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Sub: Reorganize parameters

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Parameter enum indices reordered
Also removed unused input_manager
This commit is contained in:
Jacob Walser 2016-11-30 17:07:10 -05:00 committed by Andrew Tridgell
parent e66ba2ad74
commit 538e3f9c8f
1 changed files with 143 additions and 159 deletions
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302
ArduSub/Parameters.h
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@ -51,118 +51,63 @@ public:
// //
k_param_format_version = 0, k_param_format_version = 0,
k_param_software_type, k_param_software_type,
k_param_ins, // libraries/AP_InertialSensor variables
k_param_NavEKF2,
k_param_g2, // 2nd block of parameters k_param_g2, // 2nd block of parameters
// simulation k_param_sitl, // Simulation
k_param_sitl = 10,
// barometer object (needed for SITL) // Telemetry
k_param_barometer, k_param_gcs0 = 10,
// 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,
k_param_gcs1, k_param_gcs1,
k_param_gcs2,
k_param_gcs3,
k_param_sysid_this_mav, k_param_sysid_this_mav,
k_param_sysid_my_gcs, 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
// // Hardware/Software configuration
// 140: Sensor parameters k_param_BoardConfig = 20, // Board configuration (PX4/Linux/etc)
// k_param_scheduler, // Scheduler (for debugging/perf_info)
k_param_compass_enabled, k_param_DataFlash, // DataFlash Logging
k_param_compass, k_param_serial_manager, // Serial ports, AP_SerialManager
k_param_fs_batt_voltage, k_param_notify, // Notify Library, AP_Notify
k_param_ch7_option, k_param_cli_enabled, // Old (deprecated) command line interface
k_param_ahrs, // AHRS group // 159
//
// Camera and mount parameters
//
k_param_camera = 165,
k_param_camera_mount,
// // Sensor objects
// 170: Radio settings k_param_ins = 30, // AP_InertialSensor
// k_param_compass, // Compass
k_param_rc_1 = 170, 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_2,
k_param_rc_3, k_param_rc_3,
k_param_rc_4, k_param_rc_4,
@ -170,63 +115,23 @@ public:
k_param_rc_6, k_param_rc_6,
k_param_rc_7, k_param_rc_7,
k_param_rc_8, k_param_rc_8,
k_param_rc_9,
k_param_rc_10, k_param_rc_10,
k_param_rc_11, 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_rc_12,
k_param_failsafe_gcs, k_param_rc_13,
k_param_rcmap, // 199 k_param_rc_14,
// // Joystick gain parameters
// 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
k_param_gain_default, k_param_gain_default,
k_param_maxGain, k_param_maxGain,
k_param_minGain, k_param_minGain,
k_param_numGainSettings, k_param_numGainSettings,
k_param_cam_tilt_step,
k_param_lights_step,
// Joystick button mapping parameters // Joystick button mapping parameters
k_param_jbtn_0 = 261, k_param_jbtn_0 = 95,
k_param_jbtn_1, k_param_jbtn_1,
k_param_jbtn_2, k_param_jbtn_2,
k_param_jbtn_3, k_param_jbtn_3,
@ -241,24 +146,103 @@ public:
k_param_jbtn_12, k_param_jbtn_12,
k_param_jbtn_13, k_param_jbtn_13,
k_param_jbtn_14, k_param_jbtn_14,
k_param_jbtn_15, // 276 k_param_jbtn_15,
k_param_pid_crosstrack_control,
k_param_pid_heading_control, // Flight mode selection
k_param_flight_mode1 = 120,
k_param_leak_detector, // leak detector object 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_leak, // leak failsafe behavior
k_param_failsafe_pressure, // internal pressure 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_pressure_max, // maximum internal pressure in pascal before failsafe is triggered
k_param_failsafe_temperature, // internal temperature failsafe behavior 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_temperature_max, // maximum internal temperature in degrees C before failsafe is triggered
k_param_failsafe_terrain, // terrain failsafe behavior 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, // Misc Sub settings
k_param_lights_step 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; AP_Int16 format_version;