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# include "Sub.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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* ArduSub parameter definitions
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*
*/
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# define GSCALAR(v, name, def) { sub.g.v.vtype, name, Parameters::k_param_ ## v, &sub.g.v, {def_value : def} }
# define ASCALAR(v, name, def) { sub.aparm.v.vtype, name, Parameters::k_param_ ## v, (const void *)&sub.aparm.v, {def_value : def} }
# define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &sub.g.v, {group_info : class::var_info} }
# define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&sub.v, {group_info : class::var_info} }
# define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&sub.v, {group_info : class::var_info} }
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const AP_Param : : Info Sub : : var_info [ ] = {
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// @Param: SURFACE_DEPTH
// @DisplayName: Depth reading at surface
// @Description: The depth the external pressure sensor will read when the vehicle is considered at the surface (in centimeters)
// @Range: -100 0
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// @User: Standard
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GSCALAR ( surface_depth , " SURFACE_DEPTH " , SURFACE_DEPTH_DEFAULT ) ,
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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 ) ,
// @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,40:ArduSub
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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 ) ,
// @Param: SYSID_THISMAV
// @DisplayName: MAVLink system ID of this vehicle
// @Description: Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
// @Range: 1 255
// @User: Advanced
GSCALAR ( sysid_this_mav , " SYSID_THISMAV " , MAV_SYSTEM_ID ) ,
// @Param: SYSID_MYGCS
// @DisplayName: My ground station number
// @Description: Allows restricting radio overrides to only come from my ground station
// @Values: 255:Mission Planner and DroidPlanner, 252: AP Planner 2
// @User: Advanced
GSCALAR ( sysid_my_gcs , " SYSID_MYGCS " , 255 ) ,
# 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
// @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 ) ,
// @Group: SERIAL
// @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
GOBJECT ( serial_manager , " SERIAL " , AP_SerialManager ) ,
// @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
// @Bitmask: 0:Roll,1:Pitch,2:Yaw
GSCALAR ( gcs_pid_mask , " GCS_PID_MASK " , 0 ) ,
// @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 sub
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// @Range: 0.01 2.0
// @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
// @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
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// @User: Standard
GSCALAR ( failsafe_battery_enabled , " FS_BATT_ENABLE " , FS_BATT_DISABLED ) ,
// @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.
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// @Units: Volts
// @Increment: 0.1
// @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.
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// @Units: mAh
// @Increment: 50
// @User: Standard
GSCALAR ( fs_batt_mah , " FS_BATT_MAH " , FS_BATT_MAH_DEFAULT ) ,
// @Param: FS_GCS_ENABLE
// @DisplayName: Ground Station Failsafe Enable
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// @Description: Controls what action to take when GCS heartbeat is lost.
// @Values: 0:Disabled,1:Warn only,2:Disarm,3:Enter depth hold mode,4:Enter surface mode
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// @User: Standard
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GSCALAR ( failsafe_gcs , " FS_GCS_ENABLE " , FS_GCS_DISARM ) ,
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// @Param: FS_LEAK_ENABLE
// @DisplayName: Leak Failsafe Enable
// @Description: Controls what action to take if a leak is detected.
// @Values: 0:Disabled,1:Warn only,2:Enter surface mode
// @User: Standard
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GSCALAR ( failsafe_leak , " FS_LEAK_ENABLE " , FS_LEAK_WARN_ONLY ) ,
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// @Param: FS_PRESS_ENABLE
// @DisplayName: Internal Pressure Failsafe Enable
// @Description: Controls what action to take if internal pressure exceeds FS_PRESS_MAX parameter.
// @Values: 0:Disabled,1:Warn only
// @User: Standard
GSCALAR ( failsafe_pressure , " FS_PRESS_ENABLE " , FS_PRESS_DISABLED ) ,
// @Param: FS_TEMP_ENABLE
// @DisplayName: Internal Temperature Failsafe Enable
// @Description: Controls what action to take if internal temperature exceeds FS_TEMP_MAX parameter.
