2012-02-12 07:26:36 -04:00
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/*
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ArduCopter parameter definitions
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This firmware is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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*/
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#define GSCALAR(v, name) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v }
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#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, class::var_info }
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#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, class::var_info }
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static const AP_Param::Info var_info[] PROGMEM = {
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GSCALAR(format_version, "SYSID_SW_MREV"),
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GSCALAR(software_type, "SYSID_SW_TYPE"),
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GSCALAR(sysid_this_mav, "SYSID_THISMAV"),
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GSCALAR(sysid_my_gcs, "SYSID_MYGCS"),
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2012-07-05 03:33:40 -03:00
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// @Param: SERIAL3_BAUD
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// @DisplayName: Telemetry Baud Rate
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// @Description: The baud rate used on the telemetry port
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// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
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// @User: Standard
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2012-02-12 07:26:36 -04:00
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GSCALAR(serial3_baud, "SERIAL3_BAUD"),
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2012-06-29 18:34:40 -03:00
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2012-04-24 15:11:16 -03:00
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// @Param: ALT_HOLD_RTL
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2012-04-24 13:37:33 -03:00
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// @DisplayName: Alt Hold RTL
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// @Description: This is the altitude the model will move to before Returning to Launch
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// @Units: Meters
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// @Range: 0 400
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2012-04-25 13:23:46 -03:00
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// @Increment: 1
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// @User: Standard
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2012-02-12 07:26:36 -04:00
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GSCALAR(RTL_altitude, "ALT_HOLD_RTL"),
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2012-06-29 18:34:40 -03:00
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2012-04-24 15:11:16 -03:00
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// @Param: SONAR_ENABLE
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2012-04-24 13:37:33 -03:00
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// @DisplayName: Enable Sonar
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2012-04-28 22:50:41 -03:00
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// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
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2012-04-28 22:35:22 -03:00
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// @Values: 0:Disabled,1:Enabled
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2012-04-25 13:23:46 -03:00
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// @User: Standard
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2012-02-12 07:26:36 -04:00
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GSCALAR(sonar_enabled, "SONAR_ENABLE"),
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2012-06-29 18:34:40 -03:00
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2012-02-12 07:26:36 -04:00
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GSCALAR(sonar_type, "SONAR_TYPE"),
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GSCALAR(battery_monitoring, "BATT_MONITOR"),
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2012-04-28 14:14:17 -03:00
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// @Param: VOLT_DIVIDER
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// @DisplayName: Voltage Divider
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// @Description: TODO
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2012-02-12 07:26:36 -04:00
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GSCALAR(volt_div_ratio, "VOLT_DIVIDER"),
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2012-04-28 14:14:17 -03:00
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2012-02-12 07:26:36 -04:00
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GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT"),
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GSCALAR(input_voltage, "INPUT_VOLTS"),
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2012-07-05 00:05:56 -03:00
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// @Param: BATT_CAPACITY
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// @DisplayName: Battery Capacity
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// @Description: Battery capacity in milliamp-hours (mAh)
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// @Units: mAh
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2012-02-12 07:26:36 -04:00
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GSCALAR(pack_capacity, "BATT_CAPACITY"),
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2012-04-28 14:14:17 -03:00
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// @Param: MAG_ENABLE
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// @DisplayName: Enable Compass
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2012-04-28 22:50:41 -03:00
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// @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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GSCALAR(compass_enabled, "MAG_ENABLE"),
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2012-04-28 14:14:17 -03:00
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// @Param: FLOW_ENABLE
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// @DisplayName: Enable Optical Flow
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2012-04-28 22:50:41 -03:00
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// @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow
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2012-04-28 22:35:22 -03:00
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// @Values: 0:Disabled,1:Enabled
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2012-04-28 14:14:17 -03:00
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// @User: Standard
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2012-02-12 07:26:36 -04:00
