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# include "Copter.h"
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/*
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/>.
*/
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/*
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* ArduCopter parameter definitions
*
*/
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# define GSCALAR(v, name, def) { copter.g.v.vtype, name, Parameters::k_param_ ## v, &copter.g.v, {def_value : def} }
# define ASCALAR(v, name, def) { copter.aparm.v.vtype, name, Parameters::k_param_ ## v, (const void *)&copter.aparm.v, {def_value : def} }
# define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &copter.g.v, {group_info : class::var_info} }
# define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info : class::var_info} }
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# define GOBJECTPTR(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info : class::var_info}, AP_PARAM_FLAG_POINTER }
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# define GOBJECTVARPTR(v, name, var_info_ptr) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info_ptr : var_info_ptr}, AP_PARAM_FLAG_POINTER | AP_PARAM_FLAG_INFO_POINTER }
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# define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&copter.v, {group_info : class::var_info} }
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# if FRAME_CONFIG == HELI_FRAME
// 6 here is AP_Motors::MOTOR_FRAME_HELI
# define DEFAULT_FRAME_CLASS 6
# else
# define DEFAULT_FRAME_CLASS 0
# endif
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const AP_Param : : Info Copter : : var_info [ ] = {
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// @Param: SYSID_SW_MREV
// @DisplayName: Eeprom format version number
// @Description: This value is incremented when changes are made to the eeprom format
// @User: Advanced
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// @ReadOnly: True
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GSCALAR ( format_version , " SYSID_SW_MREV " , 0 ) ,
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// @Param: SYSID_THISMAV
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// @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
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// @Range: 1 255
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// @User: Advanced
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GSCALAR ( sysid_this_mav , " SYSID_THISMAV " , MAV_SYSTEM_ID ) ,
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// @Param: SYSID_MYGCS
// @DisplayName: My ground station number
// @Description: Allows restricting radio overrides to only come from my ground station
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// @Values: 255:Mission Planner and DroidPlanner, 252: AP Planner 2
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// @User: Advanced
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GSCALAR ( sysid_my_gcs , " SYSID_MYGCS " , 255 ) ,
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// @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 ) ,
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// @Param: PILOT_TKOFF_ALT
// @DisplayName: Pilot takeoff altitude
// @Description: Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick.
// @User: Standard
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// @Units: cm
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// @Range: 0.0 1000.0
// @Increment: 10
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GSCALAR ( pilot_takeoff_alt , " PILOT_TKOFF_ALT " , PILOT_TKOFF_ALT_DEFAULT ) ,
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// @Param: PILOT_THR_BHV
// @DisplayName: Throttle stick behavior
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// @Description: Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick.
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// @User: Standard
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// @Values: 0:None,1:Feedback from mid stick,2:High throttle cancels landing,4:Disarm on land detection
// @Bitmask: 0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection
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GSCALAR ( throttle_behavior , " PILOT_THR_BHV " , 0 ) ,
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// @Group: SERIAL
// @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
GOBJECT ( serial_manager , " SERIAL " , AP_SerialManager ) ,
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// @Param: TELEM_DELAY
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// @DisplayName: Telemetry startup delay
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// @Description: The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
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// @User: Advanced
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// @Units: s
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// @Range: 0 30
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// @Increment: 1
GSCALAR ( telem_delay , " TELEM_DELAY " , 0 ) ,
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// @Param: GCS_PID_MASK
// @DisplayName: GCS PID tuning mask
// @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
// @User: Advanced
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// @Values: 0:None,1:Roll,2:Pitch,4:Yaw,8:AccelZ
// @Bitmask: 0:Roll,1:Pitch,2:Yaw,3:AccelZ
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GSCALAR ( gcs_pid_mask , " GCS_PID_MASK " , 0 ) ,
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# if MODE_RTL_ENABLED == ENABLED
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// @Param: RTL_ALT
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// @DisplayName: RTL Altitude
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// @Description: The minimum alt above home the vehicle will climb to before returning. If the vehicle is flying higher than this value it will return at its current altitude.
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// @Units: cm
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// @Range: 200 8000
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// @Increment: 1
// @User: Standard
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GSCALAR ( rtl_altitude , " RTL_ALT " , RTL_ALT ) ,
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// @Param: RTL_CONE_SLOPE
// @DisplayName: RTL cone slope
// @Description: Defines a cone above home which determines maximum climb
// @Range: 0.5 10.0
// @Increment: .1
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// @Values: 0:Disabled,1:Shallow,3:Steep
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// @User: Standard
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GSCALAR ( rtl_cone_slope , " RTL_CONE_SLOPE " , RTL_CONE_SLOPE_DEFAULT ) ,
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// @Param: RTL_SPEED
// @DisplayName: RTL speed
// @Description: Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead.
// @Units: cm/s
// @Range: 0 2000
// @Increment: 50
// @User: Standard
GSCALAR ( rtl_speed_cms , " RTL_SPEED " , 0 ) ,
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// @Param: RTL_ALT_FINAL
// @DisplayName: RTL Final Altitude
// @Description: This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to zero to land.
// @Units: cm
// @Range: -1 1000
// @Increment: 1
// @User: Standard
GSCALAR ( rtl_alt_final , " RTL_ALT_FINAL " , RTL_ALT_FINAL ) ,
// @Param: RTL_CLIMB_MIN
// @DisplayName: RTL minimum climb
// @Description: The vehicle will climb this many cm during the initial climb portion of the RTL
// @Units: cm
// @Range: 0 3000
// @Increment: 10
// @User: Standard
GSCALAR ( rtl_climb_min , " RTL_CLIMB_MIN " , RTL_CLIMB_MIN_DEFAULT ) ,
// @Param: RTL_LOIT_TIME
// @DisplayName: RTL loiter time
// @Description: Time (in milliseconds) to loiter above home before beginning final descent
// @Units: ms
// @Range: 0 60000
// @Increment: 1000
// @User: Standard
GSCALAR ( rtl_loiter_time , " RTL_LOIT_TIME " , RTL_LOITER_TIME ) ,
# endif
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# if RANGEFINDER_ENABLED == ENABLED
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// @Param: RNGFND_GAIN
// @DisplayName: Rangefinder gain
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// @Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter
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// @Range: 0.01 2.0
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// @Increment: 0.01
// @User: Standard
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GSCALAR ( rangefinder_gain , " RNGFND_GAIN " , RANGEFINDER_GAIN_DEFAULT ) ,
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# endif
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// @Param: FS_GCS_ENABLE
// @DisplayName: Ground Station Failsafe Enable
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// @Description: Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle.
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// @Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode,3:Enabled always SmartRTL or RTL,4:Enabled always SmartRTL or Land
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// @User: Standard
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GSCALAR ( failsafe_gcs , " FS_GCS_ENABLE " , FS_GCS_ENABLED_ALWAYS_RTL ) ,
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// @Param: GPS_HDOP_GOOD
// @DisplayName: GPS Hdop Good
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// @Description: GPS Hdop value at or below this value represent a good position. Used for pre-arm checks
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// @Range: 100 900
// @User: Advanced
GSCALAR ( gps_hdop_good , " GPS_HDOP_GOOD " , GPS_HDOP_GOOD_DEFAULT ) ,
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// @Param: SUPER_SIMPLE
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// @DisplayName: Super Simple Mode
// @Description: Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode
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// @Values: 0:Disabled,1:Mode1,2:Mode2,3:Mode1+2,4:Mode3,5:Mode1+3,6:Mode2+3,7:Mode1+2+3,8:Mode4,9:Mode1+4,10:Mode2+4,11:Mode1+2+4,12:Mode3+4,13:Mode1+3+4,14:Mode2+3+4,15:Mode1+2+3+4,16:Mode5,17:Mode1+5,18:Mode2+5,19:Mode1+2+5,20:Mode3+5,21:Mode1+3+5,22:Mode2+3+5,23:Mode1+2+3+5,24:Mode4+5,25:Mode1+4+5,26:Mode2+4+5,27:Mode1+2+4+5,28:Mode3+4+5,29:Mode1+3+4+5,30:Mode2+3+4+5,31:Mode1+2+3+4+5,32:Mode6,33:Mode1+6,34:Mode2+6,35:Mode1+2+6,36:Mode3+6,37:Mode1+3+6,38:Mode2+3+6,39:Mode1+2+3+6,40:Mode4+6,41:Mode1+4+6,42:Mode2+4+6,43:Mode1+2+4+6,44:Mode3+4+6,45:Mode1+3+4+6,46:Mode2+3+4+6,47:Mode1+2+3+4+6,48:Mode5+6,49:Mode1+5+6,50:Mode2+5+6,51:Mode1+2+5+6,52:Mode3+5+6,53:Mode1+3+5+6,54:Mode2+3+5+6,55:Mode1+2+3+5+6,56:Mode4+5+6,57:Mode1+4+5+6,58:Mode2+4+5+6,59:Mode1+2+4+5+6,60:Mode3+4+5+6,61:Mode1+3+4+5+6,62:Mode2+3+4+5+6,63:Mode1+2+3+4+5+6
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// @User: Standard
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GSCALAR ( super_simple , " SUPER_SIMPLE " , 0 ) ,
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// @Param: WP_YAW_BEHAVIOR
// @DisplayName: Yaw behaviour during missions
// @Description: Determines how the autopilot controls the yaw during missions and RTL
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// @Values: 0:Never change yaw, 1:Face next waypoint, 2:Face next waypoint except RTL, 3:Face along GPS course
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// @User: Standard
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GSCALAR ( wp_yaw_behavior , " WP_YAW_BEHAVIOR " , WP_YAW_BEHAVIOR_DEFAULT ) ,
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// @Param: LAND_SPEED
// @DisplayName: Land speed
// @Description: The descent speed for the final stage of landing in cm/s
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// @Units: cm/s
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// @Range: 30 200
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// @Increment: 10
// @User: Standard
GSCALAR ( land_speed , " LAND_SPEED " , LAND_SPEED ) ,
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// @Param: LAND_SPEED_HIGH
// @DisplayName: Land speed high
// @Description: The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used
// @Units: cm/s
// @Range: 0 500
// @Increment: 10
// @User: Standard
GSCALAR ( land_speed_high , " LAND_SPEED_HIGH " , 0 ) ,
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// @Param: PILOT_SPEED_UP
// @DisplayName: Pilot maximum vertical speed ascending