// @Values: 0:Disabled,1:Warn only
// @User: Standard
GSCALAR ( failsafe_temperature , " FS_TEMP_ENABLE " , FS_TEMP_DISABLED ) ,
// @Param: FS_PRESS_MAX
// @DisplayName: Internal Pressure Failsafe Threshold
// @Description: The maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS_PRESS_ENABLE parameter
// @Units: Pascal
// @User: Standard
GSCALAR ( failsafe_pressure_max , " FS_PRESS_MAX " , FS_PRESS_MAX_DEFAULT ) ,
// @Param: FS_TEMP_MAX
// @DisplayName: Internal Temperature Failsafe Threshold
// @Description: The maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS_TEMP_ENABLE parameter.
// @Units: Degrees Centigrade
// @User: Standard
GSCALAR ( failsafe_temperature_max , " FS_TEMP_MAX " , FS_TEMP_MAX_DEFAULT ) ,
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// @Param: FS_TERRAIN_ENAB
// @DisplayName: Terrain Failsafe Enable
// @Description: Controls what action to take if terrain information is lost during AUTO mode
// @Values: 0:Disarm, 1:Hold Position, 2:Surface
// @User: Standard
GSCALAR ( failsafe_terrain , " FS_TERRAIN_ENAB " , FS_TERRAIN_DISARM ) ,
// @Param: XTRACK_ANG_LIM
// @DisplayName: Crosstrack correction angle limit
// @Description: Maximum allowed angle (in degrees) between current track and desired heading during waypoint navigation
// @Range: 10 90
// @User: Standard
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GSCALAR ( xtrack_angle_limit , " XTRACK_ANG_LIM " , 45 ) ,
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// @Param: GPS_HDOP_GOOD
// @DisplayName: GPS Hdop Good
// @Description: GPS Hdop value at or below this value represent a good position. Used for pre-arm checks
// @Range: 100 900
// @User: Advanced
GSCALAR ( gps_hdop_good , " GPS_HDOP_GOOD " , GPS_HDOP_GOOD_DEFAULT ) ,
// @Param: MAG_ENABLE
// @DisplayName: Compass enable/disable
// @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: WP_YAW_BEHAVIOR
// @DisplayName: Yaw behaviour during missions
// @Description: Determines how the autopilot controls the yaw during missions and RTL
// @Values: 0:Never change yaw, 1:Face next waypoint, 2:Face next waypoint except RTL, 3:Face along GPS course
// @User: Standard
GSCALAR ( wp_yaw_behavior , " WP_YAW_BEHAVIOR " , WP_YAW_BEHAVIOR_DEFAULT ) ,
// @Param: PILOT_VELZ_MAX
// @DisplayName: Pilot maximum vertical speed
// @Description: The maximum vertical velocity the pilot may request in cm/s
// @Units: Centimeters/Second
// @Range: 50 500
// @Increment: 10
// @User: Standard
GSCALAR ( pilot_velocity_z_max , " PILOT_VELZ_MAX " , PILOT_VELZ_MAX ) ,
// @Param: PILOT_ACCEL_Z
// @DisplayName: Pilot vertical acceleration
// @Description: The vertical acceleration used when pilot is controlling the altitude
// @Units: cm/s/s
// @Range: 50 500
// @Increment: 10
// @User: Standard
GSCALAR ( pilot_accel_z , " PILOT_ACCEL_Z " , PILOT_ACCEL_Z_DEFAULT ) ,
// @Param: 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 ) ,
// @Param: FLTMODE1
// @DisplayName: Flight Mode 1
// @Description: Flight mode when Channel 5 pwm is <= 1230
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// @Values: 0:Stabilize,2:DepthHold,19:Manual
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// @User: Standard
GSCALAR ( flight_mode1 , " FLTMODE1 " , FLIGHT_MODE_1 ) ,
// @Param: FLTMODE2
// @DisplayName: Flight Mode 2
// @Description: Flight mode when Channel 5 pwm is >1230, <= 1360
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// @Values: 0:Stabilize,2:DepthHold,19:Manual
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// @User: Standard
GSCALAR ( flight_mode2 , " FLTMODE2 " , FLIGHT_MODE_2 ) ,
// @Param: FLTMODE3
// @DisplayName: Flight Mode 3
// @Description: Flight mode when Channel 5 pwm is >1360, <= 1490
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// @Values: 0:Stabilize,2:DepthHold,19:Manual
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// @User: Standard
GSCALAR ( flight_mode3 , " FLTMODE3 " , FLIGHT_MODE_3 ) ,
// @Param: FLTMODE4
// @DisplayName: Flight Mode 4
// @Description: Flight mode when Channel 5 pwm is >1490, <= 1620
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// @Values: 0:Stabilize,2:DepthHold,19:Manual
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// @User: Standard
GSCALAR ( flight_mode4 , " FLTMODE4 " , FLIGHT_MODE_4 ) ,
// @Param: FLTMODE5
// @DisplayName: Flight Mode 5
// @Description: Flight mode when Channel 5 pwm is >1620, <= 1749
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// @Values: 0:Stabilize,2:DepthHold,19:Manual
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// @User: Standard
GSCALAR ( flight_mode5 , " FLTMODE5 " , FLIGHT_MODE_5 ) ,
// @Param: FLTMODE6
// @DisplayName: Flight Mode 6
// @Description: Flight mode when Channel 5 pwm is >=1750
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// @Values: 0:Stabilize,2:DepthHold,19:Manual
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// @User: Standard
GSCALAR ( flight_mode6 , " FLTMODE6 " , FLIGHT_MODE_6 ) ,
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @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
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// @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