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GSCALAR(optflow_enabled, "FLOW_ENABLE"),
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2012-06-29 18:34:40 -03:00
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2012-04-28 14:14:17 -03:00
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// @Param: LOW_VOLT
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// @DisplayName: Low Voltage
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// @Description: Set this to the voltage you want to represent low voltage
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// @Range: 0 20
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// @Increment: .1
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// @User: Standard
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2012-02-12 07:26:36 -04:00
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GSCALAR(low_voltage, "LOW_VOLT"),
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2012-06-29 18:34:40 -03:00
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2012-04-28 14:14:17 -03:00
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// @Param: SUPER_SIMPLE
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// @DisplayName: Enable Super Simple Mode
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2012-04-28 22:50:41 -03:00
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// @Description: Setting this to Enabled(1) will enable Super Simple Mode. Setting this to Disabled(0) will disable Super Simple Mode
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2012-04-28 22:35:22 -03:00
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// @Values: 0:Disabled,1:Enabled
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2012-04-28 14:14:17 -03:00
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// @User: Standard
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2012-02-12 07:26:36 -04:00
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GSCALAR(super_simple, "SUPER_SIMPLE"),
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2012-06-29 18:34:40 -03:00
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2012-04-24 15:11:16 -03:00
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// @Param: RTL_LAND
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2012-04-24 13:37:33 -03:00
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// @DisplayName: RTL Land
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2012-04-28 22:50:41 -03:00
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// @Description: Setting this to Enabled(1) will enable landing after RTL. Setting this to Disabled(0) will disable landing after RTL.
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2012-04-28 22:35:22 -03:00
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// @Values: 0:Disabled,1:Enabled
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2012-04-25 13:23:46 -03:00
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// @User: Standard
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// @ DEPRICATED
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2012-02-15 13:05:37 -04:00
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GSCALAR(rtl_land_enabled, "RTL_LAND"),
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2012-04-24 13:37:33 -03:00
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2012-04-24 15:11:16 -03:00
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// @Param: APPROACH_ALT
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// @DisplayName: Alt Hold RTL
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// @Description: This is the altitude the vehicle will move to before Returning to Launch
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2012-04-24 13:37:33 -03:00
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// @Units: Meters
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// @Range: 1 10
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2012-04-25 13:23:46 -03:00
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// @Increment: .1
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// @User: Standard
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2012-04-15 18:51:41 -03:00
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GSCALAR(rtl_approach_alt, "APPROACH_ALT"),
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2012-02-15 13:05:37 -04:00
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2012-07-03 21:33:03 -03:00
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GSCALAR(tilt_comp, "TILT"),
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2012-02-12 07:26:36 -04:00
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GSCALAR(waypoint_mode, "WP_MODE"),
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GSCALAR(command_total, "WP_TOTAL"),
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GSCALAR(command_index, "WP_INDEX"),
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GSCALAR(command_nav_index, "WP_MUST_INDEX"),
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2012-07-05 03:33:40 -03:00
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// @Param: WP_RADIUS
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// @DisplayName: Waypoint Radius
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// @Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit.
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// @Units: Meters
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// @Range: 1 127
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// @Increment: 1
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// @User: Standard
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2012-02-12 07:26:36 -04:00
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GSCALAR(waypoint_radius, "WP_RADIUS"),
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2012-07-05 03:33:40 -03:00
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// @Param: WP_LOITER_RAD
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// @DisplayName: Waypoint Loiter Radius
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// @Description: Defines the distance from the waypoint center, the vehicle will maintain during a loiter
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// @Units: Meters
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// @Range: 1 127
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// @Increment: 1
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// @User: Standard
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2012-02-12 07:26:36 -04:00
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GSCALAR(loiter_radius, "WP_LOITER_RAD"),
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GSCALAR(waypoint_speed_max, "WP_SPEED_MAX"),
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GSCALAR(crosstrack_gain, "XTRK_GAIN_SC"),
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GSCALAR(auto_land_timeout, "AUTO_LAND"),
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2012-07-05 03:33:40 -03:00
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// @Param: THR_MIN
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// @DisplayName: Minimum Throttle
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// @Description: The minimum throttle which the autopilot will apply.
