mirror of https://github.com/ArduPilot/ardupilot
Sub: Reorganize parameters
Parameter enum indices reordered Also removed unused input_manager
This commit is contained in:
Jacob Walser
Andrew Tridgell
parent
e66ba2ad74
commit
538e3f9c8f
|
|
@ -51,118 +51,63 @@ public:
|
|||
//
|
||||
k_param_format_version = 0,
|
||||
k_param_software_type,
|
||||
k_param_ins, // libraries/AP_InertialSensor variables
|
||||
k_param_NavEKF2,
|
||||
|
||||
k_param_g2, // 2nd block of parameters
|
||||
|
||||
// simulation
|
||||
k_param_sitl = 10,
|
||||
k_param_sitl, // Simulation
|
||||
|
||||
// barometer object (needed for SITL)
|
||||
k_param_barometer,
|
||||
|
||||
// scheduler object (for debugging)
|
||||
k_param_scheduler,
|
||||
|
||||
// relay object
|
||||
k_param_relay,
|
||||
|
||||
// BoardConfig object
|
||||
k_param_BoardConfig,
|
||||
|
||||
// GPS object
|
||||
k_param_gps,
|
||||
|
||||
// Input Management object
|
||||
k_param_input_manager, // 19
|
||||
|
||||
// Misc
|
||||
//
|
||||
k_param_wp_yaw_behavior,
|
||||
k_param_acro_trainer,
|
||||
k_param_pilot_velocity_z_max,
|
||||
k_param_rangefinder_gain,
|
||||
k_param_ch8_option,
|
||||
k_param_arming_check,
|
||||
k_param_angle_max,
|
||||
k_param_gps_hdop_good,
|
||||
k_param_battery,
|
||||
k_param_fs_batt_mah,
|
||||
k_param_rc_feel_rp,
|
||||
k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group
|
||||
k_param_mission, // mission library
|
||||
k_param_rc_13,
|
||||
k_param_rc_14,
|
||||
k_param_rally,
|
||||
k_param_pilot_accel_z,
|
||||
k_param_rangefinder, // rangefinder object
|
||||
k_param_fs_ekf_thresh,
|
||||
k_param_terrain,
|
||||
k_param_acro_expo,
|
||||
k_param_throttle_deadzone,
|
||||
k_param_optflow,
|
||||
k_param_log_bitmask,
|
||||
k_param_cli_enabled,
|
||||
k_param_throttle_filt,
|
||||
k_param_throttle_behavior,
|
||||
k_param_pilot_takeoff_alt, // 64
|
||||
|
||||
k_param_fence,
|
||||
|
||||
k_param_notify, // 73
|
||||
|
||||
//
|
||||
// 90: misc2
|
||||
//
|
||||
k_param_motors = 90,
|
||||
k_param_disarm_delay,
|
||||
k_param_fs_crash_check,
|
||||
k_param_terrain_follow, // 94
|
||||
k_param_avoid,
|
||||
|
||||
//
|
||||
// 100: Inertial Nav
|
||||
//
|
||||
k_param_wp_nav,
|
||||
k_param_attitude_control,
|
||||
k_param_pos_control,
|
||||
k_param_circle_nav, // 104
|
||||
|
||||
// 110: Telemetry control
|
||||
//
|
||||
k_param_gcs0 = 110,
|
||||
// Telemetry
|
||||
k_param_gcs0 = 10,
|
||||
k_param_gcs1,
|
||||
k_param_gcs2,
|
||||
k_param_gcs3,
|
||||
k_param_sysid_this_mav,
|
||||
k_param_sysid_my_gcs,
|
||||
k_param_gcs2,
|
||||
k_param_serial_manager,
|
||||
k_param_ch9_option,
|
||||
k_param_ch10_option,
|
||||
k_param_ch11_option,
|
||||
k_param_ch12_option,
|
||||
k_param_takeoff_trigger_dz,
|
||||
k_param_gcs3,
|
||||
k_param_gcs_pid_mask, // 126
|
||||
|
||||
//
|
||||
// 140: Sensor parameters
|
||||
//
|
||||
k_param_compass_enabled,
|
||||
k_param_compass,
|
||||
k_param_fs_batt_voltage,
|
||||
k_param_ch7_option,
|
||||
k_param_ahrs, // AHRS group // 159
|
||||
// Hardware/Software configuration
|
||||
k_param_BoardConfig = 20, // Board configuration (PX4/Linux/etc)
|
||||
k_param_scheduler, // Scheduler (for debugging/perf_info)
|
||||
k_param_DataFlash, // DataFlash Logging
|
||||
k_param_serial_manager, // Serial ports, AP_SerialManager
|
||||
k_param_notify, // Notify Library, AP_Notify
|
||||
k_param_cli_enabled, // Old (deprecated) command line interface
|
||||
|
||||
//
|
||||
// Camera and mount parameters
|
||||
//
|
||||
k_param_camera = 165,
|