// @Description: The maximum vertical ascending velocity the pilot may request in cm/s
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// @Units: cm/s
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// @Range: 50 500
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// @Increment: 10
// @User: Standard
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GSCALAR ( pilot_speed_up , " PILOT_SPEED_UP " , PILOT_VELZ_MAX ) ,
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// @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 ) ,
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// @Param: FS_THR_ENABLE
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// @DisplayName: Throttle Failsafe Enable
// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
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// @Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode,3:Enabled always Land,4:Enabled always SmartRTL or RTL,5:Enabled always SmartRTL or Land
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// @User: Standard
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GSCALAR ( failsafe_throttle , " FS_THR_ENABLE " , FS_THR_ENABLED_ALWAYS_RTL ) ,
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// @Param: FS_THR_VALUE
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// @DisplayName: Throttle Failsafe Value
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// @Description: The PWM level in microseconds on channel 3 below which throttle failsafe triggers
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// @Range: 925 1100
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// @Units: PWM
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// @Increment: 1
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// @User: Standard
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GSCALAR ( failsafe_throttle_value , " FS_THR_VALUE " , FS_THR_VALUE_DEFAULT ) ,
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// @Param: THR_DZ
// @DisplayName: Throttle deadzone
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// @Description: The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes
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// @User: Standard
// @Range: 0 300
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// @Units: PWM
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// @Increment: 1
GSCALAR ( throttle_deadzone , " THR_DZ " , THR_DZ_DEFAULT ) ,
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// @Param: FLTMODE1
// @DisplayName: Flight Mode 1
// @Description: Flight mode when Channel 5 pwm is <= 1230
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// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag,25:SystemID
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// @User: Standard
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GSCALAR ( flight_mode1 , " FLTMODE1 " , ( uint8_t ) FLIGHT_MODE_1 ) ,
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// @Param: FLTMODE2
// @DisplayName: Flight Mode 2
// @Description: Flight mode when Channel 5 pwm is >1230, <= 1360
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// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag,25:SystemID
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// @User: Standard
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GSCALAR ( flight_mode2 , " FLTMODE2 " , ( uint8_t ) FLIGHT_MODE_2 ) ,
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// @Param: FLTMODE3
// @DisplayName: Flight Mode 3
// @Description: Flight mode when Channel 5 pwm is >1360, <= 1490
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// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag,25:SystemID
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// @User: Standard
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GSCALAR ( flight_mode3 , " FLTMODE3 " , ( uint8_t ) FLIGHT_MODE_3 ) ,
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// @Param: FLTMODE4
// @DisplayName: Flight Mode 4
// @Description: Flight mode when Channel 5 pwm is >1490, <= 1620
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// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag,25:SystemID
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// @User: Standard
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GSCALAR ( flight_mode4 , " FLTMODE4 " , ( uint8_t ) FLIGHT_MODE_4 ) ,
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// @Param: FLTMODE5
// @DisplayName: Flight Mode 5
// @Description: Flight mode when Channel 5 pwm is >1620, <= 1749
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// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag,25:SystemID
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// @User: Standard
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GSCALAR ( flight_mode5 , " FLTMODE5 " , ( uint8_t ) FLIGHT_MODE_5 ) ,
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// @Param: FLTMODE6
// @DisplayName: Flight Mode 6
// @Description: Flight mode when Channel 5 pwm is >=1750
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// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag,25:SystemID
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// @User: Standard
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GSCALAR ( flight_mode6 , " FLTMODE6 " , ( uint8_t ) FLIGHT_MODE_6 ) ,
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// @Param: FLTMODE_CH
// @DisplayName: Flightmode channel
// @Description: RC Channel to use for flight mode control
// @Values: 0:Disabled,5:Channel5,6:Channel6,7:Channel7,8:Channel8
// @User: Advanced
GSCALAR ( flight_mode_chan , " FLTMODE_CH " , CH_MODE_DEFAULT ) ,
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// @Param: SIMPLE
// @DisplayName: Simple mode bitmask
// @Description: Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)
// @User: Advanced
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GSCALAR ( simple_modes , " SIMPLE " , 0 ) ,
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// @Param: LOG_BITMASK
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// @DisplayName: Log bitmask
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// @Description: 4 byte bitmap of log types to enable
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// @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
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// @User: Standard
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GSCALAR ( log_bitmask , " LOG_BITMASK " , DEFAULT_LOG_BITMASK ) ,
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// @Param: ESC_CALIBRATION
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// @DisplayName: ESC Calibration
// @Description: Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.
// @User: Advanced
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// @Values: 0:Normal Start-up, 1:Start-up in ESC Calibration mode if throttle high, 2:Start-up in ESC Calibration mode regardless of throttle, 3:Start-up and automatically calibrate ESCs, 9:Disabled
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GSCALAR ( esc_calibrate , " ESC_CALIBRATION " , 0 ) ,
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// @Param: TUNE
// @DisplayName: Channel 6 Tuning
// @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
// @User: Standard
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// @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,56:Rate Yaw Filter,55:Motor Yaw Headroom,14:AltHold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,12:Loiter Pos kP,22:Velocity XY kP,28:Velocity XY kI,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,45:RC Feel,13:Heli Ext Gyro,38:Declination,39:Circle Rate,41:RangeFinder Gain,46:Rate Pitch kP,47:Rate Pitch kI,48:Rate Pitch kD,49:Rate Roll kP,50:Rate Roll kI,51:Rate Roll kD,52:Rate Pitch FF,53:Rate Roll FF,54:Rate Yaw FF,57:Winch
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GSCALAR ( radio_tuning , " TUNE " , 0 ) ,
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// @Param: FRAME_TYPE
// @DisplayName: Frame Type (+, X, V, etc)
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// @Description: Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.
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// @Values: 0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 5:A-Tail, 10:Y6B, 11:Y6F, 12:BetaFlightX, 13:DJIX, 14:ClockwiseX, 15: I
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// @User: Standard
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// @RebootRequired: True
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GSCALAR ( frame_type , " FRAME_TYPE " , HAL_FRAME_TYPE_DEFAULT ) ,
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// @Group: ARMING_
// @Path: ../libraries/AP_Arming/AP_Arming.cpp
GOBJECT ( arming , " ARMING_ " , AP_Arming_Copter ) ,
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// @Param: DISARM_DELAY
// @DisplayName: Disarm delay
// @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm.
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// @Units: s
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// @Range: 0 127
// @User: Advanced
GSCALAR ( disarm_delay , " DISARM_DELAY " , AUTO_DISARMING_DELAY ) ,
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// @Param: ANGLE_MAX
// @DisplayName: Angle Max
// @Description: Maximum lean angle in all flight modes
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// @Units: cdeg
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// @Range: 1000 8000
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// @User: Advanced
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ASCALAR ( angle_max , " ANGLE_MAX " , DEFAULT_ANGLE_MAX ) ,
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// @Param: PHLD_BRAKE_RATE
// @DisplayName: PosHold braking rate
// @Description: PosHold flight mode's rotation rate during braking in deg/sec
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// @Units: deg/s
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// @Range: 4 12
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// @User: Advanced
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GSCALAR ( poshold_brake_rate , " PHLD_BRAKE_RATE " , POSHOLD_BRAKE_RATE_DEFAULT ) ,
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// @Param: PHLD_BRAKE_ANGLE
// @DisplayName: PosHold braking angle max
// @Description: PosHold flight mode's max lean angle during braking in centi-degrees
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// @Units: cdeg
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// @Range: 2000 4500
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// @User: Advanced
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GSCALAR ( poshold_brake_angle_max , " PHLD_BRAKE_ANGLE " , POSHOLD_BRAKE_ANGLE_DEFAULT ) ,
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// @Param: LAND_REPOSITION
// @DisplayName: Land repositioning
// @Description: Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.
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// @Values: 0:No repositioning, 1:Repositioning
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// @User: Advanced
GSCALAR ( land_repositioning , " LAND_REPOSITION " , LAND_REPOSITION_DEFAULT ) ,
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// @Param: FS_EKF_ACTION
// @DisplayName: EKF Failsafe Action
// @Description: Controls the action that will be taken when an EKF failsafe is invoked
// @Values: 1:Land, 2:AltHold, 3:Land even in Stabilize
// @User: Advanced
GSCALAR ( fs_ekf_action , " FS_EKF_ACTION " , FS_EKF_ACTION_DEFAULT ) ,
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// @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
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// @User: Advanced
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GSCALAR ( fs_ekf_thresh , " FS_EKF_THRESH " , FS_EKF_THRESHOLD_DEFAULT ) ,
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// @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:Enabled
// @User: Advanced
GSCALAR ( fs_crash_check , " FS_CRASH_CHECK " , 1 ) ,
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// @Param: RC_SPEED
// @DisplayName: ESC Update Speed
// @Description: This is the speed in Hertz that your ESCs will receive updates
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// @Units: Hz
// @Range: 50 490
// @Increment: 1
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// @User: Advanced
GSCALAR ( rc_speed , " RC_SPEED " , RC_FAST_SPEED ) ,
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// @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.