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// @Units: Percent
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// @Range: 0 100
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// @Increment: 1
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// @User: Standard
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2012-02-12 07:26:36 -04:00
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GSCALAR(throttle_min, "THR_MIN"),
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2012-07-05 03:33:40 -03:00
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// @Param: THR_MAX
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// @DisplayName: Maximum Throttle
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// @Description: The maximum throttle which the autopilot will apply.
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// @Units: Percent
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// @Range: 0 100
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// @Increment: 1
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// @User: Standard
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2012-02-12 07:26:36 -04:00
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GSCALAR(throttle_max, "THR_MAX"),
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2012-07-05 03:33:40 -03:00
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// @Param: THR_FAILSAFE
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// @DisplayName: Throttle Failsafe Enable
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// @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
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// @User: Standard
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2012-02-12 07:26:36 -04:00
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GSCALAR(throttle_fs_enabled, "THR_FAILSAFE"),
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2012-07-05 03:33:40 -03:00
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2012-02-12 07:26:36 -04:00
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GSCALAR(throttle_fs_action, "THR_FS_ACTION"),
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2012-07-05 03:33:40 -03:00
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// @Param: THR_FS_VALUE
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// @DisplayName: Throttle Failsafe Value
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// @Description: The PWM level on channel 3 below which throttle sailsafe triggers
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// @User: Standard
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2012-02-12 07:26:36 -04:00
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GSCALAR(throttle_fs_value, "THR_FS_VALUE"),
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2012-07-05 03:33:40 -03:00
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2012-02-12 07:26:36 -04:00
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GSCALAR(throttle_cruise, "TRIM_THROTTLE"),
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GSCALAR(flight_mode1, "FLTMODE1"),
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GSCALAR(flight_mode2, "FLTMODE2"),
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GSCALAR(flight_mode3, "FLTMODE3"),
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GSCALAR(flight_mode4, "FLTMODE4"),
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GSCALAR(flight_mode5, "FLTMODE5"),
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GSCALAR(flight_mode6, "FLTMODE6"),
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GSCALAR(simple_modes, "SIMPLE"),
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2012-07-05 03:33:40 -03:00
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// @Param: LOG_BITMASK
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// @DisplayName: Log bitmask
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// @Description: bitmap of log fields to enable
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// @User: Advanced
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2012-02-12 07:26:36 -04:00
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GSCALAR(log_bitmask, "LOG_BITMASK"),
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GSCALAR(log_last_filenumber, "LOG_LASTFILE"),
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2012-06-29 18:34:40 -03:00
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// THOR
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// Added to allow change of Rate in the Mission planner
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GSCALAR(toy_yaw_rate, "TOY_RATE"),
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2012-02-12 07:26:36 -04:00
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GSCALAR(esc_calibrate, "ESC"),
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GSCALAR(radio_tuning, "TUNE"),
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2012-02-15 15:47:54 -04:00
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GSCALAR(radio_tuning_low, "TUNE_LOW"),
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GSCALAR(radio_tuning_high, "TUNE_HIGH"),
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2012-02-12 07:26:36 -04:00
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GSCALAR(frame_orientation, "FRAME"),
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GSCALAR(ch7_option, "CH7_OPT"),
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2012-02-15 13:05:37 -04:00
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GSCALAR(auto_slew_rate, "AUTO_SLEW"),
