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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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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} }
# 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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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_SW_TYPE
// @DisplayName: Software Type
// @Description: This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)
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// @Values: 0:ArduPlane,4:AntennaTracker,10:Copter,20:Rover
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// @User: Advanced
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// @ReadOnly: True
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GSCALAR ( software_type , " SYSID_SW_TYPE " , Parameters : : k_software_type ) ,
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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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# if CLI_ENABLED == ENABLED
// @Param: CLI_ENABLED
// @DisplayName: CLI Enable
// @Description: This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
GSCALAR ( cli_enabled , " CLI_ENABLED " , 0 ) ,
# endif
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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
// @Units: Centimeters
// @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_TKOFF_DZ
// @DisplayName: Takeoff trigger deadzone
// @Description: Offset from mid stick at which takeoff is triggered
// @User: Standard
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// @Range: 0.0 500.0
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// @Increment: 10
GSCALAR ( takeoff_trigger_dz , " PILOT_TKOFF_DZ " , THR_DZ_DEFAULT ) ,
// @Param: PILOT_THR_BHV
// @DisplayName: Throttle stick behavior
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// @Description: Bitmask containing various throttle stick options. Add up the values for options that you want.
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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: seconds
// @Range: 0 10
// @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
// @Values: 0:None,1:Roll,2:Pitch,4:Yaw
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// @Bitmask: 0:Roll,1:Pitch,2:Yaw
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GSCALAR ( gcs_pid_mask , " GCS_PID_MASK " , 0 ) ,
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// @Param: RTL_ALT
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// @DisplayName: RTL Altitude
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// @Description: The minimum relative altitude the model will move to before Returning to Launch. Set to zero to return at current altitude.
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// @Units: Centimeters
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// @Range: 0 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: 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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// @Param: FS_BATT_ENABLE
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// @DisplayName: Battery Failsafe Enable
// @Description: Controls whether failsafe will be invoked when battery voltage or current runs low
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// @Values: 0:Disabled,1:Land,2:RTL
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// @User: Standard
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GSCALAR ( failsafe_battery_enabled , " FS_BATT_ENABLE " , FS_BATT_DISABLED ) ,
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// @Param: FS_BATT_VOLTAGE
// @DisplayName: Failsafe battery voltage
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// @Description: Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL
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// @Units: Volts
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// @Increment: 0.1
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// @User: Standard
GSCALAR ( fs_batt_voltage , " FS_BATT_VOLTAGE " , FS_BATT_VOLTAGE_DEFAULT ) ,
// @Param: FS_BATT_MAH
// @DisplayName: Failsafe battery milliAmpHours
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// @Description: Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL
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// @Units: mAh
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// @Increment: 50
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// @User: Standard
GSCALAR ( fs_batt_mah , " FS_BATT_MAH " , FS_BATT_MAH_DEFAULT ) ,
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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
// @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: MAG_ENABLE
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// @DisplayName: Compass enable/disable
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// @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR ( compass_enabled , " MAG_ENABLE " , MAGNETOMETER ) ,
// @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: RTL_ALT_FINAL
// @DisplayName: RTL Final Altitude
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// @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.
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// @Units: Centimeters
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// @Range: -1 1000
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// @Increment: 1
// @User: Standard
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GSCALAR ( rtl_alt_final , " RTL_ALT_FINAL " , RTL_ALT_FINAL ) ,
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// @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: Centimeters
// @Range: 0 3000
// @Increment: 10
// @User: Standard
GSCALAR ( rtl_climb_min , " RTL_CLIMB_MIN " , RTL_CLIMB_MIN_DEFAULT ) ,
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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: RTL_LOIT_TIME
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// @DisplayName: RTL loiter time
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// @Description: Time (in milliseconds) to loiter above home before beginning final descent
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// @Units: ms
// @Range: 0 60000
// @Increment: 1000
// @User: Standard
GSCALAR ( rtl_loiter_time , " RTL_LOIT_TIME " , RTL_LOITER_TIME ) ,
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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_VELZ_MAX
// @DisplayName: Pilot maximum vertical speed
// @Description: The maximum vertical velocity the pilot may request in cm/s
// @Units: Centimeters/Second
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// @Range: 50 500
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// @Increment: 10
// @User: Standard
GSCALAR ( pilot_velocity_z_max , " PILOT_VELZ_MAX " , 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
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// @User: Standard
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GSCALAR ( failsafe_throttle , " FS_THR_ENABLE " , FS_THR_DISABLED ) ,
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// @Param: FS_THR_VALUE
