2015-12-30 18:57:56 -04:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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2016-03-17 15:02:55 -03:00
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#pragma once
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2015-12-30 18:57:56 -04:00
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#include <AP_Common/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 = 120;
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// The parameter software_type is set up solely for ground station use
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// and identifies the software type (eg ArduPilotMega versus
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// ArduCopterMega)
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// GCS will interpret values 0-9 as ArduPilotMega. Developers may use
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// values within that range to identify different branches.
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//
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static const uint16_t k_software_type = 10; // 0 for APM
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// trunk
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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,
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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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2016-06-08 01:49:10 -03:00
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k_param_NavEKF2_old, // deprecated
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k_param_NavEKF2,
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2016-07-23 02:50:24 -03:00
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k_param_g2, // 2nd block of parameters
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2015-12-30 18:57:56 -04:00
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// simulation
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k_param_sitl = 10,
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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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// EPM object
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k_param_epm,
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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_velocity_z_max,
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k_param_circle_rate, // deprecated - remove
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2016-05-22 21:50:44 -03:00
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k_param_rangefinder_gain,
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2015-12-30 18:57:56 -04:00
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k_param_ch8_option,
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k_param_arming_check,
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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,
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k_param_angle_rate_max, // remove
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k_param_rssi_range, // unused, replaced by rssi_ library parameters
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k_param_rc_feel_rp,
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k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group
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k_param_mission, // mission library
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k_param_rc_13,
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k_param_rc_14,
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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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2016-05-22 21:50:44 -03:00
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k_param_rangefinder, // rangefinder object
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2015-12-30 18:57:56 -04:00
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k_param_fs_ekf_thresh,
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k_param_terrain,
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k_param_acro_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,
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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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// 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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// AP_ADSB Library
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k_param_adsb, // 72
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2016-03-03 02:36:13 -04:00
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k_param_notify, // 73
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2015-12-30 18:57:56 -04:00
