2016-02-17 21:25:58 -04:00
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#pragma once
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2013-10-13 04:14:13 -03:00
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2019-11-24 18:59:53 -04:00
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#include <AC_PID/AC_PID.h>
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#include <AP_Param/AP_Param.h>
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2013-10-13 04:14:13 -03:00
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// Global parameter class.
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//
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class Parameters {
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public:
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/*
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* The value of k_format_version determines whether the existing
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* eeprom data is considered valid. You should only change this
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* value under the following circumstances:
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*
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* 1) the meaning of an existing eeprom parameter changes
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*
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* 2) the value of an existing k_param_* enum value changes
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*
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* Adding a new parameter should _not_ require a change to
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* k_format_version except under special circumstances. If you
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* change it anyway then all ArduPlane users will need to reload all
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* their parameters. We want that to be an extremely rare
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* thing. Please do not just change it "just in case".
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*
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* To determine if a k_param_* value has changed, use the rules of
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* C++ enums to work out the value of the neighboring enum
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* values. If you don't know the C++ enum rules then please ask for
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* help.
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*/
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//////////////////////////////////////////////////////////////////
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// STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE
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// COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!!
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static const uint16_t k_format_version = 1;
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//////////////////////////////////////////////////////////////////
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enum {
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// Layout version number, always key zero.
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//
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k_param_format_version = 0,
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k_param_software_type, // deprecated
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2014-03-05 02:38:22 -04:00
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k_param_gcs0 = 100, // stream rates for uartA
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k_param_gcs1, // stream rates for uartC
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k_param_sysid_this_mav,
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k_param_sysid_my_gcs,
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2015-01-28 01:27:03 -04:00
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k_param_serial0_baud, // deprecated
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k_param_serial1_baud, // deprecated
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k_param_imu,
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k_param_compass_enabled_deprecated,
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k_param_compass,
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k_param_ahrs, // AHRS group
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k_param_barometer,
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k_param_scheduler,
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k_param_ins,
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k_param_sitl,
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2016-06-16 00:07:07 -03:00
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k_param_pidPitch_old, // deprecated
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k_param_pidYaw_old, // deprecated
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2014-03-05 02:38:22 -04:00
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k_param_gcs2, // stream rates for uartD
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2015-01-28 01:27:03 -04:00
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k_param_serial2_baud, // deprecated
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2014-03-22 05:08:00 -03:00
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k_param_yaw_slew_time,
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k_param_pitch_slew_time,
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k_param_min_reverse_time,
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k_param_start_latitude,
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k_param_start_longitude,
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k_param_startup_delay,
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2014-03-26 18:06:50 -03:00
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k_param_BoardConfig,
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2014-03-31 16:18:07 -03:00
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k_param_gps,
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2019-03-10 07:53:28 -03:00
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k_param_scan_speed_unused, // deprecated
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k_param_proxy_mode_unused, // deprecated
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2016-05-23 04:54:47 -03:00
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k_param_servo_pitch_type,
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2014-07-23 05:41:25 -03:00
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k_param_onoff_yaw_rate,
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k_param_onoff_pitch_rate,
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k_param_onoff_yaw_mintime,
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k_param_onoff_pitch_mintime,
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k_param_yaw_trim,
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k_param_pitch_trim,
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k_param_yaw_range,
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k_param_pitch_range, //deprecated
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k_param_distance_min,
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k_param_sysid_target, // 138
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k_param_gcs3, // stream rates for fourth MAVLink port
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k_param_log_bitmask, // 140
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k_param_notify,
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k_param_BoardConfig_CAN,
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k_param_battery,