GSCALAR ( log_bitmask , " LOG_BITMASK " , DEFAULT_LOG_BITMASK ) ,
// @Param: ESC_CALIBRATION
// @DisplayName: ESC Calibration
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// @Description: Controls whether ArduSub will enter ESC calibration on the next restart. Do not adjust this parameter manually.
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// @User: Advanced
// @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
GSCALAR ( esc_calibrate , " ESC_CALIBRATION " , 0 ) ,
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# if CH6_TUNE_ENABLED == ENABLED
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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
// @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
GSCALAR ( radio_tuning , " TUNE " , 0 ) ,
// @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
GSCALAR ( radio_tuning_low , " TUNE_LOW " , 0 ) ,
// @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
GSCALAR ( radio_tuning_high , " TUNE_HIGH " , 1000 ) ,
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# endif
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# if AUXSW_ENABLED == ENABLED
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// @Param: CH7_OPT
// @DisplayName: Channel 7 option
// @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:Gripper, 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 vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
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// @User: Standard
GSCALAR ( ch7_option , " CH7_OPT " , AUXSW_DO_NOTHING ) ,
// @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:Gripper, 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 vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
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// @User: Standard
GSCALAR ( ch8_option , " CH8_OPT " , AUXSW_DO_NOTHING ) ,
// @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:Gripper, 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 vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
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// @User: Standard
GSCALAR ( ch9_option , " CH9_OPT " , AUXSW_DO_NOTHING ) ,
// @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:Gripper, 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 vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
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// @User: Standard
GSCALAR ( ch10_option , " CH10_OPT " , AUXSW_DO_NOTHING ) ,
// @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:Gripper, 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 vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
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// @User: Standard
GSCALAR ( ch11_option , " CH11_OPT " , AUXSW_DO_NOTHING ) ,
// @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:Gripper, 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 vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
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// @User: Standard
GSCALAR ( ch12_option , " CH12_OPT " , AUXSW_DO_NOTHING ) ,
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# endif
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// @Param: ARMING_CHECK
// @DisplayName: Arming check
// @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_NONE ) ,
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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
// @Units: Centi-degrees
// @Range: 1000 8000
// @User: Advanced
ASCALAR ( angle_max , " ANGLE_MAX " , DEFAULT_ANGLE_MAX ) ,
// @Param: RC_FEEL_RP
// @DisplayName: RC Feel Roll/Pitch
// @Description: RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp
// @Range: 0 100
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// @Increment: 10
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// @User: Standard
// @Values: 0:Very Soft, 25:Soft, 50:Medium, 75:Crisp, 100:Very Crisp
GSCALAR ( rc_feel_rp , " RC_FEEL_RP " , RC_FEEL_RP_MEDIUM ) ,
// @Param: FS_EKF_ACTION
// @DisplayName: EKF Failsafe Action
// @Description: Controls the action that will be taken when an EKF failsafe is invoked
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// @Values: 1:Disabled
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// @User: Advanced
GSCALAR ( fs_ekf_action , " FS_EKF_ACTION " , FS_EKF_ACTION_DEFAULT ) ,
// @Param: FS_EKF_THRESH
// @DisplayName: EKF failsafe variance threshold
// @Description: Allows setting the maximum acceptable compass and velocity variance
// @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
// @User: Advanced
GSCALAR ( fs_ekf_thresh , " FS_EKF_THRESH " , FS_EKF_THRESHOLD_DEFAULT ) ,
// @Param: FS_CRASH_CHECK
// @DisplayName: Crash check enable
// @Description: This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
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// @Values: 0:Disabled
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// @User: Advanced
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GSCALAR ( fs_crash_check , " FS_CRASH_CHECK " , 0 ) ,
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// @Param: JS_GAIN_DEFAULT