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// @DisplayName: Throttle Failsafe Value
// @Description: The PWM level on channel 3 below which throttle sailsafe 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
// @Description: The deadzone above and below mid throttle. Used in AltHold, Loiter, PosHold flight modes
// @User: Standard
// @Range: 0 300
// @Units: pwm
// @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
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// @User: Standard
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GSCALAR ( flight_mode1 , " FLTMODE1 " , 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
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// @User: Standard
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GSCALAR ( flight_mode2 , " FLTMODE2 " , 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
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// @User: Standard
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GSCALAR ( flight_mode3 , " FLTMODE3 " , 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
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// @User: Standard
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GSCALAR ( flight_mode4 , " FLTMODE4 " , 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
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// @User: Standard
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GSCALAR ( flight_mode5 , " FLTMODE5 " , 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
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// @User: Standard
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GSCALAR ( flight_mode6 , " FLTMODE6 " , FLIGHT_MODE_6 ) ,
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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, 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,14:Altitude Hold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,42:Loiter Speed,12:Loiter Pos kP,22:Velocity XY kP,28:Velocity XY kI,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,13:Heli Ext Gyro,17:OF Loiter kP,18:OF Loiter kI,19:OF Loiter kD,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
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GSCALAR ( radio_tuning , " TUNE " , 0 ) ,
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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
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GSCALAR ( radio_tuning_low , " TUNE_LOW " , 0 ) ,
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// @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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GSCALAR ( radio_tuning_high , " TUNE_HIGH " , 1000 ) ,
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// @Param: FRAME
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// @DisplayName: Frame Orientation (+, X or V)
// @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 (New)
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// @User: Standard
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GSCALAR ( frame_orientation , " FRAME " , AP_MOTORS_X_FRAME ) ,
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// @Param: CH7_OPT
// @DisplayName: Channel 7 option
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// @Description: Select which function if performed when CH7 is above 1800 pwm
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// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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:Avoidance
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// @User: Standard
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GSCALAR ( ch7_option , " CH7_OPT " , AUXSW_DO_NOTHING ) ,
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// @Param: CH8_OPT
// @DisplayName: Channel 8 option
// @Description: Select which function if performed when CH8 is above 1800 pwm
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// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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:Avoidance
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// @User: Standard
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GSCALAR ( ch8_option , " CH8_OPT " , AUXSW_DO_NOTHING ) ,
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// @Param: CH9_OPT
// @DisplayName: Channel 9 option
// @Description: Select which function if performed when CH9 is above 1800 pwm
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// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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:Avoidance
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// @User: Standard
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GSCALAR ( ch9_option , " CH9_OPT " , AUXSW_DO_NOTHING ) ,
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// @Param: CH10_OPT
// @DisplayName: Channel 10 option
// @Description: Select which function if performed when CH10 is above 1800 pwm
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// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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:Avoidance
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// @User: Standard
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GSCALAR ( ch10_option , " CH10_OPT " , AUXSW_DO_NOTHING ) ,
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// @Param: CH11_OPT
// @DisplayName: Channel 11 option
// @Description: Select which function if performed when CH11 is above 1800 pwm
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// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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:Avoidance
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// @User: Standard
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GSCALAR ( ch11_option , " CH11_OPT " , AUXSW_DO_NOTHING ) ,
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// @Param: CH12_OPT
// @DisplayName: Channel 12 option
// @Description: Select which function if performed when CH12 is above 1800 pwm
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// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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:Avoidance
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// @User: Standard
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GSCALAR ( ch12_option , " CH12_OPT " , AUXSW_DO_NOTHING ) ,
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// @Param: ARMING_CHECK
// @DisplayName: Arming check
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// @Description: Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS
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// @Values: 0:Disabled, 1:Enabled, -3:Skip Baro, -5:Skip Compass, -9:Skip GPS, -17:Skip INS, -33:Skip Params/Rangefinder, -65:Skip RC, 127:Skip Voltage
// @Bitmask: 0:All,1:Baro,2:Compass,3:GPS,4:INS,5:Parameters+Rangefinder,6:RC,7:Voltage
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// @User: Standard
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GSCALAR ( arming_check , " ARMING_CHECK " , ARMING_CHECK_ALL ) ,
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// @Param: DISARM_DELAY
// @DisplayName: Disarm delay
// @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm.
