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uncrustify ArduCopter/Parameters.h

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uncrustify 2012-08-16 17:50:03 -07:00 committed by Pat Hickey
parent b9ba41c12a
commit 6a893c11c7
1 changed files with 358 additions and 333 deletions
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ArduCopter/Parameters.h
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@ -9,384 +9,409 @@
// //
class Parameters { class Parameters {
public: public:
// The version of the layout as described by the parameter enum. // 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,
// //
// 80: Heli // When changing the parameter enum in an incompatible fashion, this
// // value should be incremented by one.
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,
// //
// 200: flight modes // The increment will prevent old parameters from being used incorrectly
// by newer code.
// //
k_param_flight_mode1 = 200, static const uint16_t k_format_version = 118;
k_param_flight_mode2,
k_param_flight_mode3,
k_param_flight_mode4,
k_param_flight_mode5,
k_param_flight_mode6,
k_param_simple_modes,
// // The parameter software_type is set up solely for ground station use
// 210: Waypoint data // and identifies the software type (eg ArduPilotMega versus
// // ArduCopterMega)
k_param_waypoint_mode = 210, // remove // GCS will interpret values 0-9 as ArduPilotMega. Developers may use
k_param_command_total, // values within that range to identify different branches.
k_param_command_index, //
k_param_command_nav_index, static const uint16_t k_software_type = 10; // 0 for APM
k_param_waypoint_radius, // trunk
k_param_loiter_radius,
k_param_waypoint_speed_max,
// // Parameter identities.
// 220: PI/D Controllers //
// // The enumeration defined here is used to ensure that every parameter
k_param_stabilize_d_schedule = 219, // or parameter group has a unique ID number. This number is used by
k_param_stabilize_d = 220, // AP_Var to store and locate parameters in EEPROM.
k_param_acro_p, //
k_param_axis_lock_p, // Note that entries without a number are assigned the next number after
k_param_pid_rate_roll, // the entry preceding them. When adding new entries, ensure that they
k_param_pid_rate_pitch, // don't overlap.
k_param_pid_rate_yaw, //
k_param_pi_stabilize_roll, // Try to group related variables together, and assign them a set
k_param_pi_stabilize_pitch, // range in the enumeration. Place these groups in numerical order
k_param_pi_stabilize_yaw, // at the end of the enumeration.
k_param_pi_loiter_lat, //
k_param_pi_loiter_lon, // WARNING: Care should be taken when editing this enumeration as the
k_param_pid_loiter_rate_lat, // AP_Var load/save code depends on the values here to identify
k_param_pid_loiter_rate_lon, // variables saved in EEPROM.
k_param_pid_nav_lat, //
k_param_pid_nav_lon, //
k_param_pi_alt_hold, enum {
k_param_pid_throttle, // Layout version number, always key zero.
k_param_pid_optflow_roll, //
k_param_pid_optflow_pitch, k_param_format_version = 0,
k_param_software_type,
k_param_ins,
// 254,255: reserved // simulation
}; k_param_sitl = 10,
AP_Int16 format_version; // Misc
AP_Int8 software_type; //
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 // 65: AP_Limits Library
// k_param_limits = 65,
AP_Int16 sysid_this_mav; k_param_gpslock_limit,
AP_Int16 sysid_my_gcs; k_param_geofence_limit,
AP_Int8 serial3_baud; 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; // Camera and mount parameters
AP_Int8 sonar_type; // 0 = XL, 1 = LV, //
// 2 = XLL (XL with 10m range) k_param_camera = 165,
// 3 = HRLV k_param_camera_mount,
AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current k_param_camera_mount2,
AP_Float volt_div_ratio;
AP_Float curr_amp_per_volt; //
AP_Float input_voltage; // 170: Radio settings
AP_Int16 pack_capacity; // Battery pack capacity less reserve //
AP_Int8 compass_enabled; k_param_rc_1 = 170,
AP_Int8 optflow_enabled; k_param_rc_2,
AP_Float low_voltage; k_param_rc_3,
AP_Int8 super_simple; k_param_rc_4,
AP_Int16 rtl_approach_alt; k_param_rc_5,
AP_Int8 tilt_comp; k_param_rc_6,
AP_Int8 axis_enabled; k_param_rc_7,
AP_Int8 copter_leds_mode; // Operating mode of LED lighting system 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 // Waypoints
// //
AP_Int8 waypoint_mode; AP_Int8 waypoint_mode;
AP_Int8 command_total; AP_Int8 command_total;
AP_Int8 command_index; AP_Int8 command_index;
AP_Int8 command_nav_index; AP_Int8 command_nav_index;
AP_Int16 waypoint_radius; AP_Int16 waypoint_radius;
AP_Int16 loiter_radius; AP_Int16 loiter_radius;
AP_Int16 waypoint_speed_max; AP_Int16 waypoint_speed_max;
AP_Float crosstrack_gain; AP_Float crosstrack_gain;
AP_Int32 auto_land_timeout; AP_Int32 auto_land_timeout;
// Throttle // Throttle
// //
