ardupilot/APMrover2/Parameters.h

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#pragma once
#include <AP_Common/AP_Common.h>
// Global parameter class.
//
class Parameters {
public:
// The version of the layout as described by the parameter enum.
//
// When changing the parameter enum in an incompatible fashion, this
// value should be incremented by one.
//
// The increment will prevent old parameters from being used incorrectly
// by newer code.
//
static const uint16_t k_format_version = 16;
static const uint16_t k_software_type = 20;
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type,
// Misc
//
k_param_log_bitmask_old = 10, // unused
k_param_num_resets,
k_param_reset_switch_chan,
k_param_initial_mode,
k_param_scheduler,
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k_param_relay,
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k_param_BoardConfig,
k_param_pivot_turn_angle,
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k_param_rc_13_old,
k_param_rc_14_old,
// IO pins
k_param_rssi_pin = 20, // unused, replaced by rssi_ library parameters
k_param_battery_volt_pin,
k_param_battery_curr_pin,
// braking
k_param_braking_percent = 30,
k_param_braking_speederr,
// misc2
k_param_log_bitmask = 40,
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k_param_gps,
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k_param_serial0_baud, // deprecated, can be deleted
k_param_serial1_baud, // deprecated, can be deleted
k_param_serial2_baud, // deprecated, can be deleted
// 97: RSSI
k_param_rssi = 97,
// 100: Arming parameters
k_param_arming = 100,
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// 110: Telemetry control
//
k_param_gcs0 = 110, // stream rates for uartA
k_param_gcs1, // stream rates for uartC
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k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial0_baud_old,
k_param_serial1_baud_old,
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k_param_telem_delay,
k_param_skip_gyro_cal, // unused
k_param_gcs2, // stream rates for uartD
k_param_serial2_baud_old,
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k_param_serial2_protocol, // deprecated, can be deleted
k_param_serial_manager, // serial manager library
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k_param_cli_enabled,
k_param_gcs3,
k_param_gcs_pid_mask,
//
// 130: Sensor parameters
//
k_param_compass_enabled = 130,
k_param_steering_learn, // unused
k_param_NavEKF, // deprecated - remove
k_param_mission, // mission library
k_param_NavEKF2_old, // deprecated - remove
k_param_NavEKF2,
k_param_g2, // 2nd block of parameters
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k_param_NavEKF3,
// 140: battery controls
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k_param_battery_monitoring = 140, // deprecated, can be deleted
k_param_volt_div_ratio, // deprecated, can be deleted
k_param_curr_amp_per_volt, // deprecated, can be deleted
k_param_input_voltage, // deprecated, can be deleted
k_param_pack_capacity, // deprecated, can be deleted
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k_param_battery,
//
// 150: Navigation parameters
//
k_param_crosstrack_gain = 150,
k_param_crosstrack_entry_angle,
k_param_speed_cruise,
k_param_speed_turn_gain,
k_param_speed_turn_dist,
k_param_ch7_option,
k_param_auto_trigger_pin,
k_param_auto_kickstart,
k_param_turn_circle, // unused
k_param_turn_max_g,
//
// 160: Radio settings
//
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k_param_rc_1_old = 160,
k_param_rc_2_old,
k_param_rc_3_old,
k_param_rc_4_old,
k_param_rc_5_old,
k_param_rc_6_old,
k_param_rc_7_old,
k_param_rc_8_old,
// throttle control
k_param_throttle_min = 170,
k_param_throttle_max,
k_param_throttle_cruise,
k_param_throttle_slewrate,
k_param_throttle_reduction,
k_param_skid_steer_in,
k_param_skid_steer_out,
// failsafe control
k_param_fs_action = 180,
k_param_fs_timeout,
k_param_fs_throttle_enabled,
k_param_fs_throttle_value,
k_param_fs_gcs_enabled,
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k_param_fs_crash_check,
// obstacle control
k_param_sonar_enabled = 190, // deprecated, can be removed