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// @Range: 1 10
// @User: Standard
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GSCALAR ( acro_rp_p , " ACRO_RP_P " , ACRO_RP_P ) ,
// @Param: ACRO_YAW_P
// @DisplayName: Acro Yaw P gain
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// @Description: Converts pilot yaw input into a desired rate of rotation. Higher values mean faster rate of rotation.
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// @Range: 1 10
// @User: Standard
GSCALAR ( acro_yaw_p , " ACRO_YAW_P " , ACRO_YAW_P ) ,
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# if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
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// @Param: ACRO_BAL_ROLL
// @DisplayName: Acro Balance Roll
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// @Description: rate at which roll angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the roll axis. A higher value causes faster decay of desired to actual attitude.
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// @Range: 0 3
// @Increment: 0.1
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// @User: Advanced
GSCALAR ( acro_balance_roll , " ACRO_BAL_ROLL " , ACRO_BALANCE_ROLL ) ,
// @Param: ACRO_BAL_PITCH
// @DisplayName: Acro Balance Pitch
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// @Description: rate at which pitch angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the pitch axis. A higher value causes faster decay of desired to actual attitude.
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// @Range: 0 3
// @Increment: 0.1
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// @User: Advanced
GSCALAR ( acro_balance_pitch , " ACRO_BAL_PITCH " , ACRO_BALANCE_PITCH ) ,
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# endif
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# if MODE_ACRO_ENABLED == ENABLED
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// @Param: ACRO_TRAINER
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// @DisplayName: Acro Trainer
// @Description: Type of trainer used in acro mode
// @Values: 0:Disabled,1:Leveling,2:Leveling and Limited
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// @User: Advanced
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GSCALAR ( acro_trainer , " ACRO_TRAINER " , ACRO_TRAINER_LIMITED ) ,
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// @Param: ACRO_RP_EXPO
// @DisplayName: Acro Roll/Pitch Expo
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// @Description: Acro roll/pitch Expo to allow faster rotation when stick at edges
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// @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
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// @Range: -0.5 1.0
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// @User: Advanced
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GSCALAR ( acro_rp_expo , " ACRO_RP_EXPO " , ACRO_RP_EXPO_DEFAULT ) ,
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# endif
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// variables not in the g class which contain EEPROM saved variables
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# if CAMERA == ENABLED
// @Group: CAM_
// @Path: ../libraries/AP_Camera/AP_Camera.cpp
GOBJECT ( camera , " CAM_ " , AP_Camera ) ,
# endif
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// @Group: RELAY_
// @Path: ../libraries/AP_Relay/AP_Relay.cpp
GOBJECT ( relay , " RELAY_ " , AP_Relay ) ,
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# if PARACHUTE == ENABLED
// @Group: CHUTE_
// @Path: ../libraries/AP_Parachute/AP_Parachute.cpp
GOBJECT ( parachute , " CHUTE_ " , AP_Parachute ) ,
# endif
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// @Group: LGR_
// @Path: ../libraries/AP_LandingGear/AP_LandingGear.cpp
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GOBJECT ( landinggear , " LGR_ " , AP_LandingGear ) ,
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# if FRAME_CONFIG == HELI_FRAME
// @Group: IM_
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// @Path: ../libraries/AC_InputManager/AC_InputManager_Heli.cpp
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GOBJECT ( input_manager , " IM_ " , AC_InputManager_Heli ) ,
# endif
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// @Group: COMPASS_
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// @Path: ../libraries/AP_Compass/AP_Compass.cpp
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GOBJECT ( compass , " COMPASS_ " , Compass ) ,
// @Group: INS_
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// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
GOBJECT ( ins , " INS_ " , AP_InertialSensor ) ,
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// @Group: WPNAV_
// @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
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GOBJECTPTR ( wp_nav , " WPNAV_ " , AC_WPNav ) ,
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// @Group: LOIT_
// @Path: ../libraries/AC_WPNav/AC_Loiter.cpp
GOBJECTPTR ( loiter_nav , " LOIT_ " , AC_Loiter ) ,
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# if MODE_CIRCLE_ENABLED == ENABLED
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// @Group: CIRCLE_
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// @Path: ../libraries/AC_WPNav/AC_Circle.cpp
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GOBJECTPTR ( circle_nav , " CIRCLE_ " , AC_Circle ) ,
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# endif
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// @Group: ATC_
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// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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# if FRAME_CONFIG == HELI_FRAME
GOBJECTPTR ( attitude_control , " ATC_ " , AC_AttitudeControl_Heli ) ,
# else
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GOBJECTPTR ( attitude_control , " ATC_ " , AC_AttitudeControl_Multi ) ,
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# endif
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// @Group: PSC
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// @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
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GOBJECTPTR ( pos_control , " PSC " , AC_PosControl ) ,
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// @Group: SR0_
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// @Path: GCS_Mavlink.cpp
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GOBJECTN ( _gcs . chan_parameters [ 0 ] , gcs0 , " SR0_ " , GCS_MAVLINK_Parameters ) ,
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// @Group: SR1_
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// @Path: GCS_Mavlink.cpp
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GOBJECTN ( _gcs . chan_parameters [ 1 ] , gcs1 , " SR1_ " , GCS_MAVLINK_Parameters ) ,
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// @Group: SR2_
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// @Path: GCS_Mavlink.cpp
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GOBJECTN ( _gcs . chan_parameters [ 2 ] , gcs2 , " SR2_ " , GCS_MAVLINK_Parameters ) ,
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// @Group: SR3_
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// @Path: GCS_Mavlink.cpp
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GOBJECTN ( _gcs . chan_parameters [ 3 ] , gcs3 , " SR3_ " , GCS_MAVLINK_Parameters ) ,
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// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
GOBJECT ( ahrs , " AHRS_ " , AP_AHRS ) ,
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# if MOUNT == ENABLED
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// @Group: MNT
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// @Path: ../libraries/AP_Mount/AP_Mount.cpp
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GOBJECT ( camera_mount , " MNT " , AP_Mount ) ,
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# endif
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// @Group: LOG
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// @Path: ../libraries/AP_Logger/AP_Logger.cpp
GOBJECT ( logger , " LOG " , AP_Logger ) ,
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// @Group: BATT
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// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
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GOBJECT ( battery , " BATT " , AP_BattMonitor ) ,
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// @Group: BRD_
// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
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GOBJECT ( BoardConfig , " BRD_ " , AP_BoardConfig ) ,
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# if HAL_WITH_UAVCAN
// @Group: CAN_
// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
GOBJECT ( BoardConfig_CAN , " CAN_ " , AP_BoardConfig_CAN ) ,
# endif
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# if SPRAYER_ENABLED == ENABLED
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// @Group: SPRAY_
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// @Path: ../libraries/AC_Sprayer/AC_Sprayer.cpp
GOBJECT ( sprayer , " SPRAY_ " , AC_Sprayer ) ,
# endif
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# if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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GOBJECT ( sitl , " SIM_ " , SITL : : SITL ) ,
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# endif
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// @Group: GND_
// @Path: ../libraries/AP_Baro/AP_Baro.cpp
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GOBJECT ( barometer , " GND_ " , AP_Baro ) ,
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// GPS driver
// @Group: GPS_
// @Path: ../libraries/AP_GPS/AP_GPS.cpp
GOBJECT ( gps , " GPS_ " , AP_GPS ) ,
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// @Group: SCHED_
// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
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GOBJECT ( scheduler , " SCHED_ " , AP_Scheduler ) ,
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# if AC_FENCE == ENABLED
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// @Group: FENCE_
// @Path: ../libraries/AC_Fence/AC_Fence.cpp
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GOBJECT ( fence , " FENCE_ " , AC_Fence ) ,
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# endif
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// @Group: AVOID_
// @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
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# if AC_AVOID_ENABLED == ENABLED
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GOBJECT ( avoid , " AVOID_ " , AC_Avoid ) ,
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# endif
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# if AC_RALLY == ENABLED
// @Group: RALLY_
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// @Path: AP_Rally.cpp,../libraries/AP_Rally/AP_Rally.cpp
GOBJECT ( rally , " RALLY_ " , AP_Rally_Copter ) ,
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# endif
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# if FRAME_CONFIG == HELI_FRAME
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// @Group: H_
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// @Path: ../libraries/AP_Motors/AP_MotorsHeli_Single.cpp,../libraries/AP_Motors/AP_MotorsHeli_Dual.cpp,../libraries/AP_Motors/AP_MotorsHeli.cpp
GOBJECTVARPTR ( motors , " H_ " , & copter . motors_var_info ) ,
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# else
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// @Group: MOT_
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// @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
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GOBJECTVARPTR ( motors , " MOT_ " , & copter . motors_var_info ) ,
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# endif
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// @Group: RCMAP_
// @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
GOBJECT ( rcmap , " RCMAP_ " , RCMapper ) ,
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// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN ( EKF2 , NavEKF2 , " EK2_ " , NavEKF2 ) ,
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// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN ( EKF3 , NavEKF3 , " EK3_ " , NavEKF3 ) ,
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# if MODE_AUTO_ENABLED == ENABLED
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// @Group: MIS_
// @Path: ../libraries/AP_Mission/AP_Mission.cpp
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GOBJECTN ( mode_auto . mission , mission , " MIS_ " , AP_Mission ) ,
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# endif
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// @Group: RSSI_
// @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
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GOBJECT ( rssi , " RSSI_ " , AP_RSSI ) ,
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# if RANGEFINDER_ENABLED == ENABLED
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// @Group: RNGFND
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// @Path: ../libraries/AP_RangeFinder/RangeFinder.cpp
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GOBJECT ( rangefinder , " RNGFND " , RangeFinder ) ,
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# endif
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# if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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// @Group: TERRAIN_
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// @Path: ../libraries/AP_Terrain/AP_Terrain.cpp
GOBJECT ( terrain , " TERRAIN_ " , AP_Terrain ) ,
# endif
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# if OPTFLOW == ENABLED
// @Group: FLOW
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// @Path: ../libraries/AP_OpticalFlow/OpticalFlow.cpp
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GOBJECT ( optflow , " FLOW " , OpticalFlow ) ,
# endif
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# if PRECISION_LANDING == ENABLED
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// @Group: PLND_
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// @Path: ../libraries/AC_PrecLand/AC_PrecLand.cpp
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GOBJECT ( precland , " PLND_ " , AC_PrecLand ) ,
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# endif
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# if RPM_ENABLED == ENABLED
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// @Group: RPM
// @Path: ../libraries/AP_RPM/AP_RPM.cpp
GOBJECT ( rpm_sensor , " RPM " , AP_RPM ) ,
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# endif
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# if ADSB_ENABLED == ENABLED
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// @Group: ADSB_
// @Path: ../libraries/AP_ADSB/AP_ADSB.cpp
GOBJECT ( adsb , " ADSB_ " , AP_ADSB ) ,
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// @Group: AVD_
// @Path: ../libraries/AP_Avoidance/AP_Avoidance.cpp
GOBJECT ( avoidance_adsb , " AVD_ " , AP_Avoidance_Copter ) ,
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# endif
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// @Group: NTF_
// @Path: ../libraries/AP_Notify/AP_Notify.cpp
GOBJECT ( notify , " NTF_ " , AP_Notify ) ,
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# if MODE_THROW_ENABLED == ENABLED
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// @Param: THROW_MOT_START
// @DisplayName: Start motors before throwing is detected
// @Description: Used by THROW mode. Controls whether motors will run at the speed set by THR_MIN or will be stopped when armed and waiting for the throw.