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// 74: precision landing object
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k_param_precland = 74,
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//
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// 75: Singlecopter, CoaxCopter
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//
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2016-04-05 00:17:39 -03:00
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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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2015-12-30 18:57:56 -04:00
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//
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// 80: Heli
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//
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2016-04-05 00:17:39 -03:00
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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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2015-12-30 18:57:56 -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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k_param_heli_stab_col_min, // remove
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k_param_heli_stab_col_max, // remove
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2016-04-05 00:17:39 -03:00
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k_param_heli_servo_rsc, // 89 = full! - remove
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2015-12-30 18:57:56 -04:00
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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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k_param_fs_crash_check,
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2016-03-03 02:36:13 -04:00
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k_param_throw_motor_start,
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2016-05-03 01:45:37 -03:00
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k_param_terrain_follow, // 94
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2016-07-05 21:18:58 -03:00
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k_param_avoid,
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2015-12-30 18:57:56 -04:00
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// 97: RSSI
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k_param_rssi = 97,
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//
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// 100: Inertial Nav
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//
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k_param_inertial_nav = 100, // deprecated
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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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k_param_circle_nav, // 104
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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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k_param_serial1_baud_old, // deprecated
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k_param_telem_delay,
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k_param_gcs2,
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k_param_serial2_baud_old, // deprecated
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k_param_serial2_protocol, // deprecated
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k_param_serial_manager,
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k_param_ch9_option,
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k_param_ch10_option,
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k_param_ch11_option,
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k_param_ch12_option,
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k_param_takeoff_trigger_dz,
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k_param_gcs3,
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k_param_gcs_pid_mask, // 126
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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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2016-05-03 01:45:37 -03:00
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k_param_fs_batt_curr_rtl,
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k_param_rtl_cone_slope, // 137
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2015-12-30 18:57:56 -04:00
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//
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// 140: Sensor parameters
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//
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k_param_imu = 140, // deprecated - can be deleted
