ardupilot/Rover/Parameters.h

417 lines
11 KiB
C
Raw Normal View History

#pragma once
#include <AP_Common/AP_Common.h>
#include "RC_Channel.h"
2018-06-08 06:22:55 -03:00
#include "AC_Sprayer/AC_Sprayer.h"
#include "AP_Gripper/AP_Gripper.h"
2018-08-29 21:54:12 -03:00
#include "AP_Rally.h"
2021-07-01 03:15:10 -03:00
#include "AP_Torqeedo/AP_Torqeedo.h"
// Global parameter class.
//
class Parameters {
public:
// The version of the layout as described by the parameter enum.
//
// When changing the parameter enum in an incompatible fashion, this
// value should be incremented by one.
//
// The increment will prevent old parameters from being used incorrectly
// by newer code.
//
static const uint16_t k_format_version = 16;
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
2018-06-01 22:20:55 -03:00
k_param_software_type, // unused
k_param_can_mgr,
// Misc
//
k_param_log_bitmask_old = 10, // unused
k_param_num_resets_old, // unused
k_param_reset_switch_chan,
k_param_initial_mode,
k_param_scheduler,
2013-06-24 23:48:58 -03:00
k_param_relay,
2014-01-19 21:57:59 -04:00
k_param_BoardConfig,
k_param_pivot_turn_angle_old, // unused
k_param_rc_13_old, // unused
k_param_rc_14_old, // unused
// IO pins
k_param_rssi_pin = 20, // unused, replaced by rssi_ library parameters
k_param_battery_volt_pin,
k_param_battery_curr_pin,
// braking
k_param_braking_percent_old = 30, // unused
k_param_braking_speederr_old, // unused
// misc2
k_param_log_bitmask = 40,
2014-03-31 16:18:27 -03:00
k_param_gps,
2015-01-28 00:56:36 -04:00
k_param_serial0_baud, // deprecated, can be deleted
k_param_serial1_baud, // deprecated, can be deleted
k_param_serial2_baud, // deprecated, can be deleted
// 97: RSSI
k_param_rssi = 97,
2018-12-30 16:43:39 -04:00
k_param_rpm_sensor, // rpm sensor 98
// 100: Arming parameters
k_param_arming = 100,
2013-01-17 16:56:32 -04:00
// 110: Telemetry control
//
k_param_gcs0 = 110, // stream rates for uartA
k_param_gcs1, // stream rates for uartC
2013-01-17 16:56:32 -04:00
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial0_baud_old, // unused
k_param_serial1_baud_old, // unused
2012-08-29 20:36:18 -03:00
k_param_telem_delay,
k_param_skip_gyro_cal, // unused
k_param_gcs2, // stream rates for uartD
k_param_serial2_baud_old, // unused
2015-01-28 00:56:36 -04:00
k_param_serial2_protocol, // deprecated, can be deleted
k_param_serial_manager, // serial manager library
k_param_cli_enabled_old, // unused
k_param_gcs3,
k_param_gcs_pid_mask,
k_param_gcs4,
k_param_gcs5,
k_param_gcs6,
//
// 130: Sensor parameters
//
k_param_compass_enabled_deprecated = 130,
k_param_steering_learn, // unused
k_param_NavEKF, // deprecated - remove
k_param_mission, // mission library
k_param_NavEKF2_old, // deprecated - remove
k_param_NavEKF2,
k_param_g2, // 2nd block of parameters
2016-11-28 05:49:35 -04:00
k_param_NavEKF3,
// 140: battery controls
2013-10-02 03:07:28 -03:00
k_param_battery_monitoring = 140, // deprecated, can be deleted
k_param_volt_div_ratio, // deprecated, can be deleted
k_param_curr_amp_per_volt, // deprecated, can be deleted
k_param_input_voltage, // deprecated, can be deleted
k_param_pack_capacity, // deprecated, can be deleted
2013-10-02 03:07:28 -03:00
k_param_battery,
//
// 150: Navigation parameters
//
k_param_crosstrack_gain = 150, // unused
k_param_crosstrack_entry_angle, // unused
k_param_speed_cruise,
k_param_speed_turn_gain, // unused
k_param_speed_turn_dist, // unused
k_param_ch7_option, // unused
k_param_auto_trigger_pin,
k_param_auto_kickstart,
