diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h index 161c6b3137..8cd9e15489 100644 --- a/ArduCopter/Parameters.h +++ b/ArduCopter/Parameters.h @@ -9,384 +9,409 @@ // class Parameters { public: - // The version of the layout as described by the parameter enum. - // - // When changing the parameter enum in an incompatible fashion, this - // value should be incremented by one. - // - // The increment will prevent old parameters from being used incorrectly - // by newer code. - // - static const uint16_t k_format_version = 118; - - // The parameter software_type is set up solely for ground station use - // and identifies the software type (eg ArduPilotMega versus ArduCopterMega) - // GCS will interpret values 0-9 as ArduPilotMega. Developers may use - // values within that range to identify different branches. - // - static const uint16_t k_software_type = 10; // 0 for APM trunk - - // Parameter identities. - // - // The enumeration defined here is used to ensure that every parameter - // or parameter group has a unique ID number. This number is used by - // AP_Var to store and locate parameters in EEPROM. - // - // Note that entries without a number are assigned the next number after - // the entry preceding them. When adding new entries, ensure that they - // don't overlap. - // - // Try to group related variables together, and assign them a set - // range in the enumeration. Place these groups in numerical order - // at the end of the enumeration. - // - // WARNING: Care should be taken when editing this enumeration as the - // AP_Var load/save code depends on the values here to identify - // variables saved in EEPROM. - // - // - enum { - // Layout version number, always key zero. - // - k_param_format_version = 0, - k_param_software_type, - k_param_ins, - - // simulation - k_param_sitl = 10, - - // Misc - // - k_param_log_bitmask = 20, - k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change - k_param_toy_yaw_rate, // THOR The memory location for the Yaw Rate 1 = fast, 2 = med, 3 = slow - - // 65: AP_Limits Library - k_param_limits = 65, - k_param_gpslock_limit, - k_param_geofence_limit, - k_param_altitude_limit, - + // The version of the layout as described by the parameter enum. // - // 80: Heli - // - k_param_heli_servo_1 = 80, - k_param_heli_servo_2, - k_param_heli_servo_3, - k_param_heli_servo_4, - - // - // 90: Motors - // - k_param_motors = 90, - - // 110: Telemetry control - // - k_param_gcs0 = 110, - k_param_gcs3, - k_param_sysid_this_mav, - k_param_sysid_my_gcs, - k_param_serial3_baud, - - // - // 140: Sensor parameters - // - k_param_imu = 140, // sensor calibration - k_param_battery_monitoring, - k_param_volt_div_ratio, - k_param_curr_amp_per_volt, - k_param_input_voltage, - k_param_pack_capacity, - k_param_compass_enabled, - k_param_compass, - k_param_sonar_enabled, - k_param_frame_orientation, - k_param_optflow_enabled, - k_param_low_voltage, - k_param_ch7_option, - k_param_auto_slew_rate, - k_param_sonar_type, - k_param_super_simple = 155, - k_param_axis_enabled = 157, - k_param_copter_leds_mode, - k_param_ahrs, // AHRS group - - // - // 160: Navigation parameters - // - k_param_RTL_altitude = 160, - k_param_crosstrack_gain, - k_param_auto_land_timeout, - k_param_rtl_approach_alt, - k_param_tilt_comp, //164 - - - // - // Camera and mount parameters - // - k_param_camera = 165, - k_param_camera_mount, - k_param_camera_mount2, - - // - // 170: Radio settings - // - k_param_rc_1 = 170, - k_param_rc_2, - k_param_rc_3, - k_param_rc_4, - k_param_rc_5, - k_param_rc_6, - k_param_rc_7, - k_param_rc_8, - k_param_rc_9, - k_param_rc_10, - k_param_throttle_min, - k_param_throttle_max, - k_param_throttle_fs_enabled, - k_param_throttle_fs_action, - k_param_throttle_fs_value, - k_param_throttle_cruise, - 