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2012-02-12 07:26:36 -04:00
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#if FRAME_CONFIG == HELI_FRAME
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2012-02-18 07:57:51 -04:00
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GGROUP(heli_servo_1, "HS1_", RC_Channel),
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GGROUP(heli_servo_2, "HS2_", RC_Channel),
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GGROUP(heli_servo_3, "HS3_", RC_Channel),
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GGROUP(heli_servo_4, "HS4_", RC_Channel),
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2012-02-12 07:26:36 -04:00
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#endif
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// RC channel
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//-----------
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GGROUP(rc_1, "RC1_", RC_Channel),
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GGROUP(rc_2, "RC2_", RC_Channel),
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GGROUP(rc_3, "RC3_", RC_Channel),
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GGROUP(rc_4, "RC4_", RC_Channel),
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GGROUP(rc_5, "RC5_", RC_Channel),
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GGROUP(rc_6, "RC6_", RC_Channel),
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GGROUP(rc_7, "RC7_", RC_Channel),
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GGROUP(rc_8, "RC8_", RC_Channel),
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GGROUP(rc_camera_pitch, "CAM_P_", RC_Channel),
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GGROUP(rc_camera_roll, "CAM_R_", RC_Channel),
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2012-06-29 18:34:40 -03:00
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2012-04-24 15:11:16 -03:00
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// @Param: RC_SPEED
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2012-04-24 13:37:33 -03:00
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// @DisplayName: ESC Update Speed
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// @Description: This is the speed in Hertz that your ESCs will receive updates
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// @Units: Hertz (Hz)
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2012-04-26 20:26:14 -03:00
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// @Values: 125,400,490
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2012-04-25 13:23:46 -03:00
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// @User: Advanced
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2012-03-02 02:24:18 -04:00
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GSCALAR(rc_speed, "RC_SPEED"),
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2012-02-12 07:26:36 -04:00
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// variable
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//---------
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2012-07-04 23:06:21 -03:00
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GSCALAR(camera_pitch_gain, "CAM_P_G"),
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GSCALAR(camera_roll_gain, "CAM_R_G"),
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GSCALAR(camera_pitch_continuous,"CAM_P_CONT"),
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GSCALAR(camera_roll_continuous, "CAM_R_CONT"),
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GSCALAR(stabilize_d, "STAB_D"),
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2012-06-29 18:34:40 -03:00
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2012-04-24 15:11:16 -03:00
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// @Param: STAB_D_S
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2012-04-24 13:37:33 -03:00
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// @DisplayName: Stabilize D Schedule
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// @Description: This value is a percentage of scheduling applied to the Stabilize D term.
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// @Range: 0 1
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2012-04-25 13:23:46 -03:00
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// @Increment: .01
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// @User: Advanced
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2012-02-29 00:13:10 -04:00
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GSCALAR(stabilize_d_schedule, "STAB_D_S"),
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2012-04-24 13:37:33 -03:00
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2012-02-15 15:29:25 -04:00
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GSCALAR(acro_p, "ACRO_P"),
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2012-02-19 01:08:17 -04:00
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GSCALAR(axis_lock_p, "AXIS_P"),
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GSCALAR(axis_enabled, "AXIS_ENABLE"),
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2012-04-12 10:50:28 -03:00
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GSCALAR(copter_leds_mode, "LED_MODE"),
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2012-02-12 07:26:36 -04:00
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// PID controller
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//---------------