// @DisplayName: Default gain at boot
// @Description: Default gain at boot, must be in range [JS_GAIN_MIN , JS_GAIN_MAX]
// @User: Standard
// @Range: 0.1 1.0
GSCALAR ( gain_default , " JS_GAIN_DEFAULT " , 0.5 ) ,
// @Param: JS_GAIN_MAX
// @DisplayName: Maximum joystick gain
// @Description: Maximum joystick gain
// @User: Standard
// @Range: 0.2 1.0
GSCALAR ( maxGain , " JS_GAIN_MAX " , 1.0 ) ,
// @Param: JS_GAIN_MIN
// @DisplayName: Minimum joystick gain
// @Description: Minimum joystick gain
// @User: Standard
// @Range: 0.1 0.8
GSCALAR ( minGain , " JS_GAIN_MIN " , 0.25 ) ,
// @Param: JS_GAIN_STEPS
// @DisplayName: Gain steps
// @Description: Controls the number of steps between minimum and maximum joystick gain when the gain is adjusted using buttons. Set to 1 to always use JS_GAIN_DEFAULT.
// @User: Standard
// @Range: 1 10
GSCALAR ( numGainSettings , " JS_GAIN_STEPS " , 4 ) ,
// @Param: JS_CAM_TILT_STEP
// @DisplayName: Camera tilt step size
// @Description: Size of PWM increment on camera tilt servo
// @User: Standard
// @Range: 30 400
GSCALAR ( cam_tilt_step , " JS_CAM_TILT_STEP " , 50 ) ,
// @Param: JS_LIGHTS_STEP
// @DisplayName: Lights step size
// @Description: Size of PWM increment on lights servo
// @User: Standard
// @Range: 30 400
GSCALAR ( lights_step , " JS_LIGHTS_STEP " , 100 ) ,
// @Param: JS_THR_GAIN
// @DisplayName: Throttle gain scalar
// @Description: Scalar for gain on the throttle channel
// @User: Standard
// @Range: 0.5 4.0
GSCALAR ( throttle_gain , " JS_THR_GAIN " , 1.0f ) ,
// @Param: CAM_CENTER
// @DisplayName: Camera tilt mount center
// @Description: Servo PWM at camera center position
// @User: Standard
// @Range: 1000 2000
GSCALAR ( cam_tilt_center , " CAM_CENTER " , 1500 ) ,
// @Param: FRAME_CONFIG
// @DisplayName: Frame configuration
// @Description: Set this parameter according to your vehicle/motor configuration
// @User: Standard
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// @RebootRequired: True
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// @Values: 0:BlueROV1, 1:Vectored, 2:Vectored_6DOF, 3:Vectored_6DOF_90, 4:SimpleROV-3, 5:SimpleROV-4, 6:SimpleROV-5, 7:Custom
GSCALAR ( frame_configuration , " FRAME_CONFIG " , AP_Motors6DOF : : SUB_FRAME_VECTORED ) ,
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// @Group: BTN0_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_0 , " BTN0_ " , JSButton ) ,
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// @Group: BTN1_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_1 , " BTN1_ " , JSButton ) ,
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// @Group: BTN2_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_2 , " BTN2_ " , JSButton ) ,
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// @Group: BTN3_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_3 , " BTN3_ " , JSButton ) ,
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// @Group: BTN4_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_4 , " BTN4_ " , JSButton ) ,
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// @Group: BTN5_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_5 , " BTN5_ " , JSButton ) ,
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// @Group: BTN6_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_6 , " BTN6_ " , JSButton ) ,
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// @Group: BTN7_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_7 , " BTN7_ " , JSButton ) ,
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// @Group: BTN8_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_8 , " BTN8_ " , JSButton ) ,
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// @Group: BTN9_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_9 , " BTN9_ " , JSButton ) ,
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// @Group: BTN10_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_10 , " BTN10_ " , JSButton ) ,
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// @Group: BTN11_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_11 , " BTN11_ " , JSButton ) ,
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// @Group: BTN12_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_12 , " BTN12_ " , JSButton ) ,
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// @Group: BTN13_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_13 , " BTN13_ " , JSButton ) ,
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// @Group: BTN14_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_14 , " BTN14_ " , JSButton ) ,
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// @Group: BTN15_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP ( jbtn_15 , " BTN15_ " , JSButton ) ,
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// @Param: RC_SPEED
// @DisplayName: ESC Update Speed
// @Description: This is the speed in Hertz that your ESCs will receive updates
// @Units: Hz
// @Range: 50 490
// @Increment: 1
// @User: Advanced
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GSCALAR ( rc_speed , " RC_SPEED " , RC_SPEED_DEFAULT ) ,
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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.