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_rc_11 = 193, - + // When changing the parameter enum in an incompatible fashion, this + // value should be incremented by one. // - // 200: flight modes + // The increment will prevent old parameters from being used incorrectly + // by newer code. // - 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, - k_param_simple_modes, + static const uint16_t k_format_version = 118; - // - // 210: Waypoint data - // - k_param_waypoint_mode = 210, // remove - k_param_command_total, - k_param_command_index, - k_param_command_nav_index, - k_param_waypoint_radius, - k_param_loiter_radius, - k_param_waypoint_speed_max, + // The parameter software_type is set up solely for ground station use + // and identifies the software type (eg ArduPilotMega versus + // ArduCopterMega) + // GCS will interpret values 0-9 as ArduPilotMega. Developers may use + // values within that range to identify different branches. + // + static const uint16_t k_software_type = 10; // 0 for APM + // trunk - // - // 220: PI/D Controllers - // - k_param_stabilize_d_schedule = 219, - k_param_stabilize_d = 220, - k_param_acro_p, - k_param_axis_lock_p, - k_param_pid_rate_roll, - k_param_pid_rate_pitch, - k_param_pid_rate_yaw, - k_param_pi_stabilize_roll, - k_param_pi_stabilize_pitch, - k_param_pi_stabilize_yaw, - k_param_pi_loiter_lat, - k_param_pi_loiter_lon, - k_param_pid_loiter_rate_lat, - k_param_pid_loiter_rate_lon, - k_param_pid_nav_lat, - k_param_pid_nav_lon, - k_param_pi_alt_hold, - k_param_pid_throttle, - k_param_pid_optflow_roll, - k_param_pid_optflow_pitch, + // Parameter identities. + // + // The enumeration defined here is used to ensure that every parameter + // or parameter group has a unique ID number. This number is used by + // AP_Var to store and locate parameters in EEPROM. + // + // Note that entries without a number are assigned the next number after + // the entry preceding them. When adding new entries, ensure that they + // don't overlap. + // + // Try to group related variables together, and assign them a set + // range in the enumeration. Place these groups in numerical order + // at the end of the enumeration. + // + // WARNING: Care should be taken when editing this enumeration as the + // AP_Var load/save code depends on the values here to identify + // variables saved in EEPROM. + // + // + enum { + // Layout version number, always key zero. + // + k_param_format_version = 0, + k_param_software_type, + k_param_ins, - // 254,255: reserved - }; + // simulation + k_param_sitl = 10, - AP_Int16 format_version; - AP_Int8 software_type; + // Misc + // + k_param_log_bitmask = 20, + k_param_log_last_filenumber, // *** Deprecated - remove + // with next eeprom number + // change + k_param_toy_yaw_rate, // THOR The memory + // location for the + // Yaw Rate 1 = fast, + // 2 = med, 3 = slow - // Telemetry control - // - AP_Int16 sysid_this_mav; - AP_Int16 sysid_my_gcs; - AP_Int8 serial3_baud; + // 65: AP_Limits Library + k_param_limits = 65, + k_param_gpslock_limit, + k_param_geofence_limit, + k_param_altitude_limit, + + // + // 80: Heli + // + k_param_heli_servo_1 = 80, + k_param_heli_servo_2, + k_param_heli_servo_3, + k_param_heli_servo_4, + + // + // 90: Motors + // + k_param_motors = 90, + + // 110: Telemetry control + // + k_param_gcs0 = 110, + k_param_gcs3, + k_param_sysid_this_mav, + k_param_sysid_my_gcs, + k_param_serial3_baud, + + // + // 140: Sensor parameters + // + k_param_imu = 140, // sensor calibration + k_param_battery_monitoring, + k_param_volt_div_ratio, + k_param_curr_amp_per_volt, + k_param_input_voltage, + k_param_pack_capacity, + k_param_compass_enabled, + k_param_compass, + k_param_sonar_enabled, + k_param_frame_orientation, + k_param_optflow_enabled, + k_param_low_voltage, + k_param_ch7_option, + k_param_auto_slew_rate, + k_param_sonar_type, + k_param_super_simple = 155, + k_param_axis_enabled = 157, + k_param_copter_leds_mode, + k_param_ahrs, // AHRS group + + // + // 160: Navigation parameters + // + k_param_RTL_altitude = 160, + k_param_crosstrack_gain, + k_param_auto_land_timeout, + k_param_rtl_approach_alt, + k_param_tilt_comp, //164 - AP_Int16 RTL_altitude; - AP_Int8 sonar_enabled; - AP_Int8 sonar_type; // 0 = XL, 1 = LV, - // 2 = XLL (XL with 10m range) - // 3 = HRLV - AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current - AP_Float volt_div_ratio; - AP_Float curr_amp_per_volt; - AP_Float input_voltage; - AP_Int16 pack_capacity; // Battery pack capacity less reserve - AP_Int8 compass_enabled; - AP_Int8 optflow_enabled; - AP_Float low_voltage; - AP_Int8 super_simple; - AP_Int16 rtl_approach_alt; - AP_Int8 tilt_comp; - AP_Int8 axis_enabled; - AP_Int8 copter_leds_mode; // Operating mode of LED lighting system + // + // Camera and mount parameters + // + k_param_camera = 165, + k_param_camera_mount, + k_param_camera_mount2, + + // + // 170: Radio settings + // + k_param_rc_1 = 170, + k_param_rc_2, + k_param_rc_3, + k_param_rc_4, + k_param_rc_5, + k_param_rc_6, + k_param_rc_7, + k_param_rc_8, + k_param_rc_9, + k_param_rc_10, + k_param_throttle_min, + k_param_throttle_max, + k_param_throttle_fs_enabled, + k_param_throttle_fs_action, + k_param_throttle_fs_value, + k_param_throttle_cruise, + 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_rc_11 = 193, + + // + // 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, + k_param_simple_modes, + + // + // 210: Waypoint data + // + k_param_waypoint_mode = 210, // remove + k_param_command_total, + k_param_command_index, + k_param_command_nav_index, + k_param_waypoint_radius, + k_param_loiter_radius, + k_param_waypoint_speed_max, + + // + // 220: PI/D Controllers + // + k_param_stabilize_d_schedule = 219, + k_param_stabilize_d = 220, + k_param_acro_p, + k_param_axis_lock_p, + k_param_pid_rate_roll, + k_param_pid_rate_pitch, + k_param_pid_rate_yaw, + k_param_pi_stabilize_roll, + k_param_pi_stabilize_pitch, + k_param_pi_stabilize_yaw, + k_param_pi_loiter_lat, + k_param_pi_loiter_lon, + k_param_pid_loiter_rate_lat, + k_param_pid_loiter_rate_lon, + k_param_pid_nav_lat, + k_param_pid_nav_lon, + k_param_pi_alt_hold, + k_param_pid_throttle, + k_param_pid_optflow_roll, + k_param_pid_optflow_pitch, + + // 254,255: reserved + }; + + AP_Int16 format_version; + AP_Int8 software_type; + + // Telemetry control + // + AP_Int16 sysid_this_mav; + AP_Int16 sysid_my_gcs; + AP_Int8 serial3_baud; + + + AP_Int16 RTL_altitude; + AP_Int8 sonar_enabled; + AP_Int8 sonar_type; // 0 = XL, 1 = LV, + // 2 = XLL (XL with 10m range) + // 3 = HRLV + AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, + // 4=voltage and current + AP_Float volt_div_ratio; + AP_Float curr_amp_per_volt; + AP_Float input_voltage; + AP_Int16 pack_capacity; // Battery pack capacity less + // reserve + AP_Int8 compass_enabled; + AP_Int8 optflow_enabled; + AP_Float low_voltage; + AP_Int8 super_simple; + AP_Int16 rtl_approach_alt; + AP_Int8 tilt_comp; + AP_Int8 axis_enabled; + AP_Int8 copter_leds_mode; // Operating mode of LED + // lighting system - // Waypoints - // - AP_Int8 waypoint_mode; - AP_Int8 command_total; - AP_Int8 command_index; - AP_Int8 command_nav_index; - AP_Int16 waypoint_radius; - AP_Int16 loiter_radius; - AP_Int16 waypoint_speed_max; - AP_Float crosstrack_gain; - AP_Int32 auto_land_timeout; + // Waypoints + // + AP_Int8 waypoint_mode; + AP_Int8 command_total; + AP_Int8 