k_param_turn_circle, // unused
k_param_turn_max_g_old, // unused
//
// 160: Radio settings
//
k_param_rc_1_old = 160, // unused
k_param_rc_2_old, // unused
k_param_rc_3_old, // unused
k_param_rc_4_old, // unused
k_param_rc_5_old, // unused
k_param_rc_6_old, // unused
k_param_rc_7_old, // unused
k_param_rc_8_old, // unused
// throttle control
k_param_throttle_min_old = 170, // unused
k_param_throttle_max_old, // unused
k_param_throttle_cruise,
k_param_throttle_slewrate_old, // unused
k_param_throttle_reduction, // unused
k_param_pilot_steer_type,
k_param_skid_steer_out_old, // unused
// failsafe control
k_param_fs_action = 180,
k_param_fs_timeout,
k_param_fs_throttle_enabled,
k_param_fs_throttle_value,
k_param_fs_gcs_enabled,
2016-11-21 12:08:24 -04:00
k_param_fs_crash_check,
2018-11-01 04:04:58 -03:00
k_param_fs_ekf_action,
k_param_fs_ekf_thresh, // 187
// obstacle control
k_param_sonar_enabled = 190, // deprecated, can be removed
k_param_sonar_old, // unused
k_param_rangefinder_trigger_cm, // unused
k_param_rangefinder_turn_angle, // unused
k_param_rangefinder_turn_time, // unused
k_param_sonar2_old, // unused
k_param_rangefinder_debounce, // unused
2017-07-13 08:36:44 -03:00
k_param_rangefinder, // rangefinder object
//
// 210: driving modes
//
k_param_mode_channel = 210,
k_param_mode1,
k_param_mode2,
k_param_mode3,
k_param_mode4,
k_param_mode5,
k_param_mode6,
k_param_aux_channel_old,
//
// 220: Waypoint data
//
2014-03-10 05:42:44 -03:00
k_param_command_total = 220, // unused
k_param_command_index, // unused
k_param_waypoint_radius_old, // unused
k_param_waypoint_overshoot_old, // unused
//
2019-04-20 20:09:49 -03:00
// camera control
//
k_param_camera,
k_param_camera_mount,
k_param_camera_mount2, // unused
//
2019-04-20 20:09:49 -03:00
// 230: PID Controllers
k_param_pidNavSteer = 230,
k_param_pidServoSteer, // unused
k_param_pidSpeedThrottle_old, // unused
// high RC channels
k_param_rc_9_old = 235, // unused
k_param_rc_10_old, // unused
k_param_rc_11_old, // unused
k_param_rc_12_old, // unusedS
// other objects
k_param_sitl = 240,
k_param_ahrs,
k_param_ins,
k_param_compass,
k_param_rcmap,
k_param_L1_controller,
k_param_steerController_old, // unused
k_param_barometer,
k_param_notify,
2016-07-21 22:24:35 -03:00
k_param_button,
k_param_osd,
k_param_logger = 253, // Logging Group
// 254,255: reserved
k_param_vehicle = 257, // vehicle common block of parameters
};
2013-01-17 16:56:32 -04:00
AP_Int16 format_version;
// Misc
//
AP_Int32 log_bitmask;
AP_Int8 reset_switch_chan;
AP_Int8 initial_mode;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
2013-01-17 16:56:32 -04:00
AP_Int8 telem_delay;
// navigation parameters
2013-01-17 16:56:32 -04:00
//
AP_Float speed_cruise;
AP_Int8 ch7_option;
AP_Int8 auto_trigger_pin;
AP_Float auto_kickstart;
AP_Int16 gcs_pid_mask;
2013-01-17 16:56:32 -04:00
// Throttle
//
AP_Int8 throttle_cruise;
AP_Int8 pilot_steer_type;
// failsafe control
AP_Int8 fs_action;
AP_Float fs_timeout;
AP_Int8 fs_throttle_enabled;
AP_Int16 fs_throttle_value;
AP_Int8 fs_gcs_enabled;
2016-11-21 12:08:24 -04:00
AP_Int8 fs_crash_check;
2018-11-01 04:04:58 -03:00
AP_Int8 fs_ekf_action;
AP_Float fs_ekf_thresh;
// driving modes
2013-01-17 16:56:32 -04:00
//
AP_Int8 mode_channel;
AP_Int8 mode1;
AP_Int8 mode2;
AP_Int8 mode3;
AP_Int8 mode4;
AP_Int8 mode5;
AP_Int8 mode6;
Parameters() {}
};
2016-10-25 22:37:08 -03:00
/*
2nd block of parameters, to avoid going past 256 top level keys
*/
class ParametersG2 {
public:
2017-01-06 06:31:10 -04:00
ParametersG2(void);