// @Range: 1 10
// @User: Standard
GSCALAR ( acro_rp_p , " ACRO_RP_P " , ACRO_RP_P ) ,
// @Param: ACRO_YAW_P
// @DisplayName: Acro Yaw P gain
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// @Description: Converts pilot yaw input into a desired rate of rotation. Higher values mean faster rate of rotation.
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// @Range: 1 10
// @User: Standard
GSCALAR ( acro_yaw_p , " ACRO_YAW_P " , ACRO_YAW_P ) ,
// @Param: ACRO_BAL_ROLL
// @DisplayName: Acro Balance Roll
// @Description: rate at which roll angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.
// @Range: 0 3
// @Increment: 0.1
// @User: Advanced
GSCALAR ( acro_balance_roll , " ACRO_BAL_ROLL " , ACRO_BALANCE_ROLL ) ,
// @Param: ACRO_BAL_PITCH
// @DisplayName: Acro Balance Pitch
// @Description: rate at which pitch angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.
// @Range: 0 3
// @Increment: 0.1
// @User: Advanced
GSCALAR ( acro_balance_pitch , " ACRO_BAL_PITCH " , ACRO_BALANCE_PITCH ) ,
// @Param: ACRO_TRAINER
// @DisplayName: Acro Trainer
// @Description: Type of trainer used in acro mode
// @Values: 0:Disabled,1:Leveling,2:Leveling and Limited
// @User: Advanced
GSCALAR ( acro_trainer , " ACRO_TRAINER " , ACRO_TRAINER_LIMITED ) ,
// @Param: ACRO_EXPO
// @DisplayName: Acro Expo
// @Description: Acro roll/pitch Expo to allow faster rotation when stick at edges
// @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
// @User: Advanced
GSCALAR ( acro_expo , " ACRO_EXPO " , ACRO_EXPO_DEFAULT ) ,
// @Param: VEL_XY_P
// @DisplayName: Velocity (horizontal) P gain
// @Description: Velocity (horizontal) P gain. Converts the difference between desired velocity to a target acceleration
// @Range: 0.1 6.0
// @Increment: 0.1
// @User: Advanced
// @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
// @Range: 0.02 1.00
// @Increment: 0.01
// @User: Advanced
// @Param: VEL_XY_IMAX
// @DisplayName: Velocity (horizontal) integrator maximum
// @Description: Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: cm/s/s
// @User: Advanced
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// @Param: VEL_XY_FILT_HZ
// @DisplayName: Velocity (horizontal) integrator maximum
// @Description: Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: cm/s/s
// @User: Advanced
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GGROUP ( pi_vel_xy , " VEL_XY_ " , AC_PI_2D ) ,
// @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
// @Range: 1.000 8.000
// @User: Standard
GGROUP ( p_vel_z , " VEL_Z_ " , AC_P ) ,
// @Param: ACCEL_Z_P
// @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
// @Param: ACCEL_Z_I
// @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
// @Param: ACCEL_Z_IMAX
// @DisplayName: Throttle acceleration controller I gain maximum
// @Description: Throttle acceleration controller I gain maximum. Constrains the maximum pwm that the I term will generate
// @Range: 0 1000
// @Units: Percent*10
// @User: Standard
// @Param: ACCEL_Z_D
// @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
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// @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
GGROUP ( pid_accel_z , " ACCEL_Z_ " , AC_PID ) ,
// @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
// @Range: 1.000 3.000
// @User: Standard
GGROUP ( p_alt_hold , " POS_Z_ " , AC_P ) ,
// @Param: POS_XY_P
// @DisplayName: Position (horizonal) controller P gain
// @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
// @Range: 0.500 2.000
// @User: Standard
GGROUP ( p_pos_xy , " POS_XY_ " , AC_P ) ,
// variables not in the g class which contain EEPROM saved variables
# if CAMERA == ENABLED
// @Group: CAM_
// @Path: ../libraries/AP_Camera/AP_Camera.cpp
GOBJECT ( camera , " CAM_ " , AP_Camera ) ,
# endif
// @Group: RELAY_