command_index; + AP_Int8 command_nav_index; + AP_Int16 waypoint_radius; + AP_Int16 loiter_radius; + AP_Int16 waypoint_speed_max; + AP_Float crosstrack_gain; + AP_Int32 auto_land_timeout; - // Throttle - // - AP_Int16 throttle_min; - AP_Int16 throttle_max; - AP_Int8 throttle_fs_enabled; - AP_Int8 throttle_fs_action; - AP_Int16 throttle_fs_value; - AP_Int16 throttle_cruise; + // Throttle + // + AP_Int16 throttle_min; + AP_Int16 throttle_max; + AP_Int8 throttle_fs_enabled; + AP_Int8 throttle_fs_action; + AP_Int16 throttle_fs_value; + AP_Int16 throttle_cruise; - // Flight modes - // - AP_Int8 flight_mode1; - AP_Int8 flight_mode2; - AP_Int8 flight_mode3; - AP_Int8 flight_mode4; - AP_Int8 flight_mode5; - AP_Int8 flight_mode6; - AP_Int8 simple_modes; + // Flight modes + // + AP_Int8 flight_mode1; + AP_Int8 flight_mode2; + AP_Int8 flight_mode3; + AP_Int8 flight_mode4; + AP_Int8 flight_mode5; + AP_Int8 flight_mode6; + AP_Int8 simple_modes; - // Misc - // - AP_Int16 log_bitmask; - AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change - AP_Int8 toy_yaw_rate; // THOR The Yaw Rate 1 = fast, 2 = med, 3 = slow - AP_Int8 esc_calibrate; - AP_Int8 radio_tuning; - AP_Int16 radio_tuning_high; - AP_Int16 radio_tuning_low; - AP_Int8 frame_orientation; - AP_Int8 ch7_option; - AP_Int16 auto_slew_rate; + // Misc + // + AP_Int16 log_bitmask; + AP_Int16 log_last_filenumber; // *** Deprecated - remove + // with next eeprom number + // change + AP_Int8 toy_yaw_rate; // THOR The + // Yaw Rate 1 + // = fast, 2 = + // med, 3 = + // slow + AP_Int8 esc_calibrate; + AP_Int8 radio_tuning; + AP_Int16 radio_tuning_high; + AP_Int16 radio_tuning_low; + AP_Int8 frame_orientation; + AP_Int8 ch7_option; + AP_Int16 auto_slew_rate; - #if FRAME_CONFIG == HELI_FRAME - // Heli - RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail - #endif +#if FRAME_CONFIG == HELI_FRAME + // Heli + RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // + // servos + // for + // swash + // plate + // and + // tail +#endif - // Camera + // Camera #if CAMERA == ENABLED - AP_Camera camera; + AP_Camera camera; #endif - // RC channels - RC_Channel rc_1; - RC_Channel rc_2; - RC_Channel rc_3; - RC_Channel rc_4; - RC_Channel rc_5; - RC_Channel rc_6; - RC_Channel rc_7; - RC_Channel rc_8; + // RC channels + RC_Channel rc_1; + RC_Channel rc_2; + RC_Channel rc_3; + RC_Channel rc_4; + RC_Channel rc_5; + RC_Channel rc_6; + RC_Channel rc_7; + RC_Channel rc_8; #if MOUNT == ENABLED - RC_Channel_aux rc_9; - RC_Channel_aux rc_10; - RC_Channel_aux rc_11; + RC_Channel_aux rc_9; + RC_Channel_aux rc_10; + RC_Channel_aux rc_11; #endif - AP_Int16 rc_speed; // speed of fast RC Channels in Hz + AP_Int16 rc_speed; // speed of fast RC Channels in Hz - AP_Float stabilize_d; - AP_Float stabilize_d_schedule; + AP_Float stabilize_d; + AP_Float stabilize_d_schedule; - // PI/D controllers - AP_Float acro_p; - AP_Float axis_lock_p; + // PI/D controllers + AP_Float acro_p; + AP_Float axis_lock_p; - AC_PID pid_rate_roll; - AC_PID pid_rate_pitch; - AC_PID pid_rate_yaw; - AC_PID pid_loiter_rate_lat; - AC_PID pid_loiter_rate_lon; - AC_PID pid_nav_lat; - AC_PID pid_nav_lon; + AC_PID pid_rate_roll; + AC_PID pid_rate_pitch; + AC_PID pid_rate_yaw; + AC_PID pid_loiter_rate_lat; + AC_PID pid_loiter_rate_lon; + AC_PID pid_nav_lat; + AC_PID pid_nav_lon; - AC_PID pid_throttle; - AC_PID pid_optflow_roll; - AC_PID pid_optflow_pitch; + AC_PID pid_throttle; + AC_PID pid_optflow_roll; + AC_PID pid_optflow_pitch; - APM_PI pi_loiter_lat; - APM_PI pi_loiter_lon; - APM_PI pi_stabilize_roll; - APM_PI pi_stabilize_pitch; - APM_PI pi_stabilize_yaw; - APM_PI pi_alt_hold; + APM_PI pi_loiter_lat; + APM_PI pi_loiter_lon; + APM_PI pi_stabilize_roll; + APM_PI pi_stabilize_pitch; + APM_PI