Relay.cpp
    GOBJECT(relay,                  "RELAY_", AP_Relay),

    // @Group: COMPASS_
    // @Path: ../libraries/AP_Compass/AP_Compass.cpp
    GOBJECT(compass,        "COMPASS_", Compass),

    // @Group: INS_
    // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
    GOBJECT(ins,            "INS_", AP_InertialSensor),

    // @Group: WPNAV_
    // @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
    GOBJECT(wp_nav, "WPNAV_",       AC_WPNav),

#if CIRCLE_NAV_ENABLED == ENABLED
    // @Group: CIRCLE_
    // @Path: ../libraries/AC_WPNav/AC_Circle.cpp
    GOBJECT(circle_nav, "CIRCLE_",  AC_Circle),
#endif

    // @Group: ATC_
    // @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
    GOBJECT(attitude_control, "ATC_", AC_AttitudeControl_Sub),

    // @Group: PSC
    // @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
    GOBJECT(pos_control, "PSC", AC_PosControl),

    // @Group: SR0_
    // @Path: GCS_Mavlink.cpp
    GOBJECTN(_gcs._chan[0],  gcs0,       "SR0_",     GCS_MAVLINK),

    // @Group: SR1_
    // @Path: GCS_Mavlink.cpp
    GOBJECTN(_gcs._chan[1],  gcs1,       "SR1_",     GCS_MAVLINK),

    // @Group: SR2_
    // @Path: GCS_Mavlink.cpp
    GOBJECTN(_gcs._chan[2],  gcs2,       "SR2_",     GCS_MAVLINK),

    // @Group: SR3_
    // @Path: GCS_Mavlink.cpp
    GOBJECTN(_gcs._chan[3],  gcs3,       "SR3_",     GCS_MAVLINK),

    // @Group: AHRS_
    // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
    GOBJECT(ahrs,                   "AHRS_",    AP_AHRS),

#if MOUNT == ENABLED
    // @Group: MNT
    // @Path: ../libraries/AP_Mount/AP_Mount.cpp
    GOBJECT(camera_mount,           "MNT",  AP_Mount),
#endif

    // @Group: LOG
    // @Path: ../libraries/DataFlash/DataFlash.cpp
    GOBJECT(DataFlash,           "LOG",  DataFlash_Class),

    // @Group: BATT
    // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
    GOBJECT(battery,                "BATT",         AP_BattMonitor),

    // @Group: ARMING_
    // @Path: AP_Arming_Sub.cpp,../libraries/AP_Arming/AP_Arming.cpp
    GOBJECT(arming, "ARMING_", AP_Arming_Sub),

    // @Group: BRD_
    // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
    GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),

#if HAL_WITH_UAVCAN
    // @Group: CAN_
    // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
    GOBJECT(BoardConfig_CAN,        "CAN_",       AP_BoardConfig_CAN),
#endif

#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
    GOBJECT(sitl, "SIM_", SITL::SITL),
#endif

    // @Group: GND_
    // @Path: ../libraries/AP_Baro/AP_Baro.cpp
    GOBJECT(barometer, "GND_", AP_Baro),

    // GPS driver
    // @Group: GPS_
    // @Path: ../libraries/AP_GPS/AP_GPS.cpp
    GOBJECT(gps, "GPS_", AP_GPS),

    // Leak detector
    // @Group: LEAK
    // @Path: ../libraries/AP_LeakDetector/AP_LeakDetector.cpp
    GOBJECT(leak_detector, "LEAK", AP_LeakDetector),

    // @Group: SCHED_
    // @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
    GOBJECT(scheduler, "SCHED_", AP_Scheduler),

#if AC_FENCE == ENABLED
    // @Group: FENCE_
    // @Path: ../libraries/AC_Fence/AC_Fence.cpp
    GOBJECT(fence,      "FENCE_",   AC_Fence),
#endif

#if AVOIDANCE_ENABLED == ENABLED
    // @Group: AVOID_
    // @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
    GOBJECT(avoid,      "AVOID_",   AC_Avoid),
#endif

#if AC_RALLY == ENABLED
    // @Group: RALLY_
    // @Path: ../libraries/AP_Rally/AP_Rally.cpp
    GOBJECT(rally,      "RALLY_",   AP_Rally),
#endif

    // @Group: MOT_
    // @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp,../libraries/AP_Motors/AP_MotorsMulticopter.cpp
    GOBJECT(motors, "MOT_",         AP_Motors6DOF),

#if RCMAP_ENABLED == ENABLED
    // @Group: RCMAP_
    // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
    GOBJECT(rcmap, "RCMAP_",        RCMapper),
#endif

    // @Group: EK2_
    // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
    GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),

    // @Group: EK3_
    // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
    GOBJECTN(EKF3, NavEKF3, "EK3_", NavEKF3),

    // @Group: MIS_
    // @Path: ../libraries/AP_Mission/AP_Mission.cpp
    GOBJECT(mission, "MIS_",       AP_Mission),

#if RANGEFINDER_ENABLED == ENABLED
    // @Group: RNGFND
    // @Path: ../libraries/AP_RangeFinder/RangeFinder.cpp
    GOBJECT(rangefinder,   "RNGFND", RangeFinder),
#endif

#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
    // @Group: TERRAIN_
    // @Path: ../libraries/AP_Terrain/AP_Terrain.cpp
    GOBJECT(terrain,                "TERRAIN_", AP_Terrain),
#endif