// @Path: ../libraries/AP_Relay/AP_Relay.cpp
GOBJECT ( relay , " RELAY_ " , AP_Relay ) ,
// @Group: COMPASS_
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// @Path: ../libraries/AP_Compass/AP_Compass.cpp
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GOBJECT ( compass , " COMPASS_ " , Compass ) ,
// @Group: INS_
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
GOBJECT ( ins , " INS_ " , AP_InertialSensor ) ,
// @Group: WPNAV_
// @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
GOBJECT ( wp_nav , " WPNAV_ " , AC_WPNav ) ,
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# if CIRCLE_NAV_ENABLED == ENABLED
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// @Group: CIRCLE_
// @Path: ../libraries/AC_WPNav/AC_Circle.cpp
GOBJECT ( circle_nav , " CIRCLE_ " , AC_Circle ) ,
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# endif
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// @Group: ATC_
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// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
GOBJECT ( attitude_control , " ATC_ " , AC_AttitudeControl_Sub ) ,
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// @Group: PSC
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// @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
GOBJECT ( pos_control , " PSC " , AC_PosControl ) ,
// @Group: SR0_
// @Path: GCS_Mavlink.cpp
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GOBJECTN ( gcs_chan [ 0 ] , gcs0 , " SR0_ " , GCS_MAVLINK ) ,
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// @Group: SR1_
// @Path: GCS_Mavlink.cpp
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GOBJECTN ( gcs_chan [ 1 ] , gcs1 , " SR1_ " , GCS_MAVLINK ) ,
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// @Group: SR2_
// @Path: GCS_Mavlink.cpp
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GOBJECTN ( gcs_chan [ 2 ] , gcs2 , " SR2_ " , GCS_MAVLINK ) ,
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// @Group: SR3_
// @Path: GCS_Mavlink.cpp
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GOBJECTN ( gcs_chan [ 3 ] , gcs3 , " SR3_ " , GCS_MAVLINK ) ,
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// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
GOBJECT ( ahrs , " AHRS_ " , AP_AHRS ) ,
# if MOUNT == ENABLED
// @Group: MNT
// @Path: ../libraries/AP_Mount/AP_Mount.cpp
GOBJECT ( camera_mount , " MNT " , AP_Mount ) ,
# endif
// @Group: LOG
// @Path: ../libraries/DataFlash/DataFlash.cpp
GOBJECT ( DataFlash , " LOG " , DataFlash_Class ) ,
// @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
GOBJECT ( battery , " BATT " , AP_BattMonitor ) ,
// @Group: BRD_
// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
GOBJECT ( BoardConfig , " BRD_ " , AP_BoardConfig ) ,
# if CONFIG_HAL_BOARD == HAL_BOARD_SITL
GOBJECT ( sitl , " SIM_ " , SITL : : SITL ) ,
# endif
// @Group: GND_
// @Path: ../libraries/AP_Baro/AP_Baro.cpp
GOBJECT ( barometer , " GND_ " , AP_Baro ) ,
// GPS driver
// @Group: GPS_
// @Path: ../libraries/AP_GPS/AP_GPS.cpp
GOBJECT ( gps , " GPS_ " , AP_GPS ) ,
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// Leak detector
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// @Group: LEAK
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// @Path: ../libraries/AP_LeakDetector/AP_LeakDetector.cpp
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GOBJECT ( leak_detector , " LEAK " , AP_LeakDetector ) ,
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// @Group: SCHED_
// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
GOBJECT ( scheduler , " SCHED_ " , AP_Scheduler ) ,
# if AC_FENCE == ENABLED
// @Group: FENCE_
// @Path: ../libraries/AC_Fence/AC_Fence.cpp
GOBJECT ( fence , " FENCE_ " , AC_Fence ) ,
# endif
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# if AVOIDANCE_ENABLED == ENABLED