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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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k_param_input_voltage, // deprecated - can be deleted
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k_param_pack_capacity, // deprecated - can be deleted
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k_param_compass_enabled,
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k_param_compass,
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2016-05-22 21:50:44 -03:00
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k_param_rangefinder_enabled_old, // deprecated
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2015-12-30 18:57:56 -04:00
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k_param_frame_orientation,
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k_param_optflow_enabled, // deprecated
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k_param_fs_batt_voltage,
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k_param_ch7_option,
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k_param_auto_slew_rate, // deprecated - can be deleted
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2016-05-22 21:50:44 -03:00
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k_param_rangefinder_type_old, // deprecated
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2015-12-30 18:57:56 -04:00
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k_param_super_simple = 155,
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k_param_axis_enabled = 157, // deprecated - remove with next eeprom number change
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k_param_copter_leds_mode, // deprecated - remove with next eeprom number change
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k_param_ahrs, // AHRS group // 159
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//
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// 160: Navigation parameters
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//
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k_param_rtl_altitude = 160,
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k_param_crosstrack_gain, // deprecated - remove with next eeprom number change
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k_param_rtl_loiter_time,
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k_param_rtl_alt_final,
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k_param_tilt_comp, //164 deprecated - remove with next eeprom number change
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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,
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k_param_camera_mount2, // deprecated
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//
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// Batery monitoring parameters
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//
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k_param_battery_volt_pin = 168, // deprecated - can be deleted
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k_param_battery_curr_pin, // 169 deprecated - can be deleted
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//
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// 170: Radio settings
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//
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k_param_rc_1 = 170,
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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_10,
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k_param_rc_11,
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2016-07-05 21:18:58 -03:00
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k_param_throttle_min, // remove
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2015-12-30 18:57:56 -04:00
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k_param_throttle_max, // remove
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k_param_failsafe_throttle,
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k_param_throttle_fs_action, // remove
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k_param_failsafe_throttle_value,
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k_param_throttle_trim, // remove
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k_param_esc_calibrate,
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k_param_radio_tuning,
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k_param_radio_tuning_high,
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k_param_radio_tuning_low,
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k_param_rc_speed = 192,
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k_param_failsafe_battery_enabled,
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2016-07-05 21:18:58 -03:00
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k_param_throttle_mid, // remove