// @Units: Seconds
// @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: Centi-degrees
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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: RC_FEEL_RP
// @DisplayName: RC Feel Roll/Pitch
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// @Description: RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp
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// @Range: 0 100
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// @Increment: 10
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// @User: Standard
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// @Values: 0:Very Soft, 25:Soft, 50:Medium, 75:Crisp, 100:Very Crisp
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GSCALAR ( rc_feel_rp , " RC_FEEL_RP " , RC_FEEL_RP_MEDIUM ) ,
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# if POSHOLD_ENABLED == ENABLED
// @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/sec
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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: Centi-degrees
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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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# endif
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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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// RC channel
//-----------
// @Group: RC1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP ( rc_1 , " RC1_ " , RC_Channel ) ,
// @Group: RC2_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP ( rc_2 , " RC2_ " , RC_Channel ) ,
// @Group: RC3_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP ( rc_3 , " RC3_ " , RC_Channel ) ,
// @Group: RC4_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP ( rc_4 , " RC4_ " , RC_Channel ) ,
// @Group: RC5_
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// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
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GGROUP ( rc_5 , " RC5_ " , RC_Channel_aux ) ,
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// @Group: RC6_
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// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
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GGROUP ( rc_6 , " RC6_ " , RC_Channel_aux ) ,
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// @Group: RC7_
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// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
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GGROUP ( rc_7 , " RC7_ " , RC_Channel_aux ) ,
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// @Group: RC8_
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// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
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GGROUP ( rc_8 , " RC8_ " , RC_Channel_aux ) ,
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// @Group: RC9_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP ( rc_9 , " RC9_ " , RC_Channel_aux ) ,
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// @Group: RC10_
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// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
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GGROUP ( rc_10 , " RC10_ " , RC_Channel_aux ) ,
// @Group: RC11_
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// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
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GGROUP ( rc_11 , " RC11_ " , RC_Channel_aux ) ,
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// @Group: RC12_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP ( rc_12 , " RC12_ " , RC_Channel_aux ) ,
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// @Group: RC13_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP ( rc_13 , " RC13_ " , RC_Channel_aux ) ,
// @Group: RC14_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP ( rc_14 , " RC14_ " , RC_Channel_aux ) ,
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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
// @Description: Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes. Higher values mean faster rate of rotation.
// @Range: 1 10
// @User: Standard
GSCALAR ( acro_yaw_p , " ACRO_YAW_P " , ACRO_YAW_P ) ,
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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 mode. A higher value causes the vehicle to return to level faster.
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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 mode. A higher value causes the vehicle to return to level faster.
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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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// @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_EXPO
// @DisplayName: Acro Expo
// @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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// @User: Advanced
GSCALAR ( acro_expo , " ACRO_EXPO " , ACRO_EXPO_DEFAULT ) ,
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// @Param: VEL_XY_P
// @DisplayName: Velocity (horizontal) P gain
// @Description: Velocity (horizontal) P gain. Converts the difference between desired velocity to a target acceleration
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// @Range: 0.1 6.0
// @Increment: 0.1
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// @User: Advanced
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// @Param: VEL_XY_I
// @DisplayName: Velocity (horizontal) I gain
// @Description: Velocity (horizontal) I gain. Corrects long-term difference in desired velocity to a target acceleration
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// @Range: 0.02 1.00
// @Increment: 0.01
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// @User: Advanced
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// @Param: VEL_XY_IMAX
// @DisplayName: Velocity (horizontal) integrator maximum
// @Description: Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output
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// @Range: 0 4500
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// @Increment: 10
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// @Units: cm/s/s
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// @User: Advanced
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GGROUP ( pi_vel_xy , " VEL_XY_ " , AC_PI_2D ) ,
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// @Param: VEL_Z_P
// @DisplayName: Velocity (vertical) P gain
// @Description: Velocity (vertical) P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
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// @Range: 1.000 8.000
// @User: Standard
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GGROUP ( p_vel_z , " VEL_Z_ " , AC_P ) ,
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// @Param: ACCEL_Z_P
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// @DisplayName: Throttle acceleration controller P gain
// @Description: Throttle acceleration controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output
// @Range: 0.500 1.500
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// @Increment: 0.05
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// @User: Standard
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// @Param: ACCEL_Z_I
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// @DisplayName: Throttle acceleration controller I gain
// @Description: Throttle acceleration controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration
// @Range: 0.000 3.000
// @User: Standard
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// @Param: ACCEL_Z_IMAX
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// @DisplayName: Throttle acceleration controller I gain maximum
// @Description: Throttle acceleration controller I gain maximum. Constrains the maximum pwm that the I term will generate
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// @Range: 0 1000
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// @Units: Percent*10
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// @User: Standard
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// @Param: ACCEL_Z_D
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// @DisplayName: Throttle acceleration controller D gain
// @Description: Throttle acceleration controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration
// @Range: 0.000 0.400
// @User: Standard
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// @Param: ACCEL_Z_FILT_HZ
// @DisplayName: Throttle acceleration filter
// @Description: Filter applied to acceleration to reduce noise. Lower values reduce noise but add delay.
