ardupilot/ArduPlane/Parameters.h

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#ifndef PARAMETERS_H
#define PARAMETERS_H

#include <AP_Common.h>

// Global parameter class.
//
class Parameters {
public:
    // The 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 = 12;

	// The parameter software_type is set up solely for ground station use
	// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
	// GCS will interpret values 0-9 as ArduPilotMega.  Developers may use
	// values within that range to identify different branches.
	//
    static const uint16_t k_software_type = 0;		// 0 for APM trunk

    enum {
        // Layout version number, always key zero.
        //
        k_param_format_version = 0,
		k_param_software_type,

        // Misc
        //
        k_param_auto_trim,
        k_param_switch_enable,
        k_param_log_bitmask,
        k_param_pitch_trim,
        k_param_mix_mode,
        k_param_reverse_elevons,
        k_param_reverse_ch1_elevon,
        k_param_reverse_ch2_elevon,
        k_param_flap_1_percent,
        k_param_flap_1_speed,
        k_param_flap_2_percent,
        k_param_flap_2_speed,
        k_param_num_resets,
        k_param_log_last_filenumber,		// *** Deprecated - remove with next eeprom number change
        k_param_reset_switch_chan,


		// 110: Telemetry control
		//
		k_param_gcs0 = 110, // stream rates for port0
		k_param_gcs3,       // stream rates for port3
		k_param_sysid_this_mav,
		k_param_sysid_my_gcs,
        k_param_serial3_baud,

        // 120: Fly-by-wire control
        //
        k_param_flybywire_airspeed_min = 120,
        k_param_flybywire_airspeed_max,
        k_param_FBWB_min_altitude,  // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)

        //
        // 130: Sensor parameters
        //
        k_param_IMU_calibration = 130,
        k_param_altitude_mix,
        k_param_airspeed_ratio,
        k_param_ground_temperature,
        k_param_ground_pressure,
		k_param_compass_enabled,
		k_param_compass,
		k_param_battery_monitoring,
		k_param_volt_div_ratio,
		k_param_curr_amp_per_volt,
		k_param_input_voltage,
		k_param_pack_capacity,
        k_param_airspeed_offset,
		k_param_sonar_enabled,
		k_param_airspeed_enabled,

        //
        // 150: Navigation parameters
        //
        k_param_crosstrack_gain = 150,
        k_param_crosstrack_entry_angle,
        k_param_roll_limit,
        k_param_pitch_limit_max,
        k_param_pitch_limit_min,
        k_param_airspeed_cruise,
        k_param_RTL_altitude,
        k_param_inverted_flight_ch,
        k_param_min_gndspeed,

        //
        // 170: Radio settings
        //
        k_param_channel_roll = 170,
        k_param_channel_pitch,
        k_param_channel_throttle,
        k_param_channel_rudder,
        k_param_rc_5,
        k_param_rc_6,
        k_param_rc_7,
        k_param_rc_8,

        k_param_throttle_min,
        k_param_throttle_max,
        k_param_throttle_fs_enabled,
        k_param_throttle_fs_value,
        k_param_throttle_cruise,

        k_param_short_fs_action,
        k_param_long_fs_action,
		k_param_gcs_heartbeat_fs_enabled,
        k_param_throttle_slewrate,

        //
        // 200: Feed-forward gains
        //
        k_param_kff_pitch_compensation = 200,
        k_param_kff_rudder_mix,
        k_param_kff_pitch_to_throttle,
        k_param_kff_throttle_to_pitch,

        //
        // 210: flight modes
        //
        k_param_flight_mode_channel = 210,
        k_param_flight_mode1,
        k_param_flight_mode2,
        k_param_flight_mode3,
        k_param_flight_mode4,
        k_param_flight_mode5,
        k_param_flight_mode6,

        //
        // 220: Waypoint data
        //
        k_param_waypoint_mode = 220,
        k_param_command_total,
        k_param_command_index,
        k_param_waypoint_radius,
        k_param_loiter_radius,
        k_param_fence_action,
        k_param_fence_total,
        k_param_fence_channel,
        k_param_fence_minalt,
        k_param_fence_maxalt,