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2015-12-30 18:57:56 -04:00
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k_param_failsafe_gps_enabled, // remove
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k_param_rc_9,
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k_param_rc_12,
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k_param_failsafe_gcs,
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k_param_rcmap, // 199
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//
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// 200: flight modes
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//
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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,
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
|
// 210: Waypoint data
|
|
|
|
|
//
|
|
|
|
|
k_param_waypoint_mode = 210, // remove
|
|
|
|
|
k_param_command_total, // remove
|
|
|
|
|
k_param_command_index, // remove
|
|
|
|
|
k_param_command_nav_index, // remove
|
|
|
|
|
k_param_waypoint_radius, // remove
|
|
|
|
|
k_param_circle_radius, // remove
|
|
|
|
|
k_param_waypoint_speed_max, // remove
|
|
|
|
|
k_param_land_speed,
|
|
|
|
|
k_param_auto_velocity_z_min, // remove
|
|
|
|
|
k_param_auto_velocity_z_max, // remove - 219
|
2016-04-03 14:19:09 -03:00
|
|
|
k_param_land_speed_high,
|
2015-12-30 18:57:56 -04:00
|
|
|
|
|
|
|
|
//
|
|
|
|
|
// 220: PI/D Controllers
|
|
|
|
|
//
|
|
|
|
|
k_param_acro_rp_p = 221,
|
|
|
|
|
k_param_axis_lock_p, // remove
|
2016-04-05 00:17:39 -03:00
|
|
|
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
|
2015-12-30 18:57:56 -04:00
|
|
|
k_param_p_pos_xy,
|
|
|
|
|
k_param_p_loiter_lon, // remove
|
|
|
|
|
k_param_pid_loiter_rate_lat, // remove
|
|
|
|
|
k_param_pid_loiter_rate_lon, // remove
|
|
|
|
|
k_param_pid_nav_lat, // remove
|
|
|
|
|
k_param_pid_nav_lon, // remove
|
|
|
|
|
k_param_p_alt_hold,
|
|
|
|
|
k_param_p_vel_z,
|
|
|
|
|
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
|
|
|
|
|
k_param_pid_accel_z,
|
|
|
|
|
k_param_acro_balance_roll,
|
|
|
|
|
k_param_acro_balance_pitch,
|
|
|
|
|
k_param_acro_yaw_p,
|
|
|
|
|
k_param_autotune_axis_bitmask,
|
|
|
|
|
k_param_autotune_aggressiveness,
|
|
|
|
|
k_param_pi_vel_xy,
|
|
|
|
|
k_param_fs_ekf_action,
|
|
|
|
|
k_param_rtl_climb_min,
|
|
|
|
|
k_param_rpm_sensor,
|
|
|
|
|
k_param_autotune_min_d, // 251
|
|
|
|
|
k_param_DataFlash = 253, // 253 - Logging Group
|
|
|
|
|
|
|
|
|
|
// 254,255: reserved
|
2016-03-01 21:39:23 -04:00
|
|
|
|
|
|
|
|
//Sub-specific parameters
|
|
|
|
|
k_param_surface_depth = 256,
|
2016-03-12 11:15:18 -04:00
|
|
|
|
|
|
|
|
// Joystick button mapping parameters
|
|
|
|
|
k_param_jbtn_0 = 261,
|
|
|
|
|
k_param_jbtn_1,
|
|
|
|
|
k_param_jbtn_2,
|
|
|
|
|
k_param_jbtn_3,
|
|
|
|
|
k_param_jbtn_4,
|
|
|
|
|
k_param_jbtn_5,
|
|
|
|
|
k_param_jbtn_6,
|
|
|
|
|
k_param_jbtn_7,
|
|
|
|
|
k_param_jbtn_8,
|
|
|
|
|
k_param_jbtn_9,
|
|
|
|
|
k_param_jbtn_10,
|
|
|
|
|
k_param_jbtn_11,
|
|
|
|
|
k_param_jbtn_12,
|
|
|
|
|
k_param_jbtn_13,
|
|
|
|
|
k_param_jbtn_14,
|
|
|
|
|
k_param_jbtn_15, // 276
|
2017-02-07 19:47:30 -04:00
|
|
|
|
2016-08-31 19:37:57 -03:00
|
|
|
k_param_pid_crosstrack_control,
|
|
|
|
|
k_param_pid_heading_control,
|
|
|
|
|
|
2017-02-07 15:43:41 -04:00
|
|
|
k_param_leak_detector, // leak detector object
|
2016-08-26 16:27:28 -03:00
|
|
|
k_param_failsafe_leak, // leak failsafe behavior
|
2016-09-11 18:49:19 -03:00
|
|
|
k_param_failsafe_pressure, // internal pressure failsafe behavior
|
|
|
|
|
k_param_failsafe_pressure_max, // maximum internal pressure in pascal before failsafe is triggered
|
|
|
|
|
k_param_failsafe_temperature, // internal temperature failsafe behavior
|
2017-02-07 20:42:28 -04:00
|
|
|
k_param_failsafe_temperature_max, // maximum internal temperature in degrees C before failsafe is triggered
|
|
|
|
|
|
|
|
|
|
k_param_failsafe_terrain, // terrain failsafe behavior
|
|
|
|
|
|
|
|
|
|
k_param_xtrack_angle_limit // angle limit for xtrack correction in degrees
|
2015-12-30 18:57:56 -04:00
|
|
|
};
|
|
|
|
|
|
|
|
|
|
AP_Int16 format_version;
|
|
|
|
|
AP_Int8 software_type;
|
|
|
|
|
|
|
|
|
|
// Telemetry control
|
|
|
|
|
//
|
|
|
|
|
AP_Int16 sysid_this_mav;
|
|
|
|
|
AP_Int16 sysid_my_gcs;
|
|
|
|
|
AP_Int8 telem_delay;
|
|
|
|
|
#if CLI_ENABLED == ENABLED
|
|
|
|
|
AP_Int8 cli_enabled;
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
AP_Float throttle_filt;
|
|
|
|
|
AP_Int16 throttle_behavior;
|
|
|
|
|
AP_Int16 takeoff_trigger_dz;
|
|
|
|
|
AP_Float pilot_takeoff_alt;
|
|
|
|
|
|
|
|
|
|
AP_Int16 rtl_altitude;
|
|
|
|
|
AP_Int16 rtl_speed_cms;
|
2016-05-03 01:45:37 -03:00
|
|
|
AP_Float rtl_cone_slope;
|
2016-05-22 21:50:44 -03:00
|
|
|
AP_Float rangefinder_gain;
|
2015-12-30 18:57:56 -04:00
|
|
|
|
|
|
|
|