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2014-03-22 05:08:00 -03:00
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2015-01-28 01:27:03 -04:00
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//
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// 150: Telemetry control
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//
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k_param_serial_manager, // serial manager library
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k_param_servo_yaw_type,
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k_param_alt_source,
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k_param_mavlink_update_rate,
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k_param_pitch_min,
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k_param_pitch_max,
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2015-01-28 01:27:03 -04:00
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//
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// 200 : Radio settings
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//
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k_param_channel_yaw_old = 200,
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k_param_channel_pitch_old,
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k_param_pidPitch2Srv,
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k_param_pidYaw2Srv,
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k_param_rc_channels,
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k_param_servo_channels,
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2019-08-06 04:09:08 -03:00
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k_param_stats = 218,
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k_param_scripting = 219,
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2014-03-02 03:00:37 -04:00
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//
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// 220: Waypoint data
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//
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k_param_command_total = 220,
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// 254,255: reserved
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k_param_gcs_pid_mask = 225,
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k_param_scan_speed_yaw,
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k_param_scan_speed_pitch,
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2019-06-13 14:16:29 -03:00
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k_param_initial_mode,
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2019-12-19 18:59:06 -04:00
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k_param_disarm_pwm,
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2020-05-20 08:20:17 -03:00
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k_param_logger = 253, // 253 - Logging Group
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2019-12-19 18:59:06 -04:00
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k_param_vehicle = 257, // vehicle common block of parameters
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};
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AP_Int16 format_version;
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// Telemetry control
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//
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AP_Int16 sysid_this_mav;
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AP_Int16 sysid_my_gcs;
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AP_Int16 sysid_target;
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2014-03-22 05:08:00 -03:00
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AP_Float yaw_slew_time;
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AP_Float pitch_slew_time;
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AP_Float min_reverse_time;
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AP_Int16 scan_speed_yaw;
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AP_Int16 scan_speed_pitch;
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AP_Float start_latitude;
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AP_Float start_longitude;
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AP_Float startup_delay;
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2016-05-23 04:54:47 -03:00
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AP_Int8 servo_pitch_type;
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AP_Int8 servo_yaw_type;
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2016-05-24 08:53:57 -03:00
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AP_Int8 alt_source;
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2016-06-12 22:44:56 -03:00
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AP_Int8 mavlink_update_rate;
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2014-07-23 05:41:25 -03:00
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AP_Float onoff_yaw_rate;
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AP_Float onoff_pitch_rate;
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AP_Float onoff_yaw_mintime;
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AP_Float onoff_pitch_mintime;
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AP_Float yaw_trim;
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AP_Float pitch_trim;
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2014-10-06 02:51:53 -03:00
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AP_Int16 yaw_range; // yaw axis total range of motion in degrees
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2015-04-26 23:24:47 -03:00
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AP_Int16 distance_min; // target's must be at least this distance from tracker to be tracked
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2016-07-01 00:40:01 -03:00
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AP_Int16 pitch_min;
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AP_Int16 pitch_max;
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2019-02-28 17:38:28 -04:00
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AP_Int16 gcs_pid_mask;
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2019-03-10 07:54:17 -03:00
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AP_Int8 initial_mode;
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2019-06-13 14:16:29 -03:00
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AP_Int8 disarm_pwm;
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2014-03-22 05:08:00 -03:00
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2014-03-02 03:00:37 -04:00
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// Waypoints
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//
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AP_Int8 command_total; // 1 if HOME is set
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2015-12-27 03:05:14 -04:00
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AP_Int32 log_bitmask;
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2016-06-16 00:07:07 -03:00
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// AC_PID controllers
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AC_PID pidPitch2Srv;
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AC_PID pidYaw2Srv;
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2013-10-13 04:14:13 -03:00
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Parameters() :
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pidPitch2Srv(0.2, 0.0f, 0.05f, 0.02f, 4000.0f, 0.0f, 0.0f, 0.0f, 0.1f),
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pidYaw2Srv (0.2, 0.0f, 0.05f, 0.02f, 4000.0f, 0.0f, 0.0f, 0.0f, 0.1f)
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{}
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};
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extern const AP_Param::Info var_info[];
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