// @Values: 0:Stopped,1:Running
// @User: Standard
GSCALAR ( throw_motor_start , " THROW_MOT_START " , 0 ) ,
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# endif
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# if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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// @Param: TERRAIN_FOLLOW
// @DisplayName: Terrain Following use control
// @Description: This enables terrain following for RTL and LAND 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.
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// @Values: 0:Do Not Use in RTL and Land,1:Use in RTL and Land
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// @User: Standard
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GSCALAR ( terrain_follow , " TERRAIN_FOLLOW " , 0 ) ,
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# endif
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# if OSD_ENABLED == ENABLED
// @Group: OSD
// @Path: ../libraries/AP_OSD/AP_OSD.cpp
GOBJECT ( osd , " OSD " , AP_OSD ) ,
# endif
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// @Group:
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// @Path: Parameters.cpp
GOBJECT ( g2 , " " , ParametersG2 ) ,
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AP_VAREND
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} ;
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/*
2 nd group of parameters
*/
const AP_Param : : GroupInfo ParametersG2 : : var_info [ ] = {
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// @Param: WP_NAVALT_MIN
// @DisplayName: Minimum navigation altitude
// @Description: This is the altitude in meters above which for navigation can begin. This applies in auto takeoff and auto landing.
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// @Range: 0 5
// @User: Standard
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AP_GROUPINFO ( " WP_NAVALT_MIN " , 1 , ParametersG2 , wp_navalt_min , 0 ) ,
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# if BUTTON_ENABLED == ENABLED
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// @Group: BTN_
// @Path: ../libraries/AP_Button/AP_Button.cpp
AP_SUBGROUPINFO ( button , " BTN_ " , 2 , ParametersG2 , AP_Button ) ,
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# endif
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# if MODE_THROW_ENABLED == ENABLED
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// @Param: THROW_NEXTMODE
// @DisplayName: Throw mode's follow up mode
// @Description: Vehicle will switch to this mode after the throw is successfully completed. Default is to stay in throw mode (18)
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// @Values: 3:Auto,4:Guided,5:LOITER,6:RTL,9:Land,17:Brake,18:Throw
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// @User: Standard
AP_GROUPINFO ( " THROW_NEXTMODE " , 3 , ParametersG2 , throw_nextmode , 18 ) ,
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// @Param: THROW_TYPE
// @DisplayName: Type of Type
// @Description: Used by THROW mode. Specifies whether Copter is thrown upward or dropped.
// @Values: 0:Upward Throw,1:Drop
// @User: Standard
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AP_GROUPINFO ( " THROW_TYPE " , 4 , ParametersG2 , throw_type , ModeThrow : : ThrowType_Upward ) ,
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# endif
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// @Param: GND_EFFECT_COMP
// @DisplayName: Ground Effect Compensation Enable/Disable
// @Description: Ground Effect Compensation Enable/Disable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
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AP_GROUPINFO ( " GND_EFFECT_COMP " , 5 , ParametersG2 , gndeffect_comp_enabled , 1 ) ,
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# if ADVANCED_FAILSAFE == ENABLED
// @Group: AFS_
// @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
AP_SUBGROUPINFO ( afs , " AFS_ " , 6 , ParametersG2 , AP_AdvancedFailsafe ) ,
# endif
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// @Param: DEV_OPTIONS
// @DisplayName: Development options
// @Description: Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning
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// @Bitmask: 0:ADSBMavlinkProcessing,1:DevOptionVFR_HUDRelativeAlt
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// @User: Advanced
AP_GROUPINFO ( " DEV_OPTIONS " , 7 , ParametersG2 , dev_options , 0 ) ,
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# if BEACON_ENABLED == ENABLED
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// @Group: BCN
// @Path: ../libraries/AP_Beacon/AP_Beacon.cpp
AP_SUBGROUPINFO ( beacon , " BCN " , 14 , ParametersG2 , AP_Beacon ) ,
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# endif
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# if PROXIMITY_ENABLED == ENABLED
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// @Group: PRX
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// @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
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AP_SUBGROUPINFO ( proximity , " PRX " , 8 , ParametersG2 , AP_Proximity ) ,
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# endif
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// @Param: ACRO_Y_EXPO
// @DisplayName: Acro Yaw Expo
// @Description: Acro yaw 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
// @Range: -0.5 1.0
// @User: Advanced
AP_GROUPINFO ( " ACRO_Y_EXPO " , 9 , ParametersG2 , acro_y_expo , ACRO_Y_EXPO_DEFAULT ) ,
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# if MODE_ACRO_ENABLED == ENABLED
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// @Param: ACRO_THR_MID
// @DisplayName: Acro Thr Mid
// @Description: Acro Throttle Mid
// @Range: 0 1
// @User: Advanced
AP_GROUPINFO ( " ACRO_THR_MID " , 10 , ParametersG2 , acro_thr_mid , ACRO_THR_MID_DEFAULT ) ,
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# endif
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// @Param: SYSID_ENFORCE
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// @DisplayName: GCS sysid enforcement
// @Description: This controls whether packets from other than the expected GCS system ID will be accepted
// @Values: 0:NotEnforced,1:Enforced
// @User: Advanced
AP_GROUPINFO ( " SYSID_ENFORCE " , 11 , ParametersG2 , sysid_enforce , 0 ) ,
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# if STATS_ENABLED == ENABLED
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// @Group: STAT
// @Path: ../libraries/AP_Stats/AP_Stats.cpp
AP_SUBGROUPINFO ( stats , " STAT " , 12 , ParametersG2 , AP_Stats ) ,
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# endif
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# if GRIPPER_ENABLED == ENABLED
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// @Group: GRIP_
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// @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
AP_SUBGROUPINFO ( gripper , " GRIP_ " , 13 , ParametersG2 , AP_Gripper ) ,
# endif
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// @Param: FRAME_CLASS
// @DisplayName: Frame Class
// @Description: Controls major frame class for multicopter component
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// @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 6:Heli, 7:Tri, 8:SingleCopter, 9:CoaxCopter, 10:BiCopter, 11:Heli_Dual, 12:DodecaHexa, 13:HeliQuad
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO ( " FRAME_CLASS " , 15 , ParametersG2 , frame_class , DEFAULT_FRAME_CLASS ) ,
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// @Group: SERVO
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// @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
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AP_SUBGROUPINFO ( servo_channels , " SERVO " , 16 , ParametersG2 , SRV_Channels ) ,
// @Group: RC
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// @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
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AP_SUBGROUPINFO ( rc_channels , " RC " , 17 , ParametersG2 , RC_Channels_Copter ) ,
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# if VISUAL_ODOMETRY_ENABLED == ENABLED
// @Group: VISO
// @Path: ../libraries/AP_VisualOdom/AP_VisualOdom.cpp
AP_SUBGROUPINFO ( visual_odom , " VISO " , 18 , ParametersG2 , AP_VisualOdom ) ,
# endif
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// @Group: TCAL
// @Path: ../libraries/AP_TempCalibration/AP_TempCalibration.cpp
AP_SUBGROUPINFO ( temp_calibration , " TCAL " , 19 , ParametersG2 , AP_TempCalibration ) ,
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# if TOY_MODE_ENABLED == ENABLED
// @Group: TMODE
// @Path: toy_mode.cpp
AP_SUBGROUPINFO ( toy_mode , " TMODE " , 20 , ParametersG2 , ToyMode ) ,
# endif
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# if MODE_SMARTRTL_ENABLED == ENABLED
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// @Group: SRTL_
// @Path: ../libraries/AP_SmartRTL/AP_SmartRTL.cpp
AP_SUBGROUPINFO ( smart_rtl , " SRTL_ " , 21 , ParametersG2 , AP_SmartRTL ) ,
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# endif
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# if WINCH_ENABLED == ENABLED
