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ardupilot/Blimp/Parameters.cpp

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Blimp: initial implementation of blimp vehicle type
2021-03-18 00:12:54 -03:00
#include "Blimp.h"
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* Blimp parameter definitions
*
*/
#define GSCALAR(v, name, def) { blimp.g.v.vtype, name, Parameters::k_param_ ## v, &blimp.g.v, {def_value : def} }
#define ASCALAR(v, name, def) { blimp.aparm.v.vtype, name, Parameters::k_param_ ## v, (const void *)&blimp.aparm.v, {def_value : def} }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &blimp.g.v, {group_info : class::var_info} }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&blimp.v, {group_info : class::var_info} }
#define GOBJECTPTR(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&blimp.v, {group_info : class::var_info}, AP_PARAM_FLAG_POINTER }
#define GOBJECTVARPTR(v, name, var_info_ptr) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&blimp.v, {group_info_ptr : var_info_ptr}, AP_PARAM_FLAG_POINTER | AP_PARAM_FLAG_INFO_POINTER }
#define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&blimp.v, {group_info : class::var_info} }
#define DEFAULT_FRAME_CLASS 0
const AP_Param::Info Blimp::var_info[] = {
// @Param: FORMAT_VERSION
// @DisplayName: Eeprom format version number
// @Description: This value is incremented when changes are made to the eeprom format
// @User: Advanced
// @ReadOnly: True
GSCALAR(format_version, "FORMAT_VERSION", 0),
// @Param: SYSID_THISMAV
// @DisplayName: MAVLink system ID of this vehicle
// @Description: Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
// @Range: 1 255
// @User: Advanced
GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
// @Param: SYSID_MYGCS
// @DisplayName: My ground station number
// @Description: Allows restricting radio overrides to only come from my ground station
// @Range: 1 255
// @User: Advanced
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
// @Param: PILOT_THR_FILT
// @DisplayName: Throttle filter cutoff
// @Description: Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
// @User: Advanced
// @Units: Hz
// @Range: 0 10
// @Increment: .5
GSCALAR(throttle_filt, "PILOT_THR_FILT", 0),
// @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
// @Units: cm
// @Range: 0.0 1000.0
// @Increment: 10
GSCALAR(pilot_takeoff_alt, "PILOT_TKOFF_ALT", PILOT_TKOFF_ALT_DEFAULT),
// @Param: PILOT_THR_BHV
// @DisplayName: Throttle stick behavior
// @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.
// @User: Standard
// @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
GSCALAR(throttle_behavior, "PILOT_THR_BHV", 0),
// @Group: SERIAL
// @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
GOBJECT(serial_manager, "SERIAL", AP_SerialManager),
// @Param: TELEM_DELAY
// @DisplayName: Telemetry startup delay
// @Description: The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
// @User: Advanced
// @Units: s
// @Range: 0 30
// @Increment: 1
GSCALAR(telem_delay, "TELEM_DELAY", 0),
// @Param: GCS_PID_MASK
// @DisplayName: GCS PID tuning mask
// @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
// @User: Advanced
// @Values: 0:None,1:Roll,2:Pitch,4:Yaw,8:AccelZ
// @Bitmask: 0:Roll,1:Pitch,2:Yaw,3:AccelZ
GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
// @Param: FS_GCS_ENABLE
// @DisplayName: Ground Station Failsafe Enable
// @Description: Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.
