mirror of https://github.com/ArduPilot/ardupilot
Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone.
This commit is contained in:
Adam M Rivera
parent
587375861c
commit
239323eaa4
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@ -127,7 +127,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
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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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// @Values: 400,490
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// @Values: 125,400,490
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// @User: Advanced
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GSCALAR(rc_speed, "RC_SPEED"),
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@ -195,6 +195,8 @@ static const AP_Param::Info var_info[] PROGMEM = {
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GOBJECT(ahrs, "AHRS_", AP_AHRS),
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#if FRAME_CONFIG == HELI_FRAME
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// @Group: H_
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// @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp
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GOBJECT(motors, "H_", AP_MotorsHeli),
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#else
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GOBJECT(motors, "MOT_", AP_Motors),
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@ -12,19 +12,119 @@
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const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
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AP_NESTEDGROUPINFO(AP_Motors, 0),
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// @Param: SV1_POS
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// @DisplayName: Servo 1 Position
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// @Description: This is the angular location of swash servo #1.
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// @Range: -180 180
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// @Units: Degrees
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// @User: Standard
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// @Increment: 1
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AP_GROUPINFO("SV1_POS", 1, AP_MotorsHeli, servo1_pos),
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// @Param: SV2_POS
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// @DisplayName: Servo 2 Position
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// @Description: This is the angular location of swash servo #2.
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// @Range: -180 180
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// @Units: Degrees
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// @User: Standard
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// @Increment: 1
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AP_GROUPINFO("SV2_POS", 2, AP_MotorsHeli, servo2_pos),
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// @Param: SV3_POS
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// @DisplayName: Servo 3 Position
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// @Description: This is the angular location of swash servo #3.
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// @Range: -180 180
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// @Units: Degrees
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// @User: Standard
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// @Increment: 1
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AP_GROUPINFO("SV3_POS", 3, AP_MotorsHeli, servo3_pos),
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// @Param: ROL_MAX
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// @DisplayName: Maximum Roll Angle
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// @Description: This is the maximum allowable aircraft roll angle in Stabilize Mode.
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// @Range: 0 18000
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// @Units: Degrees
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("ROL_MAX", 4, AP_MotorsHeli, roll_max),
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// @Param: PIT_MAX
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// @DisplayName: Maximum Pitch Angle
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// @Description: This is the maximum allowable aircraft pitch angle in Stabilize Mode.
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// @Range: 0 18000
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// @Units: Degrees
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("PIT_MAX", 5, AP_MotorsHeli, pitch_max),
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// @Param: COL_MIN
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// @DisplayName: Collective Pitch Minimum
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// @Description: This controls the lowest possible servo position for the swashplate.
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// @Range: 1000 2000
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// @Units: PWM
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("COL_MIN", 6, AP_MotorsHeli, collective_min),
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// @Param: COL_MAX
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// @DisplayName: Collective Pitch Maximum
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// @Description: This controls the highest possible servo position for the swashplate.
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// @Range: 1000 2000
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// @Units: PWM
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("COL_MAX", 7, AP_MotorsHeli, collective_max),
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// @Param: COL_MID
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// @DisplayName: Collective Pitch Mid-Point
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// @Description: This is the swash servo position corresponding to zero collective pitch (or zero lift for Assymetrical blades).
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// @Range: 1000 2000
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// @Units: PWM
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("COL_MID", 8, AP_MotorsHeli, collective_mid),
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// @Param: GYR_ENABLE
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// @DisplayName: External Gyro Enabled
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// @Description: Setting this to true (1) will enable an external rudder gyro control. Setting this to false(0) will disable the external gyro control and will revert to internal rudder control.
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// @User: Standard
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AP_GROUPINFO("GYR_ENABLE", 9, AP_MotorsHeli, ext_gyro_enabled),
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// @Param: SWASH_TYPE
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// @DisplayName: Swash Plate Type
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// @Description: Setting this to 0 will configure for a 3-servo CCPM. Setting this to 1 will configure for mechanically mixed "H1".
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// @User: Standard
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AP_GROUPINFO("SWASH_TYPE", 10, AP_MotorsHeli, swash_type), // changed from trunk
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// @Param: GYR_GAIM
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// @DisplayName: External Gyro Gain
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// @Description: This is the PWM which is passed to the external gyro when external gyro is enabled.
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// @Range: 1000 2000
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// @Units: PWM
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("GYR_GAIN", 11, AP_MotorsHeli, ext_gyro_gain),
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// @Param: SV_MAN
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// @DisplayName: Manual Servo Mode
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// @Description: Setting this to true (1) will pass radio inputs directly to servos. Setting this to false(0) will enable Arducopter control of servos.
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// @User: Standard
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AP_GROUPINFO("SV_MAN", 12, AP_MotorsHeli, servo_manual),
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// @Param: PHANG
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// @DisplayName: Swashplate Phase Angle Compensation
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// @Description: This corrects for phase angle errors of the helicopter main rotor head.
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// @Range: -90 90
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// @Units: Degrees
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// @User: Advanced
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// @Increment: 1
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AP_GROUPINFO("PHANG", 13, AP_MotorsHeli, phase_angle), // changed from trunk
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// @Param: COLYAW
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// @DisplayName: Collective-Yaw Mixing
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// @Description: This is a feed-forward compensation to automatically add rudder input when collective pitch is increased.
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// @Range: 0 5
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AP_GROUPINFO("COLYAW", 14, AP_MotorsHeli, collective_yaw_effect), // changed from trunk
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AP_GROUPEND
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};
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