        //
        // 240: PID Controllers
        //
        // Heading-to-roll PID:
        // heading error from command to roll command deviation from trim
        // (bank to turn strategy)
        //
        k_param_pidNavRoll = 240,

        // Roll-to-servo PID:
        // roll error from command to roll servo deviation from trim
        // (tracks commanded bank angle)
        //
        k_param_pidServoRoll,

        //
        // Pitch control
        //
        // Pitch-to-servo PID:
        // pitch error from command to pitch servo deviation from trim
        // (front-side strategy)
        //
        k_param_pidServoPitch,

        // Airspeed-to-pitch PID:
        // airspeed error from command to pitch servo deviation from trim
        // (back-side strategy)
        //
        k_param_pidNavPitchAirspeed,

        //
        // Yaw control
        //
        // Yaw-to-servo PID:
        // yaw rate error from command to yaw servo deviation from trim
        // (stabilizes dutch roll)
        //
        k_param_pidServoRudder,

        //
        // Throttle control
        //
        // Energy-to-throttle PID:
        // total energy error from command to throttle servo deviation from trim
        // (throttle back-side strategy alternative)
        //
        k_param_pidTeThrottle,

        // Altitude-to-pitch PID:
        // altitude error from command to pitch servo deviation from trim
        // (throttle front-side strategy alternative)
        //
        k_param_pidNavPitchAltitude,

        // 254,255: reserved
    };

    AP_Int16    format_version;
	AP_Int8		software_type;

	// Telemetry control
	//
	AP_Int16		sysid_this_mav;
	AP_Int16		sysid_my_gcs;
    AP_Int8			serial3_baud;

    // Feed-forward gains
    //
    AP_Float    kff_pitch_compensation;
    AP_Float    kff_rudder_mix;
    AP_Float    kff_pitch_to_throttle;
    AP_Float    kff_throttle_to_pitch;

    // Crosstrack navigation
    //
    AP_Float    crosstrack_gain;
    AP_Int16    crosstrack_entry_angle;

    // Estimation
    //
    AP_Float    altitude_mix;
    AP_Float    airspeed_ratio;
	AP_Int16	airspeed_offset;

    // Waypoints
    //
    AP_Int8     waypoint_mode;
    AP_Int8     command_total;
    AP_Int8     command_index;
    AP_Int8     waypoint_radius;
    AP_Int8     loiter_radius;
#if GEOFENCE_ENABLED == ENABLED
    AP_Int8     fence_action;
    AP_Int8     fence_total;
    AP_Int8     fence_channel;
    AP_Int16    fence_minalt; // meters
    AP_Int16    fence_maxalt; // meters
#endif

    // Fly-by-wire
    //
    AP_Int8     flybywire_airspeed_min;
    AP_Int8     flybywire_airspeed_max;
    AP_Int16    FBWB_min_altitude;

    // Throttle
    //
    AP_Int8     throttle_min;
    AP_Int8     throttle_max;
    AP_Int8     throttle_slewrate;
	AP_Int8     throttle_fs_enabled;
    AP_Int16    throttle_fs_value;
    AP_Int8     throttle_cruise;

	// Failsafe
    AP_Int8     short_fs_action;
    AP_Int8     long_fs_action;
	AP_Int8		gcs_heartbeat_fs_enabled;

    // Flight modes
    //
    AP_Int8     flight_mode_channel;
    AP_Int8     flight_mode1;
    AP_Int8     flight_mode2;
    AP_Int8     flight_mode3;
    AP_Int8     flight_mode4;
    AP_Int8     flight_mode5;
    AP_Int8     flight_mode6;

    // Navigational maneuvering limits
    //
    AP_Int16    roll_limit;
    AP_Int16    pitch_limit_max;
    AP_Int16    pitch_limit_min;

