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