// @Values: 0:Disabled/NoAction,1:RTL,2:RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS),3:SmartRTL or RTL,4:SmartRTL or Land,5:Land (4.0+ Only)
// @User: Standard
GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_DISABLED),
// @Param: GPS_HDOP_GOOD
// @DisplayName: GPS Hdop Good
// @Description: GPS Hdop value at or below this value represent a good position. Used for pre-arm checks
// @Range: 100 900
// @User: Advanced
GSCALAR(gps_hdop_good, "GPS_HDOP_GOOD", GPS_HDOP_GOOD_DEFAULT),
// @Param: WP_YAW_BEHAVIOR
// @DisplayName: Yaw behaviour during missions
// @Description: Determines how the autopilot controls the yaw during missions and RTL
// @Values: 0:Never change yaw, 1:Face next waypoint, 2:Face next waypoint except RTL, 3:Face along GPS course
// @User: Standard
GSCALAR(wp_yaw_behavior, "WP_YAW_BEHAVIOR", WP_YAW_BEHAVIOR_DEFAULT),
// @Param: LAND_SPEED
// @DisplayName: Land speed
// @Description: The descent speed for the final stage of landing in cm/s
// @Units: cm/s
// @Range: 30 200
// @Increment: 10
// @User: Standard
GSCALAR(land_speed, "LAND_SPEED", LAND_SPEED),
// @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),
// @Param: PILOT_SPEED_UP
// @DisplayName: Pilot maximum vertical speed ascending
// @Description: The maximum vertical ascending velocity the pilot may request in cm/s
// @Units: cm/s
// @Range: 50 500
// @Increment: 10
// @User: Standard
GSCALAR(pilot_speed_up, "PILOT_SPEED_UP", PILOT_VELZ_MAX),
// @Param: PILOT_ACCEL_Z
// @DisplayName: Pilot vertical acceleration
// @Description: The vertical acceleration used when pilot is controlling the altitude
// @Units: cm/s/s
// @Range: 50 500
// @Increment: 10
// @User: Standard
GSCALAR(pilot_accel_z, "PILOT_ACCEL_Z", PILOT_ACCEL_Z_DEFAULT),
// @Param: FS_THR_ENABLE
// @DisplayName: Throttle Failsafe Enable
// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
// @Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode (Removed in 4.0+),3:Enabled always Land,4:Enabled always SmartRTL or RTL,5:Enabled always SmartRTL or Land
// @User: Standard
GSCALAR(failsafe_throttle, "FS_THR_ENABLE", FS_THR_ENABLED_ALWAYS_RTL),
// @Param: FS_THR_VALUE
// @DisplayName: Throttle Failsafe Value
// @Description: The PWM level in microseconds on channel 3 below which throttle failsafe triggers
// @Range: 910 1100
// @Units: PWM
// @Increment: 1
// @User: Standard
GSCALAR(failsafe_throttle_value, "FS_THR_VALUE", FS_THR_VALUE_DEFAULT),
// @Param: THR_DZ
// @DisplayName: Throttle deadzone
// @Description: The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes
// @User: Standard
// @Range: 0 300
// @Units: PWM
// @Increment: 1
GSCALAR(throttle_deadzone, "THR_DZ", THR_DZ_DEFAULT),
// @Param: FLTMODE1
// @DisplayName: Flight Mode 1
// @Description: Flight mode when Channel 5 pwm is <= 1230
// @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,26:Heli_Autorotate
// @User: Standard
GSCALAR(flight_mode1, "FLTMODE1", (uint8_t)FLIGHT_MODE_1),
// @Param: FLTMODE2
// @DisplayName: Flight Mode 2
// @Description: Flight mode when Channel 5 pwm is >1230, <= 1360
// @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,26:Heli_Autorotate
// @User: Standard
GSCALAR(flight_mode2, "FLTMODE2", (uint8_t)FLIGHT_MODE_2),
// @Param: FLTMODE3
// @DisplayName: Flight Mode 3
// @Description: Flight mode when Channel 5 pwm is >1360, <= 1490
// @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,26:Heli_Autorotate
// @User: Standard
GSCALAR(flight_mode3, "FLTMODE3", (uint8_t)FLIGHT_MODE_3),
// @Param: FLTMODE4
// @DisplayName: Flight Mode 4
// @Description: Flight mode when Channel 5 pwm is >1490, <= 1620
// @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,26:Heli_Autorotate
// @User: Standard
GSCALAR(flight_mode4, "FLTMODE4", (uint8_t)FLIGHT_MODE_4),
// @Param: FLTMODE5
// @DisplayName: Flight Mode 5
// @Description: Flight mode when Channel 5 pwm is >1620, <= 1749
// @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,26:Heli_Autorotate
// @User: Standard
GSCALAR(flight_mode5, "FLTMODE5", (uint8_t)FLIGHT_MODE_5),
// @Param: FLTMODE6
// @DisplayName: Flight Mode 6
// @Description: Flight mode when Channel 5 pwm is >=1750
// @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,26:Heli_Autorotate
// @User: Standard
GSCALAR(flight_mode6, "FLTMODE6", (uint8_t)FLIGHT_MODE_6),
// @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),
// @Param: INITIAL_MODE
// @DisplayName: Initial flight mode
// @Description: This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.