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GGROUP(pid_rate_roll, "RATE_RLL_", AC_PID),
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GGROUP(pid_rate_pitch, "RATE_PIT_", AC_PID),
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GGROUP(pid_rate_yaw, "RATE_YAW_", AC_PID),
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2012-02-15 13:05:37 -04:00
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GGROUP(pid_loiter_rate_lat, "LOITER_LAT_", AC_PID),
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GGROUP(pid_loiter_rate_lon, "LOITER_LON_", AC_PID),
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GGROUP(pid_nav_lat, "NAV_LAT_", AC_PID),
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GGROUP(pid_nav_lon, "NAV_LON_", AC_PID),
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2012-02-12 07:26:36 -04:00
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GGROUP(pid_throttle, "THR_RATE_", AC_PID),
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GGROUP(pid_optflow_roll, "OF_RLL_", AC_PID),
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GGROUP(pid_optflow_pitch, "OF_PIT_", AC_PID),
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|
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// PI controller
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//--------------
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GGROUP(pi_stabilize_roll, "STB_RLL_", APM_PI),
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GGROUP(pi_stabilize_pitch, "STB_PIT_", APM_PI),
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GGROUP(pi_stabilize_yaw, "STB_YAW_", APM_PI),
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|
2012-02-15 13:05:37 -04:00
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GGROUP(pi_alt_hold, "THR_ALT_", APM_PI),
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2012-02-12 07:26:36 -04:00
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GGROUP(pi_loiter_lat, "HLD_LAT_", APM_PI),
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GGROUP(pi_loiter_lon, "HLD_LON_", APM_PI),
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|
// variables not in the g class which contain EEPROM saved variables
|
2012-06-29 18:34:40 -03:00
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|
2012-04-25 14:27:51 -03:00
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|
// @Group: COMPASS_
|
2012-04-25 13:23:46 -03:00
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|
// @Path: ../libraries/AP_Compass/Compass.cpp
|
2012-02-12 07:26:36 -04:00
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GOBJECT(compass, "COMPASS_", Compass),
|
2012-04-25 13:23:46 -03:00
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|
2012-02-15 13:05:37 -04:00
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|
|
GOBJECT(gcs0, "SR0_", GCS_MAVLINK),
|
2012-02-17 19:39:57 -04:00
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|
GOBJECT(gcs3, "SR3_", GCS_MAVLINK),
|
2012-04-25 13:23:46 -03:00
|
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|
2012-04-25 14:27:51 -03:00
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|
|
// @Group: IMU_
|
2012-04-25 13:23:46 -03:00
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|
|
// @Path: ../libraries/AP_IMU/IMU.cpp
|
2012-04-16 07:55:03 -03:00
|
|
|
GOBJECT(imu, "IMU_", IMU),
|
2012-04-25 13:23:46 -03:00
|
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|
|
2012-04-25 14:27:51 -03:00
|
|
|
// @Group: AHRS_
|
2012-04-25 13:23:46 -03:00
|
|
|
// @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp
|
2012-04-16 07:55:03 -03:00
|
|
|
GOBJECT(ahrs, "AHRS_", AP_AHRS),
|
2012-04-04 10:55:07 -03:00
|
|
|
|
2012-06-29 02:10:35 -03:00
|
|
|
#ifdef DESKTOP_BUILD
|
|
|
|
GOBJECT(sitl, "SIM_", SITL),
|
|
|
|
#endif
|
|
|
|
|
2012-04-04 10:55:07 -03:00
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
2012-04-26 20:26:14 -03:00
|
|
|
// @Group: H_
|
|
|
|
// @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp
|
2012-04-16 07:55:03 -03:00
|
|
|
GOBJECT(motors, "H_", AP_MotorsHeli),
|
2012-04-04 10:55:07 -03:00
|
|
|
#else
|
2012-04-16 07:55:03 -03:00
|
|
|
GOBJECT(motors, "MOT_", AP_Motors),
|
2012-04-04 10:55:07 -03:00
|
|
|
#endif
|
2012-02-12 07:26:36 -04:00
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
static void load_parameters(void)
|
|
|
|
{
|
|
|
|
// setup the AP_Var subsystem for storage to EEPROM
|
|
|
|
if (!AP_Param::setup(var_info, sizeof(var_info)/sizeof(var_info[0]), WP_START_BYTE)) {
|
|
|
|
// this can only happen on startup, and its a definate coding
|
|
|
|
// error. Best not to continue so the programmer catches it
|
|
|
|
while (1) {
|
|
|
|
Serial.println_P(PSTR("ERROR: Failed to setup AP_Param"));
|
|
|
|
delay(1000);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-07-10 03:22:48 -03:00
|
|
|
// change the default for the AHRS_GPS_GAIN for ArduCopter
|
|
|
|
ahrs.gps_gain.set(0.0);
|
|
|
|
|
2012-02-12 07:26:36 -04:00
|
|
|
if (!g.format_version.load() ||
|
|
|
|
g.format_version != Parameters::k_format_version) {
|
|
|
|
|
|
|
|
// erase all parameters
|
|
|
|
Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
|
|
|
|
AP_Param::erase_all();
|
|
|
|
|
|
|
|
// save the current format version
|
|
|
|
g.format_version.set_and_save(Parameters::k_format_version);
|
|
|
|
default_dead_zones();
|
|
|
|
Serial.println_P(PSTR("done."));
|
|
|
|
} else {
|
|
|
|
unsigned long before = micros();
|
|
|
|
// Load all auto-loaded EEPROM variables
|
|
|
|
AP_Param::load_all();
|
|
|
|
|
|
|
|
Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before);
|
|
|
|
}
|
|
|
|
}
|