// @Range: 1.000 100.000
// @Units: Hz
// @User: Standard
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GGROUP ( pid_accel_z , " ACCEL_Z_ " , AC_PID ) ,
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// @Param: POS_Z_P
// @DisplayName: Position (vertical) controller P gain
// @Description: Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller
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// @Range: 1.000 3.000
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// @User: Standard
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GGROUP ( p_alt_hold , " POS_Z_ " , AC_P ) ,
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// @Param: POS_XY_P
// @DisplayName: Position (horizonal) controller P gain
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// @Description: Loiter position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller
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// @Range: 0.500 2.000
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// @User: Standard
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GGROUP ( p_pos_xy , " POS_XY_ " , AC_P ) ,
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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 EPM_ENABLED == ENABLED
// @Group: EPM_
// @Path: ../libraries/AP_EPM/AP_EPM.cpp
GOBJECT ( epm , " EPM_ " , AP_EPM ) ,
# endif
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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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GOBJECT ( wp_nav , " WPNAV_ " , AC_WPNav ) ,
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// @Group: CIRCLE_
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// @Path: ../libraries/AC_WPNav/AC_Circle.cpp
GOBJECT ( circle_nav , " CIRCLE_ " , AC_Circle ) ,
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# if FRAME_CONFIG == HELI_FRAME
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GOBJECT ( attitude_control , " ATC_ " , AC_AttitudeControl_Heli ) ,
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# else
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// @Group: ATC_
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// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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GOBJECT ( attitude_control , " ATC_ " , AC_AttitudeControl_Multi ) ,
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# endif
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// @Group: POSCON_
// @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
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GOBJECT ( 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 [ 0 ] , gcs0 , " SR0_ " , GCS_MAVLINK ) ,
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// @Group: SR1_
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// @Path: GCS_Mavlink.cpp
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GOBJECTN ( gcs [ 1 ] , gcs1 , " SR1_ " , GCS_MAVLINK ) ,
// @Group: SR2_
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// @Path: GCS_Mavlink.cpp
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GOBJECTN ( gcs [ 2 ] , gcs2 , " SR2_ " , GCS_MAVLINK ) ,
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// @Group: SR3_
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// @Path: GCS_Mavlink.cpp
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GOBJECTN ( gcs [ 3 ] , gcs3 , " SR3_ " , GCS_MAVLINK ) ,
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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
// @Path: ../libraries/DataFlash/DataFlash.cpp
GOBJECT ( DataFlash , " LOG " , DataFlash_Class ) ,
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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 SPRAYER == 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
GOBJECT ( avoid , " AVOID_ " , AC_Avoid ) ,
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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
// @Group: H_
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// @Path: ../libraries/AP_Motors/AP_MotorsHeli_Single.cpp
GOBJECT ( motors , " H_ " , AP_MotorsHeli_Single ) ,
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# elif FRAME_CONFIG == SINGLE_FRAME
GOBJECT ( motors , " MOT_ " , AP_MotorsSingle ) ,
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# elif FRAME_CONFIG == COAX_FRAME
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GOBJECT ( motors , " MOT_ " , AP_MotorsCoax ) ,
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# elif FRAME_CONFIG == TRI_FRAME
GOBJECT ( motors , " MOT_ " , AP_MotorsTri ) ,
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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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GOBJECT ( motors , " MOT_ " , AP_MotorsMulticopter ) ,
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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: EKF_
// @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
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GOBJECTN ( EKF , NavEKF , " EKF_ " , NavEKF ) ,
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// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN ( EKF2 , NavEKF2 , " EK2_ " , NavEKF2 ) ,
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// @Group: MIS_
// @Path: ../libraries/AP_Mission/AP_Mission.cpp
GOBJECT ( mission , " MIS_ " , AP_Mission ) ,
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// @Group: RSSI_
// @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
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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// @Group: RPM
// @Path: ../libraries/AP_RPM/AP_RPM.cpp
GOBJECT ( rpm_sensor , " RPM " , AP_RPM ) ,
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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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// @Param: AUTOTUNE_AXES
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// @DisplayName: Autotune axis bitmask
// @Description: 1-byte bitmap of axes to autotune
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// @Values: 7:All,1:Roll Only,2:Pitch Only,4:Yaw Only,3:Roll and Pitch,5:Roll and Yaw,6:Pitch and Yaw
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// @Bitmask: 0:Roll,1:Pitch,2:Yaw
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// @User: Standard
GSCALAR ( autotune_axis_bitmask , " AUTOTUNE_AXES " , 7 ) , // AUTOTUNE_AXIS_BITMASK_DEFAULT
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// @Param: AUTOTUNE_AGGR
// @DisplayName: Autotune aggressiveness
// @Description: Autotune aggressiveness. Defines the bounce back used to detect size of the D term.