// @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,26:Heli_Autorotate
// @User: Advanced
GSCALAR(initial_mode, "INITIAL_MODE", (uint8_t)Mode::Number::MANUAL),
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: 4 byte bitmap of log types to enable
// @Values: 830:Default,894:Default+RCIN,958:Default+IMU,1854:Default+Motors,-6146:NearlyAll-AC315,45054:NearlyAll,131071:All+FastATT,262142:All+MotBatt,393214:All+FastIMU,397310:All+FastIMU+PID,655358:All+FullIMU,0:Disabled
// @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW
// @User: Standard
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
// @Param: TUNE
// @DisplayName: Channel 6 Tuning
// @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
// @User: Standard
// @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,58:SysID Magnitude
GSCALAR(radio_tuning, "TUNE", 0),
// @Param: FRAME_TYPE
// @DisplayName: Frame Type (+, X, V, etc)
// @Description: Controls motor mixing for multiblimps. Not used for Tri or Traditional Heliblimps.
// @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, 18: BetaFlightXReversed
// @User: Standard
// @RebootRequired: True
GSCALAR(frame_type, "FRAME_TYPE", HAL_FRAME_TYPE_DEFAULT),
// @Group: ARMING_
// @Path: ../libraries/AP_Arming/AP_Arming.cpp
GOBJECT(arming, "ARMING_", AP_Arming_Blimp),
// @Param: DISARM_DELAY
// @DisplayName: Disarm delay
// @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm.
// @Units: s
// @Range: 0 127
// @User: Advanced
GSCALAR(disarm_delay, "DISARM_DELAY", AUTO_DISARMING_DELAY),
// @Param: ANGLE_MAX
// @DisplayName: Angle Max
// @Description: Maximum lean angle in all flight modes
// @Units: cdeg
Blimp: make centideg metadata incr and range consistent
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// @Increment: 10
Blimp: initial implementation of blimp vehicle type
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// @Range: 1000 8000
// @User: Advanced
ASCALAR(angle_max, "ANGLE_MAX", DEFAULT_ANGLE_MAX),
// @Param: PHLD_BRAKE_RATE
// @DisplayName: PosHold braking rate
// @Description: PosHold flight mode's rotation rate during braking in deg/sec
// @Units: deg/s
// @Range: 4 12
// @User: Advanced
GSCALAR(poshold_brake_rate, "PHLD_BRAKE_RATE", POSHOLD_BRAKE_RATE_DEFAULT),
// @Param: PHLD_BRAKE_ANGLE
// @DisplayName: PosHold braking angle max
// @Description: PosHold flight mode's max lean angle during braking in centi-degrees
// @Units: cdeg
Blimp: make centideg metadata incr and range consistent
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// @Increment: 10
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// @Range: 2000 4500
// @User: Advanced
GSCALAR(poshold_brake_angle_max, "PHLD_BRAKE_ANGLE", POSHOLD_BRAKE_ANGLE_DEFAULT),
// @Param: LAND_REPOSITION
// @DisplayName: Land repositioning
// @Description: Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.
// @Values: 0:No repositioning, 1:Repositioning
// @User: Advanced
GSCALAR(land_repositioning, "LAND_REPOSITION", LAND_REPOSITION_DEFAULT),
// @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),
// @Param: FS_EKF_THRESH
// @DisplayName: EKF failsafe variance threshold
// @Description: Allows setting the maximum acceptable compass and velocity variance
// @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
// @User: Advanced
GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH", FS_EKF_THRESHOLD_DEFAULT),
// @Param: FS_CRASH_CHECK
// @DisplayName: Crash check enable
// @Description: This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
GSCALAR(fs_crash_check, "FS_CRASH_CHECK", 1),
// @Param: RC_SPEED
// @DisplayName: ESC Update Speed
// @Description: This is the speed in Hertz that your ESCs will receive updates
// @Units: Hz
// @Range: 50 490
// @Increment: 1
// @User: Advanced
GSCALAR(rc_speed, "RC_SPEED", RC_FAST_SPEED),
// @Param: ACRO_RP_P
// @DisplayName: Acro Roll and Pitch P gain
// @Description: Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode. Higher values mean faster rate of rotation.