||||
k_param_camera_mount,
|
||||
|
||||
//
|
||||
// 170: Radio settings
|
||||
//
|
||||
k_param_rc_1 = 170,
|
||||
// Sensor objects
|
||||
k_param_ins = 30, // AP_InertialSensor
|
||||
k_param_compass, // Compass
|
||||
k_param_barometer, // Barometer/Depth Sensor
|
||||
k_param_battery, // AP_BattMonitor
|
||||
k_param_leak_detector, // Leak Detector
|
||||
k_param_rangefinder, // Rangefinder
|
||||
k_param_gps, // GPS
|
||||
k_param_optflow, // Optical Flow
|
||||
|
||||
|
||||
// Navigation libraries
|
||||
k_param_ahrs = 50, // AHRS
|
||||
k_param_NavEKF, // Extended Kalman Filter Inertial Navigation
|
||||
k_param_NavEKF2, // EKF2
|
||||
k_param_attitude_control, // Attitude Control
|
||||
k_param_pos_control, // Position Control
|
||||
k_param_wp_nav, // Waypoint navigation
|
||||
k_param_mission, // Mission library
|
||||
k_param_fence, // Fence Library
|
||||
k_param_terrain, // Terrain database
|
||||
k_param_rally, // Disabled
|
||||
k_param_circle_nav, // Disabled
|
||||
k_param_avoid,
|
||||
|
||||
|
||||
// Other external hardware interfaces
|
||||
k_param_motors = 65, // Motors
|
||||
k_param_relay, // Relay
|
||||
k_param_camera, // Camera
|
||||
k_param_camera_mount, // Camera gimbal
|
||||
|
||||
|
||||
// RC_Channel settings
|
||||
k_param_rc_1 = 75,
|
||||
k_param_rc_2,
|
||||
k_param_rc_3,
|
||||
k_param_rc_4,
|
||||
|
|
@ -170,63 +115,23 @@ public:
|
|||
k_param_rc_6,
|
||||
k_param_rc_7,
|
||||
k_param_rc_8,
|
||||
k_param_rc_9,
|
||||
k_param_rc_10,
|
||||
k_param_rc_11,
|
||||
k_param_failsafe_throttle,
|
||||
k_param_failsafe_throttle_value,
|
||||
k_param_esc_calibrate,
|
||||
k_param_radio_tuning,
|
||||
k_param_radio_tuning_high,
|
||||
k_param_radio_tuning_low,
|
||||
k_param_rc_speed = 192,
|
||||
k_param_failsafe_battery_enabled,
|
||||
k_param_rc_9,
|
||||
k_param_rc_12,
|
||||
k_param_failsafe_gcs,
|
||||
k_param_rcmap, // 199
|
||||
k_param_rc_13,
|
||||
k_param_rc_14,
|
||||
|
||||
//
|
||||
// 200: flight modes
|
||||
//
|
||||
k_param_flight_mode1 = 200,
|
||||
k_param_flight_mode2,
|
||||
k_param_flight_mode3,
|
||||
k_param_flight_mode4,
|
||||
k_param_flight_mode5,
|
||||
k_param_flight_mode6,
|
||||
|
||||
//
|
||||
// 220: PI/D Controllers
|
||||
//
|
||||
k_param_acro_rp_p = 221,
|
||||
k_param_p_pos_xy,
|
||||
k_param_p_alt_hold,
|
||||
k_param_p_vel_z,
|
||||
k_param_pid_accel_z,
|
||||
k_param_acro_balance_roll,
|
||||
k_param_acro_balance_pitch,
|
||||
k_param_acro_yaw_p,
|
||||
k_param_autotune_axis_bitmask,
|
||||
k_param_autotune_aggressiveness,
|
||||
k_param_pi_vel_xy,
|
||||
k_param_fs_ekf_action,
|
||||
k_param_rpm_sensor,
|
||||
k_param_autotune_min_d, // 251
|
||||
k_param_DataFlash = 253, // 253 - Logging Group
|
||||
|
||||
// 254,255: reserved
|
||||
|
||||
//Sub-specific parameters
|
||||
k_param_surface_depth = 256,
|
||||
|
||||
// Joystic gain parameters
|
||||
// Joystick gain parameters
|
||||
k_param_gain_default,
|
||||
k_param_maxGain,
|
||||
k_param_minGain,
|
||||
k_param_numGainSettings,
|
||||
k_param_cam_tilt_step,
|
||||
k_param_lights_step,
|
||||
|
||||
// Joystick button mapping parameters
|
||||
k_param_jbtn_0 = 261,
|
||||
k_param_jbtn_0 = 95,
|
||||
k_param_jbtn_1,
|
||||
k_param_jbtn_2,
|
||||
k_param_jbtn_3,
|
||||
|
|
@ -241,24 +146,103 @@ public:
|
|||
k_param_jbtn_12,
|
||||
k_param_jbtn_13,
|
||||
k_param_jbtn_14,
|
||||
k_param_jbtn_15, // 276
|
||||
k_param_jbtn_15,
|
||||
|
||||
k_param_pid_crosstrack_control,
|
||||
k_param_pid_heading_control,
|
||||
|
||||