AP_Int8 failsafe_battery_enabled; // battery failsafe enabled
|
|
|
|
|
AP_Float fs_batt_voltage; // battery voltage below which failsafe will be triggered
|
|
|
|
|
AP_Float fs_batt_mah; // battery capacity (in mah) below which failsafe will be triggered
|
|
|
|
|
|
2016-08-26 16:27:28 -03:00
|
|
|
AP_Int8 failsafe_leak; // leak detection failsafe behavior
|
2015-12-30 18:57:56 -04:00
|
|
|
AP_Int8 failsafe_gcs; // ground station failsafe behavior
|
2016-09-11 18:49:19 -03:00
|
|
|
AP_Int8 failsafe_pressure;
|
|
|
|
|
AP_Int8 failsafe_temperature;
|
|
|
|
|
AP_Int32 failsafe_pressure_max;
|
|
|
|
|
AP_Int8 failsafe_temperature_max;
|
2017-02-07 20:42:28 -04:00
|
|
|
AP_Int8 failsafe_terrain;
|
|
|
|
|
|
|
|
|
|
AP_Int8 xtrack_angle_limit;
|
2016-09-11 18:49:19 -03:00
|
|
|
|
2015-12-30 18:57:56 -04:00
|
|
|
AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position
|
|
|
|
|
|
|
|
|
|
AP_Int8 compass_enabled;
|
|
|
|
|
AP_Int8 super_simple;
|
|
|
|
|
AP_Int16 rtl_alt_final;
|
|
|
|
|
AP_Int16 rtl_climb_min; // rtl minimum climb in cm
|
|
|
|
|
|
|
|
|
|
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
|
|
|
|
|
AP_Int8 rc_feel_rp; // controls vehicle response to user input with 0 being extremely soft and 100 begin extremely crisp
|
|
|
|
|
|
|
|
|
|
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
|
|
|
|
|
|
|
|
|
|
// Waypoints
|
|
|
|
|
//
|
|
|
|
|
AP_Int32 rtl_loiter_time;
|
|
|
|
|
AP_Int16 land_speed;
|
2016-04-03 14:19:09 -03:00
|
|
|
AP_Int16 land_speed_high;
|
2015-12-30 18:57:56 -04:00
|
|
|
AP_Int16 pilot_velocity_z_max; // maximum vertical velocity the pilot may request
|
|
|
|
|
AP_Int16 pilot_accel_z; // vertical acceleration the pilot may request
|
|
|
|
|
|
|
|
|
|
// Throttle
|
|
|
|
|
//
|
|
|
|
|
AP_Int8 failsafe_throttle;
|
|
|
|
|
AP_Int16 failsafe_throttle_value;
|
|
|
|
|
AP_Int16 throttle_deadzone;
|
|
|
|
|
|
|
|
|
|
// 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;
|
|
|
|
|
|
|
|
|
|
// Misc
|
|
|
|
|
//
|
|
|
|
|
AP_Int32 log_bitmask;
|
|
|
|
|
AP_Int8 esc_calibrate;
|
|
|
|
|
AP_Int8 radio_tuning;
|
|
|
|
|
AP_Int16 radio_tuning_high;
|
|
|
|
|
AP_Int16 radio_tuning_low;
|
|
|
|
|
AP_Int8 frame_orientation;
|
|
|
|
|
AP_Int8 ch7_option;
|
|
|
|
|
AP_Int8 ch8_option;
|
|
|
|
|
AP_Int8 ch9_option;
|
|
|
|
|
AP_Int8 ch10_option;
|
|
|
|
|
AP_Int8 ch11_option;
|
|
|
|
|
AP_Int8 ch12_option;
|
|
|
|
|
AP_Int8 arming_check;
|
|
|
|
|
AP_Int8 disarm_delay;
|
|
|
|
|
|
|
|
|
|
AP_Int8 land_repositioning;
|
|
|
|
|
AP_Int8 fs_ekf_action;
|
|
|
|
|
AP_Int8 fs_crash_check;
|
|
|
|
|
AP_Float fs_ekf_thresh;
|
|
|
|
|
AP_Int16 gcs_pid_mask;
|
|
|
|
|
|
2016-03-03 02:36:13 -04:00
|
|
|
AP_Int8 throw_motor_start;
|
2016-05-03 01:45:37 -03:00
|
|
|
AP_Int8 terrain_follow;
|
2016-03-03 02:36:13 -04:00
|
|
|
|
2015-12-30 18:57:56 -04:00
|
|
|
// RC channels
|
|
|
|
|
RC_Channel rc_1;
|
|
|
|
|
RC_Channel rc_2;
|
|
|
|
|
RC_Channel rc_3;
|
|
|
|
|
RC_Channel rc_4;
|
|
|
|
|
RC_Channel_aux rc_5;
|
|
|
|
|
RC_Channel_aux rc_6;
|
|
|
|
|
RC_Channel_aux rc_7;
|
|
|
|
|
RC_Channel_aux rc_8;
|
|
|
|
|
RC_Channel_aux rc_9;
|
|
|
|
|
RC_Channel_aux rc_10;
|
|
|
|
|
RC_Channel_aux rc_11;
|
|
|
|
|
RC_Channel_aux rc_12;
|
|
|
|
|
RC_Channel_aux rc_13;
|
|
|
|
|
RC_Channel_aux rc_14;
|
|
|
|
|
|
|
|
|
|
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
|
|
|
|
|
|
2016-03-12 11:15:18 -04:00
|
|
|
// Joystick button parameters
|
|
|
|
|
JSButton jbtn_0;
|
|
|
|
|
JSButton jbtn_1;
|
|
|
|
|
JSButton jbtn_2;
|
|
|
|
|
JSButton jbtn_3;
|
|
|
|
|
JSButton jbtn_4;
|
|
|
|
|
JSButton jbtn_5;
|
|
|
|
|
JSButton jbtn_6;
|
|
|
|
|
JSButton jbtn_7;
|
|
|
|
|
JSButton jbtn_8;
|
|
|
|
|
JSButton jbtn_9;
|
|
|
|
|
JSButton jbtn_10;
|
|
|
|
|
JSButton jbtn_11;
|
|
|
|
|
JSButton jbtn_12;
|
|
|
|
|
JSButton jbtn_13;
|
|
|
|
|
JSButton jbtn_14;
|
|
|
|
|
JSButton jbtn_15;
|
|
|
|
|
|
2015-12-30 18:57:56 -04:00
|
|
|
// Acro parameters
|
|
|
|
|
AP_Float acro_rp_p;
|
|
|
|
|
AP_Float acro_yaw_p;
|
|
|
|
|
AP_Float acro_balance_roll;
|
|
|
|
|
AP_Float acro_balance_pitch;
|
|
|
|
|
AP_Int8 acro_trainer;
|
|
|
|
|
AP_Float acro_expo;
|
|
|
|
|
|
|
|
|
|
// PI/D controllers
|
|
|
|
|
AC_PI_2D pi_vel_xy;
|
|
|
|
|
|
|
|
|
|
AC_P p_vel_z;
|
|
|
|
|
AC_PID pid_accel_z;
|
|
|
|
|
|
|
|
|
|
AC_P p_pos_xy;
|
|
|
|
|
AC_P p_alt_hold;
|
|
|
|
|
|
2016-08-31 19:37:57 -03:00
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
AC_PID pid_crosstrack_control;
|
|
|
|
|
AC_PID pid_heading_control;
|
|
|
|
|
|
|
|
|
|
|
2015-12-30 18:57:56 -04:00
|
|
|
// Autotune
|
|
|
|
|
AP_Int8 autotune_axis_bitmask;
|
|
|
|
|
AP_Float autotune_aggressiveness;
|
|
|
|
|
AP_Float autotune_min_d;
|
|
|
|
|
|
2016-03-01 21:39:23 -04:00
|
|
|
AP_Float surface_depth;
|
|
|
|
|
|
2015-12-30 18:57:56 -04:00
|
|
|
// Note: keep initializers here in the same order as they are declared
|
|
|
|
|
// above.