// @Range: 1 10
// @User: Standard
GSCALAR(acro_rp_p, "ACRO_RP_P", ACRO_RP_P),
// @Param: ACRO_YAW_P
// @DisplayName: Acro Yaw P gain
// @Description: Converts pilot yaw input into a desired rate of rotation. Higher values mean faster rate of rotation.
// @Range: 1 10
// @User: Standard
GSCALAR(acro_yaw_p, "ACRO_YAW_P", ACRO_YAW_P),
// variables not in the g class which contain EEPROM saved variables
// @Group: RELAY_
// @Path: ../libraries/AP_Relay/AP_Relay.cpp
GOBJECT(relay, "RELAY_", AP_Relay),
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
// @Group: INS_
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
GOBJECT(ins, "INS_", AP_InertialSensor),
// // @Group: WPNAV_
// // @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
// GOBJECTPTR(wp_nav, "WPNAV_", AC_WPNav),
// // @Group: LOIT_
// // @Path: ../libraries/AC_WPNav/AC_Loiter.cpp
// GOBJECTPTR(loiter_nav, "LOIT_", AC_Loiter),
// @Group: ATC_
// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
// #if FRAME_CONFIG == HELI_FRAME
// GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Heli),
// #else
// GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Multi),
// #endif
// @Group: PSC
// @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
// GOBJECTPTR(pos_control, "PSC", AC_PosControl),
// @Group: SR0_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[0], gcs0, "SR0_", GCS_MAVLINK_Parameters),
#if MAVLINK_COMM_NUM_BUFFERS >= 2
// @Group: SR1_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[1], gcs1, "SR1_", GCS_MAVLINK_Parameters),
#endif
#if MAVLINK_COMM_NUM_BUFFERS >= 3
// @Group: SR2_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[2], gcs2, "SR2_", GCS_MAVLINK_Parameters),
#endif
#if MAVLINK_COMM_NUM_BUFFERS >= 4
// @Group: SR3_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[3], gcs3, "SR3_", GCS_MAVLINK_Parameters),
#endif
#if MAVLINK_COMM_NUM_BUFFERS >= 5
// @Group: SR4_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[4], gcs4, "SR4_", GCS_MAVLINK_Parameters),
#endif
#if MAVLINK_COMM_NUM_BUFFERS >= 6
// @Group: SR5_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[5], gcs5, "SR5_", GCS_MAVLINK_Parameters),
#endif
#if MAVLINK_COMM_NUM_BUFFERS >= 7
// @Group: SR6_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[6], gcs6, "SR6_", GCS_MAVLINK_Parameters),
#endif
// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
GOBJECT(ahrs, "AHRS_", AP_AHRS),
// @Group: LOG
// @Path: ../libraries/AP_Logger/AP_Logger.cpp
GOBJECT(logger, "LOG", AP_Logger),
// @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
GOBJECT(battery, "BATT", AP_BattMonitor),
// @Group: BRD_
// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
GOBJECT(BoardConfig, "BRD_", AP_BoardConfig),
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
// @Group: CAN_
// @Path: ../libraries/AP_CANManager/AP_CANManager.cpp
GOBJECT(can_mgr, "CAN_", AP_CANManager),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
GOBJECT(sitl, "SIM_", SITL::SITL),
#endif
// @Group: BARO
// @Path: ../libraries/AP_Baro/AP_Baro.cpp
GOBJECT(barometer, "BARO", AP_Baro),
// GPS driver
// @Group: GPS_
// @Path: ../libraries/AP_GPS/AP_GPS.cpp
GOBJECT(gps, "GPS_", AP_GPS),
// @Group: SCHED_
// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
GOBJECT(scheduler, "SCHED_", AP_Scheduler),
// @Group: RCMAP_
// @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
GOBJECT(rcmap, "RCMAP_", RCMapper),
#if HAL_NAVEKF2_AVAILABLE
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2),
#endif
#if HAL_NAVEKF3_AVAILABLE
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
#endif
// @Group: RSSI_
// @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
GOBJECT(rssi, "RSSI_", AP_RSSI),
// @Group: NTF_
// @Path: ../libraries/AP_Notify/AP_Notify.cpp
GOBJECT(notify, "NTF_", AP_Notify),
// @Group:
// @Path: Parameters.cpp
GOBJECT(g2, "", ParametersG2),
// @Group: FINS_
// @Path: Fins.cpp
GOBJECTPTR(motors, "FINS_", Fins),
// @Group:
// @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
{ AP_PARAM_GROUP, "", Parameters::k_param_vehicle, (const void *)&blimp, {group_info : AP_Vehicle::var_info} },
AP_VAREND
};
/*
2nd group of parameters
*/
const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @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.