    // Misc
    //
    AP_Int8     auto_trim;
    AP_Int8     switch_enable;
    AP_Int8     mix_mode;
    AP_Int8     reverse_elevons;
    AP_Int8     reverse_ch1_elevon;
    AP_Int8     reverse_ch2_elevon;
    AP_Int16    num_resets;
    AP_Int16    log_bitmask;
    AP_Int16	log_last_filenumber;		// *** Deprecated - remove with next eeprom number change
    AP_Int8		reset_switch_chan;
    AP_Int16    airspeed_cruise;
    AP_Int16    min_gndspeed;
    AP_Int16    pitch_trim;
    AP_Int16    RTL_altitude;
    AP_Int16    ground_temperature;
    AP_Int32    ground_pressure;
    AP_Int8		compass_enabled;
    AP_Int16    angle_of_attack;
    AP_Int8		battery_monitoring;	// 0=disabled, 3=voltage only, 4=voltage and current
    AP_Float	volt_div_ratio;
    AP_Float	curr_amp_per_volt;
    AP_Float	input_voltage;
	AP_Int16	pack_capacity;		// Battery pack capacity less reserve
    AP_Int8		inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
    AP_Int8		sonar_enabled;
    AP_Int8		airspeed_enabled;
    AP_Int8		flap_1_percent;
    AP_Int8		flap_1_speed;
    AP_Int8		flap_2_percent;
    AP_Int8		flap_2_speed;

    // RC channels
    RC_Channel  channel_roll;
    RC_Channel  channel_pitch;
    RC_Channel  channel_throttle;
    RC_Channel  channel_rudder;
	RC_Channel_aux	rc_5;
	RC_Channel_aux	rc_6;
	RC_Channel_aux	rc_7;
	RC_Channel_aux	rc_8;

    // PID controllers
    //
    PID         pidNavRoll;
    PID         pidServoRoll;
    PID         pidServoPitch;
    PID         pidNavPitchAirspeed;
    PID         pidServoRudder;
    PID         pidTeThrottle;
    PID         pidNavPitchAltitude;

    Parameters() :
        format_version          (k_format_version),
        software_type			(k_software_type),

        sysid_this_mav			(MAV_SYSTEM_ID),
        sysid_my_gcs			(255),
        serial3_baud			(SERIAL3_BAUD/1000),

        kff_pitch_compensation  (PITCH_COMP),
        kff_rudder_mix          (RUDDER_MIX),
        kff_pitch_to_throttle   (P_TO_T),
        kff_throttle_to_pitch   (T_TO_P),

        crosstrack_gain         (XTRACK_GAIN_SCALED),
        crosstrack_entry_angle  (XTRACK_ENTRY_ANGLE_CENTIDEGREE),

        altitude_mix            (ALTITUDE_MIX),
        airspeed_ratio          (AIRSPEED_RATIO),
        airspeed_offset			(0),

        /* XXX waypoint_mode missing here */
        command_total           (0),
        command_index           (0),
        waypoint_radius         (WP_RADIUS_DEFAULT),
        loiter_radius           (LOITER_RADIUS_DEFAULT),

#if GEOFENCE_ENABLED == ENABLED
        fence_action            (0),
        fence_total             (0),
        fence_channel           (0),
        fence_minalt            (0),
        fence_maxalt            (0),
#endif

        flybywire_airspeed_min  (AIRSPEED_FBW_MIN),
        flybywire_airspeed_max  (AIRSPEED_FBW_MAX),

        throttle_min            (THROTTLE_MIN),
        throttle_max            (THROTTLE_MAX),
        throttle_slewrate		(THROTTLE_SLEW_LIMIT),
        throttle_fs_enabled   	(THROTTLE_FAILSAFE),
        throttle_fs_value 		(THROTTLE_FS_VALUE),
        throttle_cruise         (THROTTLE_CRUISE),