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// @Range: 0.05 0.10
// @User: Standard
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GSCALAR ( autotune_aggressiveness , " AUTOTUNE_AGGR " , 0.1f ) ,
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// @Param: AUTOTUNE_MIN_D
// @DisplayName: AutoTune minimum D
// @Description: Defines the minimum D gain
// @Range: 0.001 0.006
// @User: Standard
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GSCALAR ( autotune_min_d , " AUTOTUNE_MIN_D " , 0.001f ) ,
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// @Group: NTF_
// @Path: ../libraries/AP_Notify/AP_Notify.cpp
GOBJECT ( notify , " NTF_ " , AP_Notify ) ,
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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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// @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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// @Group:
// @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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// @Group: BTN_
// @Path: ../libraries/AP_Button/AP_Button.cpp
AP_SUBGROUPINFO ( button , " BTN_ " , 2 , ParametersG2 , AP_Button ) ,
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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)
// @Values: 3:Auto,4:Guided,6:RTL,9:Land,17:Brake,18:Throw
// @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
AP_GROUPINFO ( " THROW_TYPE " , 4 , ParametersG2 , throw_type , ThrowType_Upward ) ,
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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
AP_GROUPINFO ( " GND_EFFECT_COMP " , 5 , ParametersG2 , gndeffect_comp_enabled , 0 ) ,
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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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AP_GROUPEND
} ;
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/*
constructor for g2 object
*/
ParametersG2 : : ParametersG2 ( void )
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# if ADVANCED_FAILSAFE == ENABLED
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: afs ( copter . mission , copter . barometer , copter . gps , copter . rcmap )
# endif
{
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_battery_monitoring , 0 , AP_PARAM_INT8 , " BATT_MONITOR " } ,
{ Parameters : : k_param_battery_volt_pin , 0 , AP_PARAM_INT8 , " BATT_VOLT_PIN " } ,
{ Parameters : : k_param_battery_curr_pin , 0 , AP_PARAM_INT8 , " BATT_CURR_PIN " } ,
{ Parameters : : k_param_volt_div_ratio , 0 , AP_PARAM_FLOAT , " BATT_VOLT_MULT " } ,
{ Parameters : : k_param_curr_amp_per_volt , 0 , AP_PARAM_FLOAT , " BATT_AMP_PERVOLT " } ,
{ Parameters : : k_param_pack_capacity , 0 , AP_PARAM_INT32 , " BATT_CAPACITY " } ,
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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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} ;
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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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cliSerial - > 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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cliSerial - > printf ( " Firmware change: erasing EEPROM... \n " ) ;
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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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cliSerial - > println ( " done. " ) ;
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}
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uint32_t before = micros ( ) ;
// Load all auto-loaded EEPROM variables
AP_Param : : load_all ( ) ;
AP_Param : : convert_old_parameters ( & conversion_table [ 0 ] , ARRAY_SIZE ( conversion_table ) ) ;
cliSerial - > printf ( " load_all took %uus \n " , ( unsigned ) ( micros ( ) - before ) ) ;
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// upgrade parameters
convert_pid_parameters ( ) ;
}
// handle conversion of PID gains from Copter-3.3 to Copter-3.4
void Copter : : convert_pid_parameters ( void )
{
// conversion info
AP_Param : : ConversionInfo pid_conversion_info [ ] = {
{ 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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} ;
AP_Param : : ConversionInfo imax_conversion_info [ ] = {
{ 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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AP_Param : : ConversionInfo angle_and_filt_conversion_info [ ] = {
{ 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 " } ,
{ Parameters : : k_param_pid_rate_yaw , 6 , AP_PARAM_FLOAT , " ATC_RAT_YAW_FILT " }
} ;
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AP_Param : : ConversionInfo throttle_conversion_info [ ] = {
{ 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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// 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 ;
# if FRAME_CONFIG != HELI_FRAME
// Multicopter x-frame gains are 40% lower because -1 or +1 input to motors now results in maximum rotation
if ( g . frame_orientation = = AP_MOTORS_X_FRAME | | g . frame_orientation = = AP_MOTORS_V_FRAME | | g . frame_orientation = = AP_MOTORS_H_FRAME ) {
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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}