|
|
|
|
|
Parameters() :
|
|
|
|
|
|
|
|
|
|
rc_1 (CH_1),
|
|
|
|
|
rc_2 (CH_2),
|
|
|
|
|
rc_3 (CH_3),
|
|
|
|
|
rc_4 (CH_4),
|
|
|
|
|
rc_5 (CH_5),
|
|
|
|
|
rc_6 (CH_6),
|
|
|
|
|
rc_7 (CH_7),
|
|
|
|
|
rc_8 (CH_8),
|
|
|
|
|
rc_9 (CH_9),
|
|
|
|
|
rc_10 (CH_10),
|
|
|
|
|
rc_11 (CH_11),
|
|
|
|
|
rc_12 (CH_12),
|
|
|
|
|
rc_13 (CH_13),
|
|
|
|
|
rc_14 (CH_14),
|
|
|
|
|
|
|
|
|
|
// PID controller initial P initial I initial D initial imax initial filt hz pid rate
|
|
|
|
|
//---------------------------------------------------------------------------------------------------------------------------------
|
|
|
|
|
pi_vel_xy (VEL_XY_P, VEL_XY_I, VEL_XY_IMAX, VEL_XY_FILT_HZ, WPNAV_LOITER_UPDATE_TIME),
|
|
|
|
|
|
|
|
|
|
p_vel_z (VEL_Z_P),
|
|
|
|
|
pid_accel_z (ACCEL_Z_P, ACCEL_Z_I, ACCEL_Z_D, ACCEL_Z_IMAX, ACCEL_Z_FILT_HZ, MAIN_LOOP_SECONDS),
|
|
|
|
|
|
|
|
|
|
// P controller initial P
|
|
|
|
|
//----------------------------------------------------------------------
|
|
|
|
|
p_pos_xy (POS_XY_P),
|
|
|
|
|
|
2016-08-31 19:37:57 -03:00
|
|
|
p_alt_hold (ALT_HOLD_P),
|
|
|
|
|
|
|
|
|
|
pid_crosstrack_control (XTRACK_P, XTRACK_I, XTRACK_D, XTRACK_IMAX, XTRACK_FILT_HZ, XTRACK_DT),
|
|
|
|
|
|
|
|
|
|
pid_heading_control (HEAD_P, HEAD_I, HEAD_D, HEAD_IMAX, HEAD_FILT_HZ, HEAD_DT)
|
|
|
|
|
|
2015-12-30 18:57:56 -04:00
|
|
|
{
|
|
|
|
|
}
|
|
|
|
|
};
|
|
|
|
|
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2016-07-23 02:50:24 -03:00
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/*
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2nd block of parameters, to avoid going past 256 top level keys
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*/
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class ParametersG2 {
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public:
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2016-11-17 01:12:06 -04:00
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ParametersG2(void);
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2016-07-23 02:50:24 -03:00
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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// altitude at which nav control can start in takeoff
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2016-11-17 01:12:06 -04:00
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AP_Float wp_navalt_min;
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#if GRIPPER_ENABLED
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AP_Gripper gripper;
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#endif
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#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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2016-07-23 02:50:24 -03:00
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};
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2015-12-30 18:57:56 -04:00
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extern const AP_Param::Info var_info[];
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