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// @Group: AVOID_
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// @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
GOBJECT ( avoid , " AVOID_ " , AC_Avoid ) ,
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# endif
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# if AC_RALLY == ENABLED
// @Group: RALLY_
// @Path: ../libraries/AP_Rally/AP_Rally.cpp
GOBJECT ( rally , " RALLY_ " , AP_Rally ) ,
# endif
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// @Group: MOT_
// @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp,../libraries/AP_Motors/AP_MotorsMulticopter.cpp
GOBJECT ( motors , " MOT_ " , AP_Motors6DOF ) ,
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# if RCMAP_ENABLED == ENABLED
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// @Group: RCMAP_
// @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
GOBJECT ( rcmap , " RCMAP_ " , RCMapper ) ,
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# endif
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// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN ( EKF2 , NavEKF2 , " EK2_ " , NavEKF2 ) ,
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// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN ( EKF3 , NavEKF3 , " EK3_ " , NavEKF3 ) ,
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// @Group: MIS_
// @Path: ../libraries/AP_Mission/AP_Mission.cpp
GOBJECT ( mission , " MIS_ " , AP_Mission ) ,
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# if RANGEFINDER_ENABLED == ENABLED
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// @Group: RNGFND
// @Path: ../libraries/AP_RangeFinder/RangeFinder.cpp
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GOBJECT ( rangefinder , " RNGFND " , RangeFinder ) ,
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# endif
# if AP_TERRAIN_AVAILABLE && AC_TERRAIN
// @Group: TERRAIN_
// @Path: ../libraries/AP_Terrain/AP_Terrain.cpp
GOBJECT ( terrain , " TERRAIN_ " , AP_Terrain ) ,
# endif
# if OPTFLOW == ENABLED
// @Group: FLOW
// @Path: ../libraries/AP_OpticalFlow/OpticalFlow.cpp
GOBJECT ( optflow , " FLOW " , OpticalFlow ) ,
# endif
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# if RPM_ENABLED == ENABLED
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// @Group: RPM
// @Path: ../libraries/AP_RPM/AP_RPM.cpp
GOBJECT ( rpm_sensor , " RPM " , AP_RPM ) ,
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# endif
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# if AUTOTUNE_ENABLED == ENABLED
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// @Param: AUTOTUNE_AXES
// @DisplayName: Autotune axis bitmask
// @Description: 1-byte bitmap of axes to autotune
// @Values: 7:All,1:Roll Only,2:Pitch Only,4:Yaw Only,3:Roll and Pitch,5:Roll and Yaw,6:Pitch and Yaw
// @Bitmask: 0:Roll,1:Pitch,2:Yaw
// @User: Standard
GSCALAR ( autotune_axis_bitmask , " AUTOTUNE_AXES " , 7 ) , // AUTOTUNE_AXIS_BITMASK_DEFAULT
// @Param: AUTOTUNE_AGGR
// @DisplayName: Autotune aggressiveness
// @Description: Autotune aggressiveness. Defines the bounce back used to detect size of the D term.
// @Range: 0.05 0.10
// @User: Standard
GSCALAR ( autotune_aggressiveness , " AUTOTUNE_AGGR " , 0.1f ) ,
// @Param: AUTOTUNE_MIN_D
// @DisplayName: AutoTune minimum D
// @Description: Defines the minimum D gain
// @Range: 0.001 0.006
// @User: Standard
GSCALAR ( autotune_min_d , " AUTOTUNE_MIN_D " , 0.001f ) ,
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# endif
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// @Group: NTF_
// @Path: ../libraries/AP_Notify/AP_Notify.cpp
GOBJECT ( notify , " NTF_ " , AP_Notify ) ,
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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.