// @Range: 0 5
// @User: Standard
AP_GROUPINFO("WP_NAVALT_MIN", 1, ParametersG2, wp_navalt_min, 0),
// @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
// @Bitmask: 0:ADSBMavlinkProcessing,1:DevOptionVFR_HUDRelativeAlt,2:SetAttitudeTarget_ThrustAsThrust
// @User: Advanced
AP_GROUPINFO("DEV_OPTIONS", 7, ParametersG2, dev_options, 0),
// @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),
// @Param: SYSID_ENFORCE
// @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),
#if STATS_ENABLED == ENABLED
// @Group: STAT
// @Path: ../libraries/AP_Stats/AP_Stats.cpp
AP_SUBGROUPINFO(stats, "STAT", 12, ParametersG2, AP_Stats),
#endif
// @Param: FRAME_CLASS
// @DisplayName: Frame Class
// @Description: Controls major frame class for multiblimp component
// @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, 14:Deca
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("FRAME_CLASS", 15, ParametersG2, frame_class, DEFAULT_FRAME_CLASS),
// @Group: SERVO
// @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
AP_SUBGROUPINFO(servo_channels, "SERVO", 16, ParametersG2, SRV_Channels),
// @Group: RC
// @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels_Blimp),
// // 18 was used by AP_VisualOdom
// // @Group: TCAL
// // @Path: ../libraries/AP_TempCalibration/AP_TempCalibration.cpp
// AP_SUBGROUPINFO(temp_calibration, "TCAL", 19, ParametersG2, AP_TempCalibration),
// @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),
// @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),
#ifdef ENABLE_SCRIPTING
// @Group: SCR_
// @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
AP_SUBGROUPINFO(scripting, "SCR_", 30, ParametersG2, AP_Scripting),
#endif
// @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),
// @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),
// @Param: FS_OPTIONS
// @DisplayName: Failsafe options bitmask
// @Description: Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options.
// @Values: 0:Disabled, 1:Continue if in Auto on RC failsafe only, 2:Continue if in Auto on GCS failsafe only, 3:Continue if in Auto on RC and/or GCS failsafe, 4:Continue if in Guided on RC failsafe only, 8:Continue if landing on any failsafe, 16:Continue if in pilot controlled modes on GCS failsafe, 19:Continue if in Auto on RC and/or GCS failsafe and continue if in pilot controlled modes on GCS failsafe
// @Bitmask: 0:Continue if in Auto on RC failsafe, 1:Continue if in Auto on GCS failsafe, 2:Continue if in Guided on RC failsafe, 3:Continue if landing on any failsafe, 4:Continue if in pilot controlled modes on GCS failsafe, 5:Release Gripper
// @User: Advanced
AP_GROUPINFO("FS_OPTIONS", 36, ParametersG2, fs_options, (float)Blimp::FailsafeOption::GCS_CONTINUE_IF_PILOT_CONTROL),
// @Param: FS_GCS_TIMEOUT
// @DisplayName: GCS failsafe timeout
// @Description: Timeout before triggering the GCS failsafe
// @Units: s
// @Range: 2 120
// @Increment: 1
// @User: Standard
AP_GROUPINFO("FS_GCS_TIMEOUT", 42, ParametersG2, fs_gcs_timeout, 5),
AP_GROUPEND
};
/*
constructor for g2 object
*/
ParametersG2::ParametersG2(void)
{
AP_Param::setup_object_defaults(this, var_info);
}
void Blimp::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
hal.console->printf("Bad var table\n");
AP_HAL::panic("Bad var table");
}
// disable centrifugal force correction, it will be enabled as part of the arming process
ahrs.set_correct_centrifugal(false);
hal.util->set_soft_armed(false);
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
hal.console->printf("Firmware change: erasing EEPROM...\n");
StorageManager::erase();
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
hal.console->printf("done.\n");
}
uint32_t before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
// setup AP_Param frame type flags
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER);
}