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// @Group: WENC
// @Path: ../libraries/AP_WheelEncoder/AP_WheelEncoder.cpp
AP_SUBGROUPINFO ( wheel_encoder , " WENC " , 22 , ParametersG2 , AP_WheelEncoder ) ,
// @Group: WINCH_
// @Path: ../libraries/AP_Winch/AP_Winch.cpp
AP_SUBGROUPINFO ( winch , " WINCH " , 23 , ParametersG2 , AP_Winch ) ,
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# endif
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// @Param: PILOT_SPEED_DN
// @DisplayName: Pilot maximum vertical speed descending
// @Description: The maximum vertical descending velocity the pilot may request in cm/s
// @Units: cm/s
// @Range: 50 500
// @Increment: 10
// @User: Standard
AP_GROUPINFO ( " PILOT_SPEED_DN " , 24 , ParametersG2 , pilot_speed_dn , 0 ) ,
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// @Param: LAND_ALT_LOW
// @DisplayName: Land alt low
// @Description: Altitude during Landing at which vehicle slows to LAND_SPEED
// @Units: cm
// @Range: 100 10000
// @Increment: 10
// @User: Advanced
AP_GROUPINFO ( " LAND_ALT_LOW " , 25 , ParametersG2 , land_alt_low , 1000 ) ,
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# if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
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// @Group: FHLD
// @Path: mode_flowhold.cpp
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AP_SUBGROUPPTR ( mode_flowhold_ptr , " FHLD " , 26 , ParametersG2 , ModeFlowHold ) ,
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# endif
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# if MODE_FOLLOW_ENABLED == ENABLED
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// @Group: FOLL
// @Path: ../libraries/AP_Follow/AP_Follow.cpp
AP_SUBGROUPINFO ( follow , " FOLL " , 27 , ParametersG2 , AP_Follow ) ,
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# endif
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# ifdef USER_PARAMS_ENABLED
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AP_SUBGROUPINFO ( user_parameters , " USR " , 28 , ParametersG2 , UserParameters ) ,
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# endif
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# if AUTOTUNE_ENABLED == ENABLED
// @Group: AUTOTUNE_
// @Path: ../libraries/AC_AutoTune/AC_AutoTune.cpp
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AP_SUBGROUPPTR ( autotune_ptr , " AUTOTUNE_ " , 29 , ParametersG2 , AutoTune ) ,
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# endif
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# ifdef ENABLE_SCRIPTING
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// @Group: SCR_
// @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
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AP_SUBGROUPINFO ( scripting , " SCR_ " , 30 , ParametersG2 , AP_Scripting ) ,
# endif
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// @Param: TUNE_MIN
// @DisplayName: Tuning minimum
// @Description: Minimum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to
// @User: Standard
AP_GROUPINFO ( " TUNE_MIN " , 31 , ParametersG2 , tuning_min , 0 ) ,
// @Param: TUNE_MAX
// @DisplayName: Tuning maximum
// @Description: Maximum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to
// @User: Standard
AP_GROUPINFO ( " TUNE_MAX " , 32 , ParametersG2 , tuning_max , 0 ) ,
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# if AC_OAPATHPLANNER_ENABLED == ENABLED
// @Group: OA_
// @Path: ../libraries/AC_Avoidance/AP_OAPathPlanner.cpp
AP_SUBGROUPINFO ( oa , " OA_ " , 33 , ParametersG2 , AP_OAPathPlanner ) ,
# endif
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# if MODE_SYSTEMID_ENABLED == ENABLED
// @Group: SID
// @Path: mode_systemid.cpp
AP_SUBGROUPPTR ( mode_systemid_ptr , " SID " , 34 , ParametersG2 , ModeSystemId ) ,
# endif
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// @Param: FS_VIBE_ENABLE
// @DisplayName: Vibration Failsafe enable
// @Description: This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations
// @Values: 0:Disabled, 1:Enabled
// @User: Standard
AP_GROUPINFO ( " FS_VIBE_ENABLE " , 35 , ParametersG2 , fs_vibe_enabled , 1 ) ,
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AP_GROUPEND
} ;
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// These param descriptions are here so that users of beta Mission Planner (which uses the master branch as its source of descriptions)
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// can get them. These lines can be removed once Copter-3.7.0-beta testing begins or we improve the source of descriptions for GCSs.
//
// @Param: CH7_OPT
// @DisplayName: Channel 7 option
// @Description: Select which function is performed when CH7 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl
// @User: Standard
// @Param: CH8_OPT
// @DisplayName: Channel 8 option
// @Description: Select which function is performed when CH8 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl
// @User: Standard
// @Param: CH9_OPT
// @DisplayName: Channel 9 option
// @Description: Select which function is performed when CH9 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl
// @User: Standard
// @Param: CH10_OPT
// @DisplayName: Channel 10 option
// @Description: Select which function is performed when CH10 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl
// @User: Standard
// @Param: CH11_OPT
// @DisplayName: Channel 11 option
// @Description: Select which function is performed when CH11 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl
// @User: Standard
// @Param: CH12_OPT
// @DisplayName: Channel 12 option
// @Description: Select which function is performed when CH12 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl
// @User: Standard
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// @Param: TUNE_LOW
// @DisplayName: Tuning minimum
// @Description: The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob
// @User: Standard
// @Range: 0 32767
// @Param: TUNE_HIGH
// @DisplayName: Tuning maximum
// @Description: The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob
// @User: Standard
// @Range: 0 32767
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/*
constructor for g2 object
*/
ParametersG2 : : ParametersG2 ( void )
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: temp_calibration ( ) // this doesn't actually need constructing, but removing it here is problematic syntax-wise
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# if BEACON_ENABLED == ENABLED
, beacon ( copter . serial_manager )
# endif
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# if PROXIMITY_ENABLED == ENABLED
, proximity ( copter . serial_manager )
# endif
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# if ADVANCED_FAILSAFE == ENABLED
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, afs ( copter . mode_auto . mission )
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# endif
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# if MODE_SMARTRTL_ENABLED == ENABLED
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, smart_rtl ( )
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# endif
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# if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
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, mode_flowhold_ptr ( & copter . mode_flowhold )
# endif
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# if MODE_FOLLOW_ENABLED == ENABLED
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, follow ( )
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# endif
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# ifdef USER_PARAMS_ENABLED
, user_parameters ( )
# endif
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# if AUTOTUNE_ENABLED == ENABLED
, autotune_ptr ( & copter . autotune )
# endif
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# if MODE_SYSTEMID_ENABLED == ENABLED
, mode_systemid_ptr ( & copter . mode_systemid )
# endif
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{
AP_Param : : setup_object_defaults ( this , var_info ) ;
}
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/*
This is a conversion table from old parameter values to new
parameter names . The startup code looks for saved values of the old
parameters and will copy them across to the new parameters if the
new parameter does not yet have a saved value . It then saves the new
value .
Note that this works even if the old parameter has been removed . It
relies on the old k_param index not being removed
The second column below is the index in the var_info [ ] table for the
old object . This should be zero for top level parameters .
*/
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const AP_Param : : ConversionInfo conversion_table [ ] = {
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{ Parameters : : k_param_log_bitmask_old , 0 , AP_PARAM_INT16 , " LOG_BITMASK " } ,
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{ Parameters : : k_param_serial0_baud , 0 , AP_PARAM_INT16 , " SERIAL0_BAUD " } ,
{ Parameters : : k_param_serial1_baud , 0 , AP_PARAM_INT16 , " SERIAL1_BAUD " } ,
{ Parameters : : k_param_serial2_baud , 0 , AP_PARAM_INT16 , " SERIAL2_BAUD " } ,
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{ Parameters : : k_param_arming_check_old , 0 , AP_PARAM_INT8 , " ARMING_CHECK " } ,
