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https://github.com/ArduPilot/ardupilot
synced 2025-02-02 05:58:30 -04:00
Upped version
added new logging params added crosstrack gain re-ordered param inits
This commit is contained in:
Jason Short
parent
f75f514681
commit
13e2ecf096
@ -17,7 +17,7 @@ public:
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// The increment will prevent old parameters from being used incorrectly
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// by newer code.
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//
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static const uint16_t k_format_version = 112;
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static const uint16_t k_format_version = 113;
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// The parameter software_type is set up solely for ground station use
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// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
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@ -55,7 +55,8 @@ public:
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// Misc
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//
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k_param_log_bitmask,
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k_param_log_bitmask = 20,
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k_param_log_last_filenumber,
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#if FRAME_CONFIG == HELI_FRAME
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//
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@ -107,8 +108,8 @@ public:
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//
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// 160: Navigation parameters
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//
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k_param_crosstrack_entry_angle = 160,
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k_param_RTL_altitude,
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k_param_RTL_altitude = 160,
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k_param_crosstrack_gain,
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//
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// 180: Radio settings
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@ -171,7 +172,6 @@ public:
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k_param_pi_nav_lon,
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k_param_pi_alt_hold,
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k_param_pi_throttle,
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k_param_pi_crosstrack,
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k_param_pi_acro_roll,
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k_param_pi_acro_pitch,
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@ -189,9 +189,14 @@ public:
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AP_Int8 serial3_baud;
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// Crosstrack navigation
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//
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AP_Int16 crosstrack_entry_angle;
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AP_Int16 RTL_altitude;
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AP_Int8 sonar_enabled;
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AP_Int8 battery_monitoring; // 0=disabled, 1=3 cell lipo, 2=4 cell lipo, 3=total voltage only, 4=total voltage and current
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AP_Int16 pack_capacity; // Battery pack capacity less reserve
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AP_Int8 compass_enabled;
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AP_Int8 optflow_enabled;
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AP_Float input_voltage;
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AP_Float low_voltage;
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// Waypoints
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//
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@ -202,6 +207,7 @@ public:
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AP_Int8 waypoint_radius;
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AP_Int16 loiter_radius;
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AP_Int16 waypoint_speed_max;
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AP_Float crosstrack_gain;
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// Throttle
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//
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@ -222,30 +228,16 @@ public:
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AP_Int8 flight_mode6;
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AP_Int8 simple_modes;
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// Radio settings
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//
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//AP_Var_group pwm_roll;
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//AP_Var_group pwm_pitch;
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//AP_Var_group pwm_throttle;
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//AP_Var_group pwm_yaw;
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// Misc
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//
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AP_Int16 log_bitmask;
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AP_Int16 RTL_altitude;
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AP_Int16 log_last_filenumber;
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AP_Int8 sonar_enabled;
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AP_Int8 battery_monitoring; // 0=disabled, 1=3 cell lipo, 2=4 cell lipo, 3=total voltage only, 4=total voltage and current
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AP_Int16 pack_capacity; // Battery pack capacity less reserve
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AP_Int8 compass_enabled;
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AP_Int8 esc_calibrate;
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AP_Int8 radio_tuning;
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AP_Int8 frame_orientation;
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AP_Float top_bottom_ratio;
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AP_Int8 optflow_enabled;
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AP_Float input_voltage;
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AP_Float low_voltage;
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#if FRAME_CONFIG == HELI_FRAME
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// Heli
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@ -272,6 +264,7 @@ public:
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RC_Channel rc_8;
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RC_Channel rc_camera_pitch;
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RC_Channel rc_camera_roll;
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AP_Float camera_pitch_gain;
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AP_Float camera_roll_gain;
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@ -292,7 +285,6 @@ public:
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APM_PI pi_alt_hold;
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APM_PI pi_throttle;
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APM_PI pi_crosstrack;
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APM_PI pi_acro_roll;
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APM_PI pi_acro_pitch;
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@ -310,9 +302,7 @@ public:
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sysid_my_gcs (255, k_param_sysid_my_gcs, PSTR("SYSID_MYGCS")),
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serial3_baud (SERIAL3_BAUD/1000, k_param_serial3_baud, PSTR("SERIAL3_BAUD")),
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//crosstrack_gain (XTRACK_GAIN * 100, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SC")),
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crosstrack_entry_angle (XTRACK_ENTRY_ANGLE * 100, k_param_crosstrack_entry_angle, PSTR("XTRK_ANGLE_CD")),
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RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")),
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sonar_enabled (DISABLED, k_param_sonar, PSTR("SONAR_ENABLE")),
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battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")),
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pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")),
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@ -328,6 +318,7 @@ public:
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waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")),
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loiter_radius (LOITER_RADIUS * 100, k_param_loiter_radius, PSTR("WP_LOITER_RAD")),
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waypoint_speed_max (WAYPOINT_SPEED_MAX, k_param_waypoint_speed_max, PSTR("WP_SPEED_MAX")),
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crosstrack_gain (CROSSTRACK_GAIN, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SC")),
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throttle_min (0, k_param_throttle_min, PSTR("THR_MIN")),
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throttle_max (1000, k_param_throttle_max, PSTR("THR_MAX")),
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@ -345,7 +336,7 @@ public:
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simple_modes (0, k_param_simple_modes, PSTR("SIMPLE")),
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log_bitmask (DEFAULT_LOG_BITMASK, k_param_log_bitmask, PSTR("LOG_BITMASK")),
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RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")),
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log_last_filenumber (0, k_param_log_last_filenumber, PSTR("LOG_LASTFILE")),
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esc_calibrate (0, k_param_esc_calibrate, PSTR("ESC")),
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radio_tuning (0, k_param_radio_tuning, PSTR("TUNE")),
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frame_orientation (FRAME_ORIENTATION, k_param_frame_orientation, PSTR("FRAME")),
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@ -408,7 +399,6 @@ public:
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pi_alt_hold (k_param_pi_alt_hold, PSTR("THR_ALT_"), THR_HOLD_P, THR_HOLD_I, THR_HOLD_IMAX),
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pi_throttle (k_param_pi_throttle, PSTR("THR_RATE_"), THROTTLE_P, THROTTLE_I, THROTTLE_IMAX),
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pi_crosstrack (k_param_pi_crosstrack, PSTR("XTRACK_"), XTRACK_P, XTRACK_I, XTRACK_IMAX),
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pi_acro_roll (k_param_pi_acro_roll, PSTR("ACRO_RLL_"), ACRO_ROLL_P, ACRO_ROLL_I, ACRO_ROLL_IMAX * 100),
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pi_acro_pitch (k_param_pi_acro_pitch, PSTR("ACRO_PIT_"), ACRO_PITCH_P, ACRO_PITCH_I, ACRO_PITCH_IMAX * 100),
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