2016-10-25 22:37:08 -03:00
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
2018-02-28 08:23:09 -04:00
#if STATS_ENABLED == ENABLED
// vehicle statistics
AP_Stats stats;
2018-02-28 08:23:09 -04:00
#endif
2016-11-21 11:06:25 -04:00
// whether to enforce acceptance of packets only from sysid_my_gcs
AP_Int8 sysid_enforce;
2017-01-06 06:31:10 -04:00
// RC input channels
RC_Channels_Rover rc_channels;
2017-01-31 05:46:32 -04:00
2017-01-06 06:31:10 -04:00
// control over servo output ranges
SRV_Channels servo_channels;
2017-01-30 10:21:55 -04:00
#if ADVANCED_FAILSAFE == ENABLED
// advanced failsafe library
AP_AdvancedFailsafe_Rover afs;
#endif
2017-08-16 07:57:42 -03:00
AP_Beacon beacon;
2017-06-01 04:39:49 -03:00
// Motor library
AP_MotorsUGV motors;
2017-07-11 23:02:51 -03:00
// wheel encoders
AP_WheelEncoder wheel_encoder;
2018-08-08 00:48:30 -03:00
AP_WheelRateControl wheel_rate_control;
// steering and throttle controller
AR_AttitudeControl attitude_control;
// turn radius of vehicle (only used in steering mode)
AP_Float turn_radius;
// acro mode turn rate maximum
AP_Float acro_turn_rate;
// Safe RTL library
AP_SmartRTL smart_rtl;
// default speed for rtl
AP_Float rtl_speed;
// frame class for vehicle
AP_Int8 frame_class;
2017-08-16 07:02:56 -03:00
// fence library
AC_Fence fence;
2017-08-16 07:57:42 -03:00
2021-03-25 05:47:29 -03:00
#if HAL_PROXIMITY_ENABLED
2017-08-16 07:57:42 -03:00
// proximity library
AP_Proximity proximity;
2021-03-25 05:47:29 -03:00
#endif
2017-12-12 02:12:16 -04:00
// avoidance library
AC_Avoid avoid;
2018-05-18 05:38:06 -03:00
// pitch angle at 100% throttle
AP_Float bal_pitch_max;
2018-06-21 09:50:28 -03:00
// pitch/roll angle for crash check
AP_Int8 crash_angle;
2018-05-24 01:47:07 -03:00
// follow mode library
AP_Follow follow;
2018-05-31 06:26:07 -03:00
// frame type for vehicle (used for vectored motor vehicles and custom motor configs)
AP_Int8 frame_type;
2018-08-07 01:22:51 -03:00
// loiter type
AP_Int8 loit_type;
2018-09-25 10:09:21 -03:00
AP_Float loit_radius;
2018-06-08 06:22:55 -03:00
2020-01-17 20:36:11 -04:00
#if HAL_SPRAYER_ENABLED
2018-06-08 06:22:55 -03:00
// Sprayer
AC_Sprayer sprayer;
2020-01-17 20:36:11 -04:00
#endif
2018-08-29 21:54:12 -03:00
2019-02-07 19:45:23 -04:00
#if GRIPPER_ENABLED
AP_Gripper gripper;
#endif
2018-08-29 21:54:12 -03:00
// Rally point library
AP_Rally_Rover rally;
2018-07-02 04:21:37 -03:00
// Simple mode types
AP_Int8 simple_type;
2018-09-25 10:09:47 -03:00
// windvane
AP_WindVane windvane;
2018-09-14 04:09:07 -03:00
// mission behave
AP_Int8 mis_done_behave;
// balance both pitch trim
AP_Float bal_pitch_trim;
2019-03-01 02:40:40 -04:00
2019-04-20 20:10:51 -03:00
// stick mixing for auto modes
AP_Int8 stick_mixing;
#if AP_SCRIPTING_ENABLED
2019-03-01 02:40:40 -04:00
AP_Scripting scripting;
#endif // AP_SCRIPTING_ENABLED
2019-03-01 02:40:40 -04:00
2019-04-29 03:31:45 -03:00
// waypoint navigation
AR_WPNav wp_nav;
// Sailboat functions
Sailboat sailboat;
2019-05-10 02:59:52 -03:00
// object avoidance path planning
AP_OAPathPlanner oa;
// maximum speed for vehicle
AP_Float speed_max;
// gain for speed of correction in loiter
AP_Float loiter_speed_gain;
// FS options
AP_Int32 fs_options;
2021-07-01 03:15:10 -03:00
#if HAL_TORQEEDO_ENABLED
// torqeedo motor driver
AP_Torqeedo torqeedo;
#endif
2020-03-28 20:57:37 -03:00
#if HAL_AIS_ENABLED
// Automatic Identification System - for tracking sea-going vehicles
AP_AIS ais;
#endif
2016-10-25 22:37:08 -03:00
};
extern const AP_Param::Info var_info[];