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// battery
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{ Parameters : : k_param_fs_batt_voltage , 0 , AP_PARAM_FLOAT , " BATT_LOW_VOLT " } ,
{ Parameters : : k_param_fs_batt_mah , 0 , AP_PARAM_FLOAT , " BATT_LOW_MAH " } ,
{ Parameters : : k_param_failsafe_battery_enabled , 0 , AP_PARAM_INT8 , " BATT_FS_LOW_ACT " } ,
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{ Parameters : : Parameters : : k_param_ch7_option_old , 0 , AP_PARAM_INT8 , " RC7_OPTION " } ,
{ Parameters : : Parameters : : k_param_ch8_option_old , 0 , AP_PARAM_INT8 , " RC8_OPTION " } ,
{ Parameters : : Parameters : : k_param_ch9_option_old , 0 , AP_PARAM_INT8 , " RC9_OPTION " } ,
{ Parameters : : Parameters : : k_param_ch10_option_old , 0 , AP_PARAM_INT8 , " RC10_OPTION " } ,
{ Parameters : : Parameters : : k_param_ch11_option_old , 0 , AP_PARAM_INT8 , " RC11_OPTION " } ,
{ Parameters : : Parameters : : k_param_ch12_option_old , 0 , AP_PARAM_INT8 , " RC12_OPTION " } ,
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{ Parameters : : k_param_compass_enabled_deprecated , 0 , AP_PARAM_INT8 , " COMPASS_ENABLE " } ,
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{ Parameters : : k_param_arming , 2 , AP_PARAM_INT16 , " ARMING_CHECK " } ,
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} ;
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void Copter : : load_parameters ( void )
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{
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if ( ! AP_Param : : check_var_info ( ) ) {
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hal . console - > printf ( " Bad var table \n " ) ;
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AP_HAL : : panic ( " Bad var table " ) ;
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}
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// disable centrifugal force correction, it will be enabled as part of the arming process
ahrs . set_correct_centrifugal ( false ) ;
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hal . util - > set_soft_armed ( false ) ;
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if ( ! g . format_version . load ( ) | |
g . format_version ! = Parameters : : k_format_version ) {
// erase all parameters
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hal . console - > printf ( " Firmware change: erasing EEPROM... \n " ) ;
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StorageManager : : erase ( ) ;
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AP_Param : : erase_all ( ) ;
// save the current format version
g . format_version . set_and_save ( Parameters : : k_format_version ) ;
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hal . console - > printf ( " done. \n " ) ;
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}
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uint32_t before = micros ( ) ;
// Load all auto-loaded EEPROM variables
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AP_Param : : load_all ( ) ;
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AP_Param : : convert_old_parameters ( & conversion_table [ 0 ] , ARRAY_SIZE ( conversion_table ) ) ;
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// convert landing gear parameters
convert_lgr_parameters ( ) ;
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hal . console - > printf ( " load_all took %uus \n " , ( unsigned ) ( micros ( ) - before ) ) ;
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// setup AP_Param frame type flags
AP_Param : : set_frame_type_flags ( AP_PARAM_FRAME_COPTER ) ;
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}
// handle conversion of PID gains from Copter-3.3 to Copter-3.4
void Copter : : convert_pid_parameters ( void )
{
// conversion info
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const AP_Param : : ConversionInfo pid_conversion_info [ ] = {
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{ Parameters : : k_param_pid_rate_roll , 0 , AP_PARAM_FLOAT , " ATC_RAT_RLL_P " } ,
{ Parameters : : k_param_pid_rate_roll , 1 , AP_PARAM_FLOAT , " ATC_RAT_RLL_I " } ,
{ Parameters : : k_param_pid_rate_roll , 2 , AP_PARAM_FLOAT , " ATC_RAT_RLL_D " } ,
{ Parameters : : k_param_pid_rate_pitch , 0 , AP_PARAM_FLOAT , " ATC_RAT_PIT_P " } ,
{ Parameters : : k_param_pid_rate_pitch , 1 , AP_PARAM_FLOAT , " ATC_RAT_PIT_I " } ,
{ Parameters : : k_param_pid_rate_pitch , 2 , AP_PARAM_FLOAT , " ATC_RAT_PIT_D " } ,
{ Parameters : : k_param_pid_rate_yaw , 0 , AP_PARAM_FLOAT , " ATC_RAT_YAW_P " } ,
{ Parameters : : k_param_pid_rate_yaw , 1 , AP_PARAM_FLOAT , " ATC_RAT_YAW_I " } ,
{ Parameters : : k_param_pid_rate_yaw , 2 , AP_PARAM_FLOAT , " ATC_RAT_YAW_D " } ,
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# if FRAME_CONFIG == HELI_FRAME
{ Parameters : : k_param_pid_rate_roll , 4 , AP_PARAM_FLOAT , " ATC_RAT_RLL_VFF " } ,
{ Parameters : : k_param_pid_rate_pitch , 4 , AP_PARAM_FLOAT , " ATC_RAT_PIT_VFF " } ,
{ Parameters : : k_param_pid_rate_yaw , 4 , AP_PARAM_FLOAT , " ATC_RAT_YAW_VFF " } ,
# endif
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} ;
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const AP_Param : : ConversionInfo imax_conversion_info [ ] = {
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{ Parameters : : k_param_pid_rate_roll , 5 , AP_PARAM_FLOAT , " ATC_RAT_RLL_IMAX " } ,
{ Parameters : : k_param_pid_rate_pitch , 5 , AP_PARAM_FLOAT , " ATC_RAT_PIT_IMAX " } ,
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{ Parameters : : k_param_pid_rate_yaw , 5 , AP_PARAM_FLOAT , " ATC_RAT_YAW_IMAX " } ,
# if FRAME_CONFIG == HELI_FRAME
{ Parameters : : k_param_pid_rate_roll , 7 , AP_PARAM_FLOAT , " ATC_RAT_RLL_ILMI " } ,
{ Parameters : : k_param_pid_rate_pitch , 7 , AP_PARAM_FLOAT , " ATC_RAT_PIT_ILMI " } ,
{ Parameters : : k_param_pid_rate_yaw , 7 , AP_PARAM_FLOAT , " ATC_RAT_YAW_ILMI " } ,
# endif
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} ;
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const AP_Param : : ConversionInfo angle_and_filt_conversion_info [ ] = {
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{ Parameters : : k_param_p_stabilize_roll , 0 , AP_PARAM_FLOAT , " ATC_ANG_RLL_P " } ,
{ Parameters : : k_param_p_stabilize_pitch , 0 , AP_PARAM_FLOAT , " ATC_ANG_PIT_P " } ,
{ Parameters : : k_param_p_stabilize_yaw , 0 , AP_PARAM_FLOAT , " ATC_ANG_YAW_P " } ,
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{ Parameters : : k_param_pid_rate_roll , 6 , AP_PARAM_FLOAT , " ATC_RAT_RLL_FILT " } ,
{ Parameters : : k_param_pid_rate_pitch , 6 , AP_PARAM_FLOAT , " ATC_RAT_PIT_FILT " } ,
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{ Parameters : : k_param_pid_rate_yaw , 6 , AP_PARAM_FLOAT , " ATC_RAT_YAW_FILT " } ,
{ Parameters : : k_param_pi_vel_xy , 0 , AP_PARAM_FLOAT , " PSC_VELXY_P " } ,
{ Parameters : : k_param_pi_vel_xy , 1 , AP_PARAM_FLOAT , " PSC_VELXY_I " } ,
{ Parameters : : k_param_pi_vel_xy , 2 , AP_PARAM_FLOAT , " PSC_VELXY_IMAX " } ,
{ Parameters : : k_param_pi_vel_xy , 3 , AP_PARAM_FLOAT , " PSC_VELXY_FILT " } ,
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{ Parameters : : k_param_p_vel_z , 0 , AP_PARAM_FLOAT , " PSC_VELZ_P " } ,
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{ Parameters : : k_param_pid_accel_z , 0 , AP_PARAM_FLOAT , " PSC_ACCZ_P " } ,
{ Parameters : : k_param_pid_accel_z , 1 , AP_PARAM_FLOAT , " PSC_ACCZ_I " } ,
{ Parameters : : k_param_pid_accel_z , 2 , AP_PARAM_FLOAT , " PSC_ACCZ_D " } ,
{ Parameters : : k_param_pid_accel_z , 5 , AP_PARAM_FLOAT , " PSC_ACCZ_IMAX " } ,
{ Parameters : : k_param_pid_accel_z , 6 , AP_PARAM_FLOAT , " PSC_ACCZ_FILT " } ,
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{ Parameters : : k_param_p_alt_hold , 0 , AP_PARAM_FLOAT , " PSC_POSZ_P " } ,
{ Parameters : : k_param_p_pos_xy , 0 , AP_PARAM_FLOAT , " PSC_POSXY_P " } ,
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} ;
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const AP_Param : : ConversionInfo throttle_conversion_info [ ] = {
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{ Parameters : : k_param_throttle_min , 0 , AP_PARAM_FLOAT , " MOT_SPIN_MIN " } ,
{ Parameters : : k_param_throttle_mid , 0 , AP_PARAM_FLOAT , " MOT_THST_HOVER " }
} ;
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const AP_Param : : ConversionInfo loiter_conversion_info [ ] = {
{ Parameters : : k_param_wp_nav , 4 , AP_PARAM_FLOAT , " LOIT_SPEED " } ,
{ Parameters : : k_param_wp_nav , 7 , AP_PARAM_FLOAT , " LOIT_BRK_JERK " } ,
{ Parameters : : k_param_wp_nav , 8 , AP_PARAM_FLOAT , " LOIT_ACC_MAX " } ,
{ Parameters : : k_param_wp_nav , 9 , AP_PARAM_FLOAT , " LOIT_BRK_ACCEL " }
} ;
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// gains increase by 27% due to attitude controller's switch to use radians instead of centi-degrees
// and motor libraries switch to accept inputs in -1 to +1 range instead of -4500 ~ +4500
float pid_scaler = 1.27f ;
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# if FRAME_CONFIG != HELI_FRAME
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// Multicopter x-frame gains are 40% lower because -1 or +1 input to motors now results in maximum rotation