#if OPTFLOW == ENABLED
    // @Group: FLOW
    // @Path: ../libraries/AP_OpticalFlow/OpticalFlow.cpp
    GOBJECT(optflow,   "FLOW", OpticalFlow),
#endif

#if RPM_ENABLED == ENABLED
    // @Group: RPM
    // @Path: ../libraries/AP_RPM/AP_RPM.cpp
    GOBJECT(rpm_sensor, "RPM", AP_RPM),
#endif

    // @Group: NTF_
    // @Path: ../libraries/AP_Notify/AP_Notify.cpp
    GOBJECT(notify, "NTF_",  AP_Notify),

    // @Param: TERRAIN_FOLLOW
    // @DisplayName: Terrain Following use control
    // @Description: This enables terrain following for RTL and SURFACE flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must  support sending terrain data to the aircraft.  In RTL the RTL_ALT will be considered a height above the terrain.  In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home).  This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain.
    // @Values: 0:Do Not Use in RTL and SURFACE,1:Use in RTL and SURFACE
    // @User: Standard
    GSCALAR(terrain_follow, "TERRAIN_FOLLOW", 0),

    GSCALAR(cam_slew_limit, "CAM_SLEW_LIMIT", 30.0),

    // @Group:
    // @Path: Parameters.cpp
    GOBJECT(g2, "",  ParametersG2),

    AP_VAREND
};

/*
  2nd group of parameters
 */
const AP_Param::GroupInfo ParametersG2::var_info[] = {

#if PROXIMITY_ENABLED == ENABLED
    // @Group: PRX
    // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
    AP_SUBGROUPINFO(proximity, "PRX", 2, ParametersG2, AP_Proximity),
#endif

#if GRIPPER_ENABLED == ENABLED
    // @Group: GRIP_
    // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
    AP_SUBGROUPINFO(gripper, "GRIP_", 3, ParametersG2, AP_Gripper),
#endif

    // @Group: SERVO
    // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
    AP_SUBGROUPINFO(servo_channels, "SERVO", 16, ParametersG2, SRV_Channels),

    // @Group: RC
    // @Path: ../libraries/RC_Channel/RC_Channels.cpp
    AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels),

    AP_GROUPEND
};

/*
  constructor for g2 object
 */
ParametersG2::ParametersG2(void)
#if PROXIMITY_ENABLED == ENABLED
    : proximity(sub.serial_manager)
#endif
{
    AP_Param::setup_object_defaults(this, var_info);
}

void Sub::load_parameters(void)
{
    if (!AP_Param::check_var_info()) {
        hal.console->printf("Bad var table\n");
        AP_HAL::panic("Bad var table");
    }

    // disable centrifugal force correction, it will be enabled as part of the arming process
    ahrs.set_correct_centrifugal(false);
    hal.util->set_soft_armed(false);

    if (!g.format_version.load() ||
            g.format_version != Parameters::k_format_version) {

        // erase all parameters
        hal.console->printf("Firmware change: erasing EEPROM...\n");
        AP_Param::erase_all();

        // save the current format version
        g.format_version.set_and_save(Parameters::k_format_version);
        hal.console->println("done.");
    }

    uint32_t before = micros();
    // Load all auto-loaded EEPROM variables
    AP_Param::load_all();
    hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));

    AP_Param::set_frame_type_flags(AP_PARAM_FRAME_SUB);

    convert_old_parameters();

    AP_Param::set_default_by_name("BRD_SAFETYENABLE", 0);
    AP_Param::set_default_by_name("GND_EXT_BUS", 1);
    AP_Param::set_default_by_name("ARMING_CHECK",
            AP_Arming::ARMING_CHECK_BARO |
            AP_Arming::ARMING_CHECK_COMPASS |
            AP_Arming::ARMING_CHECK_INS |
            AP_Arming::ARMING_CHECK_RC |
            AP_Arming::ARMING_CHECK_VOLTAGE |
            AP_Arming::ARMING_CHECK_BATTERY |
            AP_Arming::ARMING_CHECK_LOGGING);
    AP_Param::set_default_by_name("CIRCLE_RATE", 2.0f);
    AP_Param::set_default_by_name("ATC_ACCEL_Y_MAX", 110000.0f);
    AP_Param::set_default_by_name("RC3_TRIM", 1100);
}

void Sub::convert_old_parameters(void)
{
    const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old,  Parameters::k_param_rc_2_old,
                                      Parameters::k_param_rc_3_old,  Parameters::k_param_rc_4_old,
                                      Parameters::k_param_rc_5_old,  Parameters::k_param_rc_6_old,
                                      Parameters::k_param_rc_7_old,  Parameters::k_param_rc_8_old,
                                      Parameters::k_param_rc_9_old,  Parameters::k_param_rc_10_old,
                                      Parameters::k_param_rc_11_old, Parameters::k_param_rc_12_old,
                                      Parameters::k_param_rc_13_old, Parameters::k_param_rc_14_old
                                    };
    const uint16_t old_aux_chan_mask = 0x3FF0;
    // note that we don't pass in rcmap as we don't want output channel functions changed based on rcmap
    SRV_Channels::upgrade_parameters(old_rc_keys, old_aux_chan_mask, nullptr);
}