AP_Int16 throttle_min; AP_Int16 throttle_min;
AP_Int16 throttle_max; AP_Int16 throttle_max;
AP_Int8 throttle_fs_enabled; AP_Int8 throttle_fs_enabled;
AP_Int8 throttle_fs_action; AP_Int8 throttle_fs_action;
AP_Int16 throttle_fs_value; AP_Int16 throttle_fs_value;
AP_Int16 throttle_cruise; AP_Int16 throttle_cruise;
// Flight modes // Flight modes
// //
AP_Int8 flight_mode1; AP_Int8 flight_mode1;
AP_Int8 flight_mode2; AP_Int8 flight_mode2;
AP_Int8 flight_mode3; AP_Int8 flight_mode3;
AP_Int8 flight_mode4; AP_Int8 flight_mode4;
AP_Int8 flight_mode5; AP_Int8 flight_mode5;
AP_Int8 flight_mode6; AP_Int8 flight_mode6;
AP_Int8 simple_modes; AP_Int8 simple_modes;
// Misc // Misc
// //
AP_Int16 log_bitmask; AP_Int16 log_bitmask;
AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change AP_Int16 log_last_filenumber; // *** Deprecated - remove
AP_Int8 toy_yaw_rate; // THOR The Yaw Rate 1 = fast, 2 = med, 3 = slow // with next eeprom number
AP_Int8 esc_calibrate; // change
AP_Int8 radio_tuning; AP_Int8 toy_yaw_rate; // THOR The
AP_Int16 radio_tuning_high; // Yaw Rate 1
AP_Int16 radio_tuning_low; // = fast, 2 =
AP_Int8 frame_orientation; // med, 3 =
AP_Int8 ch7_option; // slow
AP_Int16 auto_slew_rate; 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 #if FRAME_CONFIG == HELI_FRAME
// Heli // Heli
RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; //
#endif // servos
// for
// swash
// plate
// and
// tail
#endif
// Camera // Camera
#if CAMERA == ENABLED #if CAMERA == ENABLED
AP_Camera camera; AP_Camera camera;
#endif #endif
// RC channels // RC channels
RC_Channel rc_1; RC_Channel rc_1;
RC_Channel rc_2; RC_Channel rc_2;
RC_Channel rc_3; RC_Channel rc_3;
RC_Channel rc_4; RC_Channel rc_4;
RC_Channel rc_5; RC_Channel rc_5;
RC_Channel rc_6; RC_Channel rc_6;
RC_Channel rc_7; RC_Channel rc_7;
RC_Channel rc_8; RC_Channel rc_8;
#if MOUNT == ENABLED #if MOUNT == ENABLED
RC_Channel_aux rc_9; RC_Channel_aux rc_9;
RC_Channel_aux rc_10; RC_Channel_aux rc_10;
RC_Channel_aux rc_11; RC_Channel_aux rc_11;
#endif #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;
AP_Float stabilize_d_schedule; AP_Float stabilize_d_schedule;
// PI/D controllers // PI/D controllers
AP_Float acro_p; AP_Float acro_p;
AP_Float axis_lock_p; AP_Float axis_lock_p;
AC_PID pid_rate_roll; AC_PID pid_rate_roll;
AC_PID pid_rate_pitch; AC_PID pid_rate_pitch;
AC_PID pid_rate_yaw; AC_PID pid_rate_yaw;
AC_PID pid_loiter_rate_lat; AC_PID pid_loiter_rate_lat;
AC_PID pid_loiter_rate_lon; AC_PID pid_loiter_rate_lon;
AC_PID pid_nav_lat; AC_PID pid_nav_lat;
AC_PID pid_nav_lon; AC_PID pid_nav_lon;
AC_PID pid_throttle; AC_PID pid_throttle;
AC_PID pid_optflow_roll; AC_PID pid_optflow_roll;
AC_PID pid_optflow_pitch; AC_PID pid_optflow_pitch;
APM_PI pi_loiter_lat; APM_PI pi_loiter_lat;
APM_PI pi_loiter_lon; APM_PI pi_loiter_lon;
APM_PI pi_stabilize_roll; APM_PI pi_stabilize_roll;
APM_PI pi_stabilize_pitch; APM_PI pi_stabilize_pitch;
APM_PI pi_stabilize_yaw; APM_PI pi_stabilize_yaw;
APM_PI pi_alt_hold; APM_PI pi_alt_hold;
// Note: keep initializers here in the same order as they are declared above. // Note: keep initializers here in the same order as they are declared
Parameters() : // above.
Parameters() :
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
heli_servo_1 (CH_1), heli_servo_1 (CH_1),
heli_servo_2 (CH_2), heli_servo_2 (CH_2),
heli_servo_3 (CH_3), heli_servo_3 (CH_3),
heli_servo_4 (CH_4), heli_servo_4 (CH_4),
#endif #endif
rc_1 (CH_1), rc_1 (CH_1),
rc_2 (CH_2), rc_2 (CH_2),
rc_3 (CH_3), rc_3 (CH_3),
rc_4 (CH_4), rc_4 (CH_4),
rc_5 (CH_5), rc_5 (CH_5),
rc_6 (CH_6), rc_6 (CH_6),
rc_7 (CH_7), rc_7 (CH_7),
rc_8 (CH_8), rc_8 (CH_8),
#if MOUNT == ENABLED #if MOUNT == ENABLED
rc_9 (CH_9), rc_9 (CH_9),
rc_10 (CH_10), rc_10 (CH_10),
rc_11 (CH_11), rc_11 (CH_11),
#endif #endif
// PID controller initial P initial I initial D initial imax // 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_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100),
pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_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_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_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_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
pid_nav_lon (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_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_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_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100),
// PI controller initial P initial I initial imax // 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_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_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_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_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 #endif // PARAMETERS_H