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if ( g . frame_type = = AP_Motors : : MOTOR_FRAME_TYPE_X | | g . frame_type = = AP_Motors : : MOTOR_FRAME_TYPE_V | | g . frame_type = = AP_Motors : : MOTOR_FRAME_TYPE_H ) {
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pid_scaler = 0.9f ;
}
# endif
// scale PID gains
uint8_t table_size = ARRAY_SIZE ( pid_conversion_info ) ;
for ( uint8_t i = 0 ; i < table_size ; i + + ) {
AP_Param : : convert_old_parameter ( & pid_conversion_info [ i ] , pid_scaler ) ;
}
// reduce IMAX into -1 ~ +1 range
table_size = ARRAY_SIZE ( imax_conversion_info ) ;
for ( uint8_t i = 0 ; i < table_size ; i + + ) {
AP_Param : : convert_old_parameter ( & imax_conversion_info [ i ] , 1.0f / 4500.0f ) ;
}
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// convert angle controller gain and filter without scaling
table_size = ARRAY_SIZE ( angle_and_filt_conversion_info ) ;
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for ( uint8_t i = 0 ; i < table_size ; i + + ) {
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AP_Param : : convert_old_parameter ( & angle_and_filt_conversion_info [ i ] , 1.0f ) ;
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}
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// convert throttle parameters (multicopter only)
table_size = ARRAY_SIZE ( throttle_conversion_info ) ;
for ( uint8_t i = 0 ; i < table_size ; i + + ) {
AP_Param : : convert_old_parameter ( & throttle_conversion_info [ i ] , 0.001f ) ;
}
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// convert RC_FEEL_RP to ATC_INPUT_TC
const AP_Param : : ConversionInfo rc_feel_rp_conversion_info = { Parameters : : k_param_rc_feel_rp , 0 , AP_PARAM_INT8 , " ATC_INPUT_TC " } ;
AP_Int8 rc_feel_rp_old ;
if ( AP_Param : : find_old_parameter ( & rc_feel_rp_conversion_info , & rc_feel_rp_old ) ) {
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AP_Param : : set_default_by_name ( rc_feel_rp_conversion_info . new_name , ( 1.0f / ( 2.0f + rc_feel_rp_old . get ( ) * 0.1f ) ) ) ;
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}
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// convert loiter parameters
table_size = ARRAY_SIZE ( loiter_conversion_info ) ;
for ( uint8_t i = 0 ; i < table_size ; i + + ) {
AP_Param : : convert_old_parameter ( & loiter_conversion_info [ i ] , 1.0f ) ;
}
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// TradHeli default parameters
# if FRAME_CONFIG == HELI_FRAME
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static const struct AP_Param : : defaults_table_struct heli_defaults_table [ ] = {
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{ " LOIT_ACC_MAX " , 500.0f } ,
{ " LOIT_BRK_ACCEL " , 125.0f } ,
{ " LOIT_BRK_DELAY " , 1.0f } ,
{ " LOIT_BRK_JERK " , 250.0f } ,
{ " LOIT_SPEED " , 3000.0f } ,
{ " PHLD_BRAKE_ANGLE " , 800.0f } ,
{ " PHLD_BRAKE_RATE " , 4.0f } ,
{ " PSC_ACCZ_P " , 0.28f } ,
{ " PSC_VELXY_D " , 0.0f } ,
{ " PSC_VELXY_I " , 0.5f } ,
{ " PSC_VELXY_P " , 1.0f } ,
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{ " RC8_OPTION " , 32 } ,
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} ;
AP_Param : : set_defaults_from_table ( heli_defaults_table , ARRAY_SIZE ( heli_defaults_table ) ) ;
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# endif
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// attitude control filter parameter changes (from _FILT to FLTE or FLTD) for Copter-3.7
const AP_Param : : ConversionInfo ff_and_filt_conversion_info [ ] = {
# if FRAME_CONFIG == HELI_FRAME
// tradheli moves ATC_RAT_RLL/PIT_FILT to FLTE, ATC_RAT_YAW_FILT to FLTE
{ Parameters : : k_param_attitude_control , 386 , AP_PARAM_FLOAT , " ATC_RAT_RLL_FLTE " } ,
{ Parameters : : k_param_attitude_control , 387 , AP_PARAM_FLOAT , " ATC_RAT_PIT_FLTE " } ,
{ Parameters : : k_param_attitude_control , 388 , AP_PARAM_FLOAT , " ATC_RAT_YAW_FLTE " } ,
# else
// multicopters move ATC_RAT_RLL/PIT_FILT to FLTD, ATC_RAT_YAW_FILT to FLTE
{ Parameters : : k_param_attitude_control , 385 , AP_PARAM_FLOAT , " ATC_RAT_RLL_FLTD " } ,
{ Parameters : : k_param_attitude_control , 386 , AP_PARAM_FLOAT , " ATC_RAT_PIT_FLTD " } ,
{ Parameters : : k_param_attitude_control , 387 , AP_PARAM_FLOAT , " ATC_RAT_YAW_FLTE " } ,
{ Parameters : : k_param_attitude_control , 449 , AP_PARAM_FLOAT , " ATC_RAT_RLL_FF " } ,
{ Parameters : : k_param_attitude_control , 450 , AP_PARAM_FLOAT , " ATC_RAT_PIT_FF " } ,
{ Parameters : : k_param_attitude_control , 451 , AP_PARAM_FLOAT , " ATC_RAT_YAW_FF " } ,
# endif
} ;
uint8_t filt_table_size = ARRAY_SIZE ( ff_and_filt_conversion_info ) ;
for ( uint8_t i = 0 ; i < filt_table_size ; i + + ) {
AP_Param : : convert_old_parameters ( & ff_and_filt_conversion_info [ i ] , 1.0f ) ;
}
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// notch filter parameter conversions (changed position and type) for Copter-3.7
const AP_Param : : ConversionInfo notchfilt_conversion_info [ ] = {
{ Parameters : : k_param_ins , 165 , AP_PARAM_INT16 , " INS_NOTCH_FREQ " } ,
{ Parameters : : k_param_ins , 229 , AP_PARAM_INT16 , " INS_NOTCH_BW " } ,
} ;
uint8_t notchfilt_table_size = ARRAY_SIZE ( notchfilt_conversion_info ) ;
for ( uint8_t i = 0 ; i < notchfilt_table_size ; i + + ) {
AP_Param : : convert_old_parameters ( & notchfilt_conversion_info [ i ] , 1.0f ) ;
}
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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
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if ( SRV_Channels : : upgrade_parameters ( old_rc_keys , old_aux_chan_mask , nullptr ) ) {
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// the rest needs to be done after motors allocation
upgrading_frame_params = true ;
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}
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}
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/*
convert landing gear parameters
*/
void Copter : : convert_lgr_parameters ( void )
{
// convert landing gear PWM values
uint8_t chan ;
if ( ! SRV_Channels : : find_channel ( SRV_Channel : : k_landing_gear_control , chan ) ) {
return ;
}
// parameter names are 1 based
chan + = 1 ;
char pname [ 17 ] ;
AP_Int16 * servo_min , * servo_max , * servo_trim ;
AP_Int16 * servo_reversed ;
enum ap_var_type ptype ;
// get pointers to the servo min, max and trim parameters
snprintf ( pname , sizeof ( pname ) , " SERVO%u_MIN " , chan ) ;
servo_min = ( AP_Int16 * ) AP_Param : : find ( pname , & ptype ) ;
snprintf ( pname , sizeof ( pname ) , " SERVO%u_MAX " , chan ) ;
servo_max = ( AP_Int16 * ) AP_Param : : find ( pname , & ptype ) ;
snprintf ( pname , sizeof ( pname ) , " SERVO%u_TRIM " , chan ) ;
servo_trim = ( AP_Int16 * ) AP_Param : : find ( pname , & ptype ) ;
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snprintf ( pname , sizeof ( pname ) , " SERVO%u_REVERSED " , chan & 0x3F ) ; // Only use the 6 LSBs, avoids a cpp warning
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servo_reversed = ( AP_Int16 * ) AP_Param : : find ( pname , & ptype ) ;
if ( ! servo_min | | ! servo_max | | ! servo_trim | | ! servo_reversed ) {
// this shouldn't happen
return ;
}
if ( servo_min - > configured_in_storage ( ) | |
servo_max - > configured_in_storage ( ) | |
servo_trim - > configured_in_storage ( ) | |
servo_reversed - > configured_in_storage ( ) ) {
// has been previously saved, don't upgrade
return ;
}
// get the old PWM values
AP_Int16 old_pwm ;
uint16_t old_retract = 0 , old_deploy = 0 ;
const AP_Param : : ConversionInfo cinfo_ret { Parameters : : k_param_landinggear , 0 , AP_PARAM_INT16 , nullptr } ;
const AP_Param : : ConversionInfo cinfo_dep { Parameters : : k_param_landinggear , 1 , AP_PARAM_INT16 , nullptr } ;
if ( AP_Param : : find_old_parameter ( & cinfo_ret , & old_pwm ) ) {
old_retract = ( uint16_t ) old_pwm . get ( ) ;
}
if ( AP_Param : : find_old_parameter ( & cinfo_dep , & old_pwm ) ) {
old_deploy = ( uint16_t ) old_pwm . get ( ) ;
}
if ( old_retract = = 0 & & old_deploy = = 0 ) {
// old parameters were never set
return ;
}
// use old defaults
if ( old_retract = = 0 ) {
old_retract = 1250 ;
}
if ( old_deploy = = 0 ) {
old_deploy = 1750 ;
}
// set and save correct values on the servo
if ( old_retract < = old_deploy ) {
servo_max - > set_and_save ( old_deploy ) ;
servo_min - > set_and_save ( old_retract ) ;
servo_trim - > set_and_save ( old_retract ) ;
servo_reversed - > set_and_save_ifchanged ( 0 ) ;
} else {
servo_max - > set_and_save ( old_retract ) ;
servo_min - > set_and_save ( old_deploy ) ;
servo_trim - > set_and_save ( old_deploy ) ;
servo_reversed - > set_and_save_ifchanged ( 1 ) ;
}
}
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# if FRAME_CONFIG == HELI_FRAME
// handle conversion of tradheli parameters from Copter-3.6 to Copter-3.7
void Copter : : convert_tradheli_parameters ( void )
{
if ( g2 . frame_class . get ( ) = = AP_Motors : : MOTOR_FRAME_HELI ) {
// single heli conversion info
const AP_Param : : ConversionInfo singleheli_conversion_info [ ] = {
{ Parameters : : k_param_motors , 1 , AP_PARAM_INT16 , " H_SW_H3_SV1_POS " } ,
{ Parameters : : k_param_motors , 2 , AP_PARAM_INT16 , " H_SW_H3_SV2_POS " } ,
{ Parameters : : k_param_motors , 3 , AP_PARAM_INT16 , " H_SW_H3_SV3_POS " } ,
{ Parameters : : k_param_motors , 7 , AP_PARAM_INT16 , " H_SW_H3_PHANG " } ,