// @Values: 0:Do Not Use in RTL and Land,1:Use in RTL and Land
// @User: Standard
GSCALAR ( terrain_follow , " TERRAIN_FOLLOW " , 0 ) ,
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// @Group:
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// @Path: Parameters.cpp
GOBJECT ( g2 , " " , ParametersG2 ) ,
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AP_VAREND
} ;
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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.
// @Range: 0 5
// @User: Standard
AP_GROUPINFO ( " WP_NAVALT_MIN " , 1 , ParametersG2 , wp_navalt_min , 0 ) ,
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# if PROXIMITY_ENABLED == ENABLED
// @Group: PRX
// @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
AP_SUBGROUPINFO ( proximity , " PRX " , 2 , ParametersG2 , AP_Proximity ) ,
# endif
# if GRIPPER_ENABLED == ENABLED
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// @Group: GRIP_
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// @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
AP_SUBGROUPINFO ( gripper , " GRIP_ " , 3 , ParametersG2 , AP_Gripper ) ,
# endif
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// @Group: SERVO
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// @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
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AP_SUBGROUPINFO ( servo_channels , " SERVO " , 16 , ParametersG2 , SRV_Channels ) ,
// @Group: RC
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// @Path: ../libraries/RC_Channel/RC_Channels.cpp
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AP_SUBGROUPINFO ( rc_channels , " RC " , 17 , ParametersG2 , RC_Channels ) ,
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AP_GROUPEND
} ;
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/*
constructor for g2 object
*/
ParametersG2 : : ParametersG2 ( void )
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# if PROXIMITY_ENABLED == ENABLED
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: proximity ( sub . serial_manager )
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# endif
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{
AP_Param : : setup_object_defaults ( this , var_info ) ;
}
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void Sub : : load_parameters ( void )
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{
if ( ! AP_Param : : check_var_info ( ) ) {
cliSerial - > printf ( " Bad var table \n " ) ;
AP_HAL : : panic ( " Bad var table " ) ;
}
// disable centrifugal force correction, it will be enabled as part of the arming process
ahrs . set_correct_centrifugal ( false ) ;
hal . util - > set_soft_armed ( false ) ;
if ( ! g . format_version . load ( ) | |
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g . format_version ! = Parameters : : k_format_version ) {
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// erase all parameters
cliSerial - > printf ( " Firmware change: erasing EEPROM... \n " ) ;
AP_Param : : erase_all ( ) ;
// save the current format version
g . format_version . set_and_save ( Parameters : : k_format_version ) ;
cliSerial - > println ( " done. " ) ;
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}
uint32_t before = micros ( ) ;
// Load all auto-loaded EEPROM variables
AP_Param : : load_all ( ) ;
cliSerial - > printf ( " load_all took %uus \n " , ( unsigned ) ( micros ( ) - before ) ) ;
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AP_Param : : set_frame_type_flags ( AP_PARAM_FRAME_SUB ) ;
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convert_old_parameters ( ) ;
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AP_Param : : set_default_by_name ( " BRD_SAFETYENABLE " , 0 ) ;
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AP_Param : : set_default_by_name ( " GND_EXT_BUS " , 1 ) ;
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}
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void Sub : : convert_old_parameters ( void )
{
const uint8_t old_rc_keys [ 14 ] = { Parameters : : k_param_rc_1_old , Parameters : : k_param_rc_2_old ,
Parameters : : k_param_rc_3_old , Parameters : : k_param_rc_4_old ,
Parameters : : k_param_rc_5_old , Parameters : : k_param_rc_6_old ,
Parameters : : k_param_rc_7_old , Parameters : : k_param_rc_8_old ,
Parameters : : k_param_rc_9_old , Parameters : : k_param_rc_10_old ,
Parameters : : k_param_rc_11_old , Parameters : : k_param_rc_12_old ,
Parameters : : k_param_rc_13_old , Parameters : : k_param_rc_14_old
} ;
const uint16_t old_aux_chan_mask = 0x3FF0 ;
// note that we don't pass in rcmap as we don't want output channel functions changed based on rcmap
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SRV_Channels : : upgrade_parameters ( old_rc_keys , old_aux_chan_mask , nullptr ) ;
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}