k_param_leak_detector, // leak detector object
|
||||
|
||||
// Flight mode selection
|
||||
k_param_flight_mode1 = 120,
|
||||
k_param_flight_mode2,
|
||||
k_param_flight_mode3,
|
||||
k_param_flight_mode4,
|
||||
k_param_flight_mode5,
|
||||
k_param_flight_mode6,
|
||||
|
||||
|
||||
// PID Controllers
|
||||
k_param_p_pos_xy,
|
||||
k_param_p_alt_hold,
|
||||
k_param_pi_vel_xy,
|
||||
k_param_p_vel_z,
|
||||
k_param_pid_accel_z,
|
||||
k_param_pid_crosstrack_control, // Experimental
|
||||
k_param_pid_heading_control, // Experimental
|
||||
|
||||
|
||||
// Failsafes
|
||||
k_param_failsafe_gcs = 140,
|
||||
k_param_failsafe_leak, // leak failsafe behavior
|
||||
k_param_failsafe_pressure, // internal pressure failsafe behavior
|
||||
k_param_failsafe_pressure_max, // maximum internal pressure in pascal before failsafe is triggered
|
||||
k_param_failsafe_temperature, // internal temperature failsafe behavior
|
||||
k_param_failsafe_temperature_max, // maximum internal temperature in degrees C before failsafe is triggered
|
||||
|
||||
k_param_failsafe_terrain, // terrain failsafe behavior
|
||||
k_param_fs_ekf_thresh,
|
||||
k_param_fs_ekf_action,
|
||||
k_param_fs_crash_check,
|
||||
k_param_failsafe_battery_enabled,
|
||||
k_param_fs_batt_mah,
|
||||
k_param_fs_batt_voltage,
|
||||
k_param_failsafe_throttle,
|
||||
k_param_failsafe_throttle_value,
|
||||
|
||||
k_param_xtrack_angle_limit, // angle limit for xtrack correction in degrees
|
||||
|
||||
k_param_cam_tilt_step,
|
||||
k_param_lights_step
|
||||
// Misc Sub settings
|
||||
k_param_log_bitmask = 165,
|
||||
k_param_arming_check,
|
||||
k_param_angle_max,
|
||||
k_param_rangefinder_gain,
|
||||
k_param_gps_hdop_good,
|
||||
k_param_wp_yaw_behavior,
|
||||
k_param_xtrack_angle_limit, // Angle limit for crosstrack correction in Auto modes (degrees)
|
||||
k_param_pilot_velocity_z_max,
|
||||
k_param_pilot_accel_z,
|
||||
k_param_compass_enabled,
|
||||
k_param_surface_depth,
|
||||
k_param_rc_speed, // Main output pwm frequency
|
||||
k_param_esc_calibrate, // Boot-time ESC calibration behavior
|
||||
k_param_gcs_pid_mask,
|
||||
k_param_throttle_filt,
|
||||
k_param_throttle_deadzone, // Used in auto-throttle modes
|
||||
k_param_disarm_delay,
|
||||
k_param_terrain_follow,
|
||||
k_param_rc_feel_rp,
|
||||
|
||||
|
||||
// Acro Mode parameters
|
||||
k_param_acro_yaw_p = 220, // Used in all modes for get_pilot_desired_yaw_rate
|
||||
k_param_acro_trainer,
|
||||
k_param_acro_expo,
|
||||
k_param_acro_rp_p,
|
||||
k_param_acro_balance_roll,
|
||||
k_param_acro_balance_pitch,
|
||||
|
||||
|
||||
// AUX switch options
|
||||
k_param_ch7_option, // Disabled
|
||||
k_param_ch8_option, // Disabled
|
||||
k_param_ch9_option, // Disabled
|
||||
k_param_ch10_option, // Disabled
|
||||
k_param_ch11_option, // Disabled
|
||||
k_param_ch12_option, // Disabled
|
||||
|
||||
// RPM Sensor
|
||||
k_param_rpm_sensor, // Disabled
|
||||
|
||||
// RC_Mapper Library
|
||||
k_param_rcmap, // Disabled
|
||||
|
||||
// CH6 Tuning
|
||||
k_param_radio_tuning, // Disabled
|
||||
k_param_radio_tuning_high, // Disabled
|
||||
k_param_radio_tuning_low, // Disabled
|
||||
|
||||
// Autotune parameters
|
||||
k_param_autotune_axis_bitmask, // Disabled
|
||||
k_param_autotune_aggressiveness, // Disabled
|
||||
k_param_autotune_min_d, // Disabled
|
||||
|
||||
|
||||
k_param_throttle_behavior, // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Remove
|
||||
};
|
||||
|
||||
AP_Int16 format_version;
|
||||
|
|
|
|||
Loading…
Reference in New Issue