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{ Parameters : : k_param_motors , 19 , AP_PARAM_INT8 , " H_SW_COL_DIR " } ,
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} ;
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// convert single heli parameters without scaling
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uint8_t table_size = ARRAY_SIZE ( singleheli_conversion_info ) ;
for ( uint8_t i = 0 ; i < table_size ; i + + ) {
AP_Param : : convert_old_parameter ( & singleheli_conversion_info [ i ] , 1.0f ) ;
}
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// convert to known swash type for setups that match
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AP_Int16 swash_pos_1 , swash_pos_2 , swash_pos_3 , swash_phang ;
AP_Int8 swash_type ;
bool swash_pos1_exist = AP_Param : : find_old_parameter ( & singleheli_conversion_info [ 0 ] , & swash_pos_1 ) ;
bool swash_pos2_exist = AP_Param : : find_old_parameter ( & singleheli_conversion_info [ 1 ] , & swash_pos_2 ) ;
bool swash_pos3_exist = AP_Param : : find_old_parameter ( & singleheli_conversion_info [ 2 ] , & swash_pos_3 ) ;
bool swash_phang_exist = AP_Param : : find_old_parameter ( & singleheli_conversion_info [ 3 ] , & swash_phang ) ;
const AP_Param : : ConversionInfo swash_type_info { Parameters : : k_param_motors , 5 , AP_PARAM_INT8 , " H_SW_TYPE " } ;
bool swash_type_exists = AP_Param : : find_old_parameter ( & swash_type_info , & swash_type ) ;
if ( swash_type_exists ) {
// convert swash type to new parameter
AP_Param : : convert_old_parameter ( & swash_type_info , 1.0f ) ;
} else {
// old swash type is not in eeprom and thus type is default value of generic swash
if ( swash_pos1_exist | | swash_pos2_exist | | swash_pos3_exist | | swash_phang_exist ) {
// if any params exist with the generic swash then the upgraded swash type must be generic
// find the new variable in the variable structures
enum ap_var_type ptype ;
AP_Param * ap2 ;
ap2 = AP_Param : : find ( " H_SW_TYPE " , & ptype ) ;
// make sure the pointer is valid
if ( ap2 ! = nullptr ) {
// see if we can load it from EEPROM
if ( ! ap2 - > configured_in_storage ( ) ) {
// the new parameter is not in storage so set generic swash
AP_Param : : set_and_save_by_name ( " H_SW_TYPE " , SwashPlateType : : SWASHPLATE_TYPE_H3 ) ;
}
}
}
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}
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} else if ( g2 . frame_class . get ( ) = = AP_Motors : : MOTOR_FRAME_HELI_DUAL ) {
// dual heli conversion info
const AP_Param : : ConversionInfo dualheli_conversion_info [ ] = {
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{ Parameters : : k_param_motors , 1 , AP_PARAM_INT16 , " H_SW_H3_SV1_POS " } ,
{ Parameters : : k_param_motors , 2 , AP_PARAM_INT16 , " H_SW_H3_SV2_POS " } ,
{ Parameters : : k_param_motors , 3 , AP_PARAM_INT16 , " H_SW_H3_SV3_POS " } ,
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{ Parameters : : k_param_motors , 4 , AP_PARAM_INT16 , " H_SW2_H3_SV1_POS " } ,
{ Parameters : : k_param_motors , 5 , AP_PARAM_INT16 , " H_SW2_H3_SV2_POS " } ,
{ Parameters : : k_param_motors , 6 , AP_PARAM_INT16 , " H_SW2_H3_SV3_POS " } ,
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{ Parameters : : k_param_motors , 7 , AP_PARAM_INT16 , " H_SW_H3_PHANG " } ,
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{ Parameters : : k_param_motors , 8 , AP_PARAM_INT16 , " H_SW2_H3_PHANG " } ,
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{ Parameters : : k_param_motors , 19 , AP_PARAM_INT8 , " H_SW_COL_DIR " } ,
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{ Parameters : : k_param_motors , 19 , AP_PARAM_INT8 , " H_SW2_COL_DIR " } ,
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} ;
// convert dual heli parameters without scaling
uint8_t table_size = ARRAY_SIZE ( dualheli_conversion_info ) ;
for ( uint8_t i = 0 ; i < table_size ; i + + ) {
AP_Param : : convert_old_parameter ( & dualheli_conversion_info [ i ] , 1.0f ) ;
}
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// convert to known swash type for setups that match
AP_Int16 swash1_pos_1 , swash1_pos_2 , swash1_pos_3 , swash1_phang , swash2_pos_1 , swash2_pos_2 , swash2_pos_3 , swash2_phang ;
bool swash1_pos1_exist = AP_Param : : find_old_parameter ( & dualheli_conversion_info [ 0 ] , & swash1_pos_1 ) ;
bool swash1_pos2_exist = AP_Param : : find_old_parameter ( & dualheli_conversion_info [ 1 ] , & swash1_pos_2 ) ;
bool swash1_pos3_exist = AP_Param : : find_old_parameter ( & dualheli_conversion_info [ 2 ] , & swash1_pos_3 ) ;
bool swash1_phang_exist = AP_Param : : find_old_parameter ( & dualheli_conversion_info [ 6 ] , & swash1_phang ) ;
bool swash2_pos1_exist = AP_Param : : find_old_parameter ( & dualheli_conversion_info [ 3 ] , & swash2_pos_1 ) ;
bool swash2_pos2_exist = AP_Param : : find_old_parameter ( & dualheli_conversion_info [ 4 ] , & swash2_pos_2 ) ;
bool swash2_pos3_exist = AP_Param : : find_old_parameter ( & dualheli_conversion_info [ 5 ] , & swash2_pos_3 ) ;
bool swash2_phang_exist = AP_Param : : find_old_parameter ( & dualheli_conversion_info [ 7 ] , & swash2_phang ) ;
// SWASH 1
// old swash type is not in eeprom and thus type is default value of generic swash
if ( swash1_pos1_exist | | swash1_pos2_exist | | swash1_pos3_exist | | swash1_phang_exist ) {
// if any params exist with the generic swash then the upgraded swash type must be generic
// find the new variable in the variable structures
enum ap_var_type ptype ;
AP_Param * ap2 ;
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ap2 = AP_Param : : find ( " H_SW_TYPE " , & ptype ) ;
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// make sure the pointer is valid
if ( ap2 ! = nullptr ) {
// see if we can load it from EEPROM
if ( ! ap2 - > configured_in_storage ( ) ) {
// the new parameter is not in storage so set generic swash
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AP_Param : : set_and_save_by_name ( " H_SW_TYPE " , SwashPlateType : : SWASHPLATE_TYPE_H3 ) ;
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}
}
}
//SWASH 2
// old swash type is not in eeprom and thus type is default value of generic swash
if ( swash2_pos1_exist | | swash2_pos2_exist | | swash2_pos3_exist | | swash2_phang_exist ) {
// if any params exist with the generic swash then the upgraded swash type must be generic
// find the new variable in the variable structures
enum ap_var_type ptype ;
AP_Param * ap2 ;
ap2 = AP_Param : : find ( " H_SW2_TYPE " , & ptype ) ;
// make sure the pointer is valid
if ( ap2 ! = nullptr ) {
// see if we can load it from EEPROM
if ( ! ap2 - > configured_in_storage ( ) ) {
// the new parameter is not in storage so set generic swash
AP_Param : : set_and_save_by_name ( " H_SW2_TYPE " , SwashPlateType : : SWASHPLATE_TYPE_H3 ) ;
}
}
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}
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}
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// table of rsc parameters to be converted with scaling
const AP_Param : : ConversionInfo rschelipct_conversion_info [ ] = {
{ Parameters : : k_param_motors , 1280 , AP_PARAM_INT16 , " H_RSC_THRCRV_0 " } ,
{ Parameters : : k_param_motors , 1344 , AP_PARAM_INT16 , " H_RSC_THRCRV_25 " } ,
{ Parameters : : k_param_motors , 1408 , AP_PARAM_INT16 , " H_RSC_THRCRV_50 " } ,
{ Parameters : : k_param_motors , 1472 , AP_PARAM_INT16 , " H_RSC_THRCRV_75 " } ,
{ Parameters : : k_param_motors , 1536 , AP_PARAM_INT16 , " H_RSC_THRCRV_100 " } ,
{ Parameters : : k_param_motors , 448 , AP_PARAM_INT16 , " H_RSC_SETPOINT " } ,
{ Parameters : : k_param_motors , 768 , AP_PARAM_INT16 , " H_RSC_CRITICAL " } ,
{ Parameters : : k_param_motors , 832 , AP_PARAM_INT16 , " H_RSC_IDLE " } ,
} ;
// convert heli rsc parameters with scaling
uint8_t table_size = ARRAY_SIZE ( rschelipct_conversion_info ) ;
for ( uint8_t i = 0 ; i < table_size ; i + + ) {
AP_Param : : convert_old_parameter ( & rschelipct_conversion_info [ i ] , 0.1f ) ;
}
// table of rsc parameters to be converted without scaling
const AP_Param : : ConversionInfo rscheli_conversion_info [ ] = {
{ Parameters : : k_param_motors , 512 , AP_PARAM_INT8 , " H_RSC_MODE " } ,
{ Parameters : : k_param_motors , 640 , AP_PARAM_INT8 , " H_RSC_RAMP_TIME " } ,
{ Parameters : : k_param_motors , 704 , AP_PARAM_INT8 , " H_RSC_RUNUP_TIME " } ,
{ Parameters : : k_param_motors , 1216 , AP_PARAM_INT16 , " H_RSC_SLEWRATE " } ,
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} ;
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// convert heli rsc parameters without scaling
table_size = ARRAY_SIZE ( rscheli_conversion_info ) ;
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for ( uint8_t i = 0 ; i < table_size ; i + + ) {
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AP_Param : : convert_old_parameter ( & rscheli_conversion_info [ i ] , 1.0f ) ;
}
// update tail speed parameter with scaling
AP_Int16 * tailspeed ;
enum ap_var_type ptype ;
tailspeed = ( AP_Int16 * ) AP_Param : : find ( " H_TAIL_SPEED " , & ptype ) ;
if ( tailspeed ! = nullptr & & tailspeed - > get ( ) > 100 ) {
uint16_t tailspeed_pct = ( uint16_t ) ( 0.1f * tailspeed - > get ( ) ) ;
AP_Param : : set_and_save_by_name ( " H_TAIL_SPEED " , tailspeed_pct ) ;
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}
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}
# endif