mirror of https://github.com/ArduPilot/ardupilot
102 lines
3.0 KiB
C
102 lines
3.0 KiB
C
|
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||
|
|
|
||
|
|
#ifndef PARAMETERS_H
|
||
|
|
#define PARAMETERS_H
|
||
|
|
|
||
|
|
#include <AP_Common.h>
|
||
|
|
|
||
|
|
// Global parameter class.
|
||
|
|
//
|
||
|
|
class Parameters {
|
||
|
|
public:
|
||
|
|
|
||
|
|
/*
|
||
|
|
* The value of k_format_version determines whether the existing
|
||
|
|
* eeprom data is considered valid. You should only change this
|
||
|
|
* value under the following circumstances:
|
||
|
|
*
|
||
|
|
* 1) the meaning of an existing eeprom parameter changes
|
||
|
|
*
|
||
|
|
* 2) the value of an existing k_param_* enum value changes
|
||
|
|
*
|
||
|
|
* Adding a new parameter should _not_ require a change to
|
||
|
|
* k_format_version except under special circumstances. If you
|
||
|
|
* change it anyway then all ArduPlane users will need to reload all
|
||
|
|
* their parameters. We want that to be an extremely rare
|
||
|
|
* thing. Please do not just change it "just in case".
|
||
|
|
*
|
||
|
|
* To determine if a k_param_* value has changed, use the rules of
|
||
|
|
* C++ enums to work out the value of the neighboring enum
|
||
|
|
* values. If you don't know the C++ enum rules then please ask for
|
||
|
|
* help.
|
||
|
|
*/
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////////////////
|
||
|
|
// STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE
|
||
|
|
// COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!!
|
||
|
|
static const uint16_t k_format_version = 1;
|
||
|
|
//////////////////////////////////////////////////////////////////
|
||
|
|
|
||
|
|
|
||
|
|
// The parameter software_type is set up solely for ground station use
|
||
|
|
// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
|
||
|
|
// GCS will interpret values 0-9 as ArduPilotMega. Developers may use
|
||
|
|
// values within that range to identify different branches.
|
||
|
|
//
|
||
|
|
static const uint16_t k_software_type = 4;
|
||
|
|
|
||
|
|
enum {
|
||
|
|
// Layout version number, always key zero.
|
||
|
|
//
|
||
|
|
k_param_format_version = 0,
|
||
|
|
k_param_software_type,
|
||
|
|
|
||
|
|
k_param_gcs0 = 100, // stream rates for port0
|
||
|
|
k_param_gcs3, // stream rates for port3
|
||
|
|
k_param_sysid_this_mav,
|
||
|
|
k_param_sysid_my_gcs,
|
||
|
|
k_param_serial0_baud,
|
||
|
|
k_param_serial3_baud,
|
||
|
|
k_param_imu,
|
||
|
|
k_param_compass_enabled,
|
||
|
|
k_param_compass,
|
||
|
|
k_param_ahrs, // AHRS group
|
||
|
|
k_param_barometer,
|
||
|
|
k_param_scheduler,
|
||
|
|
k_param_ins,
|
||
|
|
k_param_sitl,
|
||
|
|
k_param_pidPitch2Srv,
|
||
|
|
k_param_pidYaw2Srv,
|
||
|
|
|
||
|
|
k_param_channel_yaw = 200,
|
||
|
|
k_param_channel_pitch
|
||
|
|
|
||
|
|
// 254,255: reserved
|
||
|
|
};
|
||
|
|
|
||
|
|
AP_Int16 format_version;
|
||
|
|
AP_Int8 software_type;
|
||
|
|
|
||
|
|
// Telemetry control
|
||
|
|
//
|
||
|
|
AP_Int16 sysid_this_mav;
|
||
|
|
AP_Int16 sysid_my_gcs;
|
||
|
|
AP_Int8 serial0_baud;
|
||
|
|
AP_Int8 serial3_baud;
|
||
|
|
|
||
|
|
AP_Int8 compass_enabled;
|
||
|
|
|
||
|
|
// PID controllers
|
||
|
|
PID pidPitch2Srv;
|
||
|
|
PID pidYaw2Srv;
|
||
|
|
|
||
|
|
Parameters() :
|
||
|
|
pidPitch2Srv(1.0f, 0.2f, 0.05f, 4000.0f),
|
||
|
|
pidYaw2Srv(1.0f, 0.2f, 0.05f, 4000.0f)
|
||
|
|
{}
|
||
|
|
};
|
||
|
|
|
||
|
|
extern const AP_Param::Info var_info[];
|
||
|
|
|
||
|
|
#endif // PARAMETERS_H
|