pi_stabilize_yaw; + APM_PI pi_alt_hold; - // Note: keep initializers here in the same order as they are declared above. - Parameters() : + // Note: keep initializers here in the same order as they are declared + // above. + Parameters() : -#if FRAME_CONFIG == HELI_FRAME - heli_servo_1 (CH_1), - heli_servo_2 (CH_2), - heli_servo_3 (CH_3), - heli_servo_4 (CH_4), +#if FRAME_CONFIG == HELI_FRAME + heli_servo_1 (CH_1), + heli_servo_2 (CH_2), + heli_servo_3 (CH_3), + heli_servo_4 (CH_4), #endif - rc_1 (CH_1), - rc_2 (CH_2), - rc_3 (CH_3), - rc_4 (CH_4), - rc_5 (CH_5), - rc_6 (CH_6), - rc_7 (CH_7), - rc_8 (CH_8), + rc_1 (CH_1), + rc_2 (CH_2), + rc_3 (CH_3), + rc_4 (CH_4), + rc_5 (CH_5), + rc_6 (CH_6), + rc_7 (CH_7), + rc_8 (CH_8), #if MOUNT == ENABLED - rc_9 (CH_9), - rc_10 (CH_10), - rc_11 (CH_11), + rc_9 (CH_9), + rc_10 (CH_10), + rc_11 (CH_11), #endif - // PID controller initial P initial I initial D initial imax - //----------------------------------------------------------------------------------------------------- - pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100), - pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100), - pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100), + // PID controller initial P initial I initial D + // initial imax + //----------------------------------------------------------------------------------------------------- + pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100), + pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100), + pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100), - pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100), - pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100), + pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100), + pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100), - pid_nav_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), - pid_nav_lon (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), + pid_nav_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), + pid_nav_lon (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), - pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX), - pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100), - pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100), + pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX), + pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100), + pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100), - // PI controller initial P initial I initial imax - //---------------------------------------------------------------------- - pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX * 100), - pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX * 100), + // PI controller initial P initial I initial + // imax + //---------------------------------------------------------------------- + pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX * 100), + pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX * 100), - pi_stabilize_roll (STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100), - pi_stabilize_pitch (STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100), - pi_stabilize_yaw (STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100), + pi_stabilize_roll (STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100), + pi_stabilize_pitch (STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100), + pi_stabilize_yaw (STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100), - pi_alt_hold (ALT_HOLD_P, ALT_HOLD_I, ALT_HOLD_IMAX) - { - } + pi_alt_hold (ALT_HOLD_P, ALT_HOLD_I, ALT_HOLD_IMAX) + { + } }; -extern const AP_Param::Info var_info[]; +extern const AP_Param::Info var_info[]; #endif // PARAMETERS_H