        short_fs_action			(SHORT_FAILSAFE_ACTION),
        long_fs_action			(LONG_FAILSAFE_ACTION),
        gcs_heartbeat_fs_enabled(GCS_HEARTBEAT_FAILSAFE),

        flight_mode_channel     (FLIGHT_MODE_CHANNEL),
        flight_mode1            (FLIGHT_MODE_1),
        flight_mode2            (FLIGHT_MODE_2),
        flight_mode3            (FLIGHT_MODE_3),
        flight_mode4            (FLIGHT_MODE_4),
        flight_mode5            (FLIGHT_MODE_5),
        flight_mode6            (FLIGHT_MODE_6),

        roll_limit              (HEAD_MAX_CENTIDEGREE),
        pitch_limit_max         (PITCH_MAX_CENTIDEGREE),
        pitch_limit_min         (PITCH_MIN_CENTIDEGREE),

        auto_trim               (AUTO_TRIM),
        switch_enable           (REVERSE_SWITCH),
        mix_mode                (ELEVON_MIXING),
        reverse_elevons         (ELEVON_REVERSE),
        reverse_ch1_elevon      (ELEVON_CH1_REVERSE),
        reverse_ch2_elevon      (ELEVON_CH2_REVERSE),
        num_resets              (0),
        log_bitmask             (DEFAULT_LOG_BITMASK),
        log_last_filenumber     (0),
        reset_switch_chan		(0),
        airspeed_cruise         (AIRSPEED_CRUISE_CM),
        min_gndspeed            (MIN_GNDSPEED_CM),
        pitch_trim              (0),
        RTL_altitude            (ALT_HOLD_HOME_CM),
        FBWB_min_altitude       (ALT_HOLD_FBW_CM),
        ground_temperature      (0),
        ground_pressure         (0),
        compass_enabled			(MAGNETOMETER),
        flap_1_percent			(FLAP_1_PERCENT),
        flap_1_speed			(FLAP_1_SPEED),
        flap_2_percent			(FLAP_2_PERCENT),
        flap_2_speed			(FLAP_2_SPEED),


        battery_monitoring 		(DISABLED),
        volt_div_ratio			(VOLT_DIV_RATIO),
        curr_amp_per_volt		(CURR_AMP_PER_VOLT),
        input_voltage			(INPUT_VOLTAGE),
        pack_capacity	 		(HIGH_DISCHARGE),
        inverted_flight_ch      (0),
        sonar_enabled			(SONAR_ENABLED),
        airspeed_enabled		(AIRSPEED_SENSOR),

        // PID controller    initial P        initial I        initial D        initial imax
        //---------------------------------------------------------------------------------------------------------------------------------------
        pidNavRoll          (NAV_ROLL_P,      NAV_ROLL_I,      NAV_ROLL_D,      NAV_ROLL_INT_MAX_CENTIDEGREE),
        pidServoRoll        (SERVO_ROLL_P,    SERVO_ROLL_I,    SERVO_ROLL_D,    SERVO_ROLL_INT_MAX_CENTIDEGREE),
        pidServoPitch       (SERVO_PITCH_P,   SERVO_PITCH_I,   SERVO_PITCH_D,   SERVO_PITCH_INT_MAX_CENTIDEGREE),
        pidNavPitchAirspeed (NAV_PITCH_ASP_P, NAV_PITCH_ASP_I, NAV_PITCH_ASP_D, NAV_PITCH_ASP_INT_MAX_CMSEC),
        pidServoRudder      (SERVO_YAW_P,     SERVO_YAW_I,     SERVO_YAW_D,     SERVO_YAW_INT_MAX),
        pidTeThrottle       (THROTTLE_TE_P,   THROTTLE_TE_I,   THROTTLE_TE_D,   THROTTLE_TE_INT_MAX),
        pidNavPitchAltitude (NAV_PITCH_ALT_P, NAV_PITCH_ALT_I, NAV_PITCH_ALT_D, NAV_PITCH_ALT_INT_MAX_CM)
        {}
};

#endif // PARAMETERS_H