k_param_sonar_old, // unused
k_param_sonar_trigger_cm,
k_param_sonar_turn_angle,
k_param_sonar_turn_time,
k_param_sonar2_old, // unused
k_param_sonar_debounce,
k_param_sonar, // sonar object
//
// 210: driving modes
//
k_param_mode_channel = 210,
k_param_mode1,
k_param_mode2,
k_param_mode3,
k_param_mode4,
k_param_mode5,
k_param_mode6,
k_param_learn_channel,
//
// 220: Waypoint data
//
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k_param_command_total = 220, // unused
k_param_command_index, // unused
k_param_waypoint_radius,
//
// 230: camera control
//
k_param_camera,
k_param_camera_mount,
k_param_camera_mount2, // unused
//
// 240: PID Controllers
k_param_pidNavSteer = 230,
k_param_pidServoSteer, // unused
k_param_pidSpeedThrottle,
// high RC channels
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k_param_rc_9_old = 235,
k_param_rc_10_old,
k_param_rc_11_old,
k_param_rc_12_old,
// other objects
k_param_sitl = 240,
k_param_ahrs,
k_param_ins,
k_param_compass,
k_param_rcmap,
k_param_L1_controller,
k_param_steerController,
k_param_barometer,
k_param_notify,
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k_param_button,
k_param_DataFlash = 253, // Logging Group
// 254,255: reserved
};
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AP_Int16 format_version;
AP_Int8 software_type;
// Misc
//
AP_Int32 log_bitmask;
AP_Int16 num_resets;
AP_Int8 reset_switch_chan;
AP_Int8 initial_mode;
// braking
AP_Int8 braking_percent;
AP_Float braking_speederr;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
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AP_Int8 telem_delay;
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#if CLI_ENABLED == ENABLED
AP_Int8 cli_enabled;
#endif
// sensor parameters
AP_Int8 compass_enabled;
// navigation parameters
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//
AP_Float speed_cruise;
AP_Int8 speed_turn_gain;
AP_Float speed_turn_dist;
AP_Int8 ch7_option;
AP_Int8 auto_trigger_pin;
AP_Float auto_kickstart;
AP_Float turn_max_g;
AP_Int16 pivot_turn_angle;
AP_Int16 gcs_pid_mask;
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// Throttle
//
AP_Int8 throttle_min;
AP_Int8 throttle_max;
AP_Int8 throttle_cruise;
AP_Int8 throttle_slewrate;
AP_Int8 skid_steer_in;
AP_Int8 skid_steer_out;
// failsafe control
AP_Int8 fs_action;
AP_Float fs_timeout;
AP_Int8 fs_throttle_enabled;
AP_Int16 fs_throttle_value;
AP_Int8 fs_gcs_enabled;
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AP_Int8 fs_crash_check;
// obstacle control
AP_Int16 sonar_trigger_cm;
AP_Float sonar_turn_angle;
AP_Float sonar_turn_time;
AP_Int8 sonar_debounce;
// driving modes
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//
AP_Int8 mode_channel;
AP_Int8 mode1;
AP_Int8 mode2;
AP_Int8 mode3;
AP_Int8 mode4;
AP_Int8 mode5;
AP_Int8 mode6;
AP_Int8 learn_channel;
// Waypoints
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//
AP_Float waypoint_radius;
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// PID controllers
//
PID pidSpeedThrottle;
Parameters() :
// PID controller initial P initial I initial D initial imax
//-----------------------------------------------------------------------------------
pidSpeedThrottle (0.7, 0.2, 0.2, 4000)
{}
};
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/*
2nd block of parameters, to avoid going past 256 top level keys
*/
class ParametersG2 {
public:
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ParametersG2(void);
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// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
// vehicle statistics
AP_Stats stats;
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// whether to enforce acceptance of packets only from sysid_my_gcs
AP_Int8 sysid_enforce;
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// RC input channels
RC_Channels rc_channels;
// control over servo output ranges
SRV_Channels servo_channels;
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#if ADVANCED_FAILSAFE == ENABLED
// advanced failsafe library
AP_AdvancedFailsafe_Rover afs;
#endif
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};
extern const AP_Param::Info var_info[];