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Rover: cleanup parameter names and remove dead parameters

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This commit is contained in:
Andrew Tridgell 2013-02-08 21:17:54 +11:00
parent c2fd7617e1
commit 6cf4d11e33
8 changed files with 274 additions and 264 deletions
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204
APMrover2/Parameters.h
View File

@ -17,14 +17,8 @@ public:
// The increment will prevent old parameters from being used incorrectly
// by newer code.
//
static const uint16_t k_format_version = 14;
// 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 = 20; // 0 for APM trunk
static const uint16_t k_format_version = 15;
static const uint16_t k_software_type = 20;
enum {
// Layout version number, always key zero.
@ -34,13 +28,12 @@ public:
// Misc
//
k_param_log_bitmask,
k_param_log_bitmask = 10,
k_param_num_resets,
k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change
k_param_reset_switch_chan,
k_param_manual_level,
k_param_ins, // libraries/AP_InertialSensor variables
k_param_rssi_pin,
// IO pins
k_param_rssi_pin = 20,
k_param_battery_volt_pin,
k_param_battery_curr_pin,
@ -58,22 +51,15 @@ public:
//
// 130: Sensor parameters
//
k_param_imu = 130,
k_param_compass_enabled,
k_param_compass,
k_param_battery_monitoring,
k_param_compass_enabled = 130,
// 140: battery controls
k_param_battery_monitoring = 140,
k_param_volt_div_ratio,
k_param_curr_amp_per_volt,
k_param_input_voltage,
k_param_pack_capacity,
#if CONFIG_SONAR == ENABLED
k_param_sonar_enabled,
k_param_sonar_type,
#endif
k_param_ahrs, // AHRS group
//
// 150: Navigation parameters
//
@ -94,22 +80,27 @@ public:
k_param_rc_7,
k_param_rc_8,
k_param_throttle_min,
// throttle control
k_param_throttle_min = 170,
k_param_throttle_max,
k_param_throttle_fs_enabled, // 170
k_param_throttle_fs_value,
k_param_throttle_cruise,
k_param_long_fs_action,
k_param_gcs_heartbeat_fs_enabled,
k_param_throttle_slewrate,
k_param_throttle_reduction,
// 180: APMrover parameters - JLN update
k_param_sonar_trigger,
k_param_booster,
// failsafe control
k_param_fs_action = 180,
k_param_fs_timeout,
k_param_fs_throttle_enabled,
k_param_fs_throttle_value,
k_param_fs_gcs_enabled,
// obstacle control
k_param_sonar_trigger = 190,
k_param_sonar_enabled,
k_param_sonar_type,
//
// 210: flight modes
// 210: driving modes
//
k_param_mode_channel = 210,
k_param_mode1,
@ -122,30 +113,39 @@ public:
//
// 220: Waypoint data
//
k_param_waypoint_mode = 220,
k_param_command_total,
k_param_command_total = 220,
k_param_command_index,
k_param_waypoint_radius,
// other objects
k_param_sitl = 230,
//
// 240: PID Controllers
k_param_pidNavSteer = 240,
// steering-to-servo PID:
k_param_pidNavSteer = 230,
k_param_pidServoSteer,
// steering-to-servo PID:
k_param_pidSpeedThrottle,
// other objects
k_param_sitl = 240,
k_param_ahrs,
k_param_ins,
k_param_compass,
// 254,255: reserved
};
AP_Int16 format_version;
AP_Int8 software_type;
// Misc
//
AP_Int16 log_bitmask;
AP_Int16 num_resets;
AP_Int8 reset_switch_chan;
// IO pins
AP_Int8 rssi_pin;
AP_Int8 battery_volt_pin;
AP_Int8 battery_curr_pin;
// Telemetry control
//
AP_Int16 sysid_this_mav;
@ -154,77 +154,22 @@ public:
AP_Int8 serial3_baud;
AP_Int8 telem_delay;
// Crosstrack navigation
//
AP_Float crosstrack_gain;
AP_Int16 crosstrack_entry_angle;
// Waypoints
//
AP_Int8 waypoint_mode;
AP_Int8 command_total;
AP_Int8 command_index;
AP_Float waypoint_radius;
// Throttle
//
AP_Int8 throttle_min;
AP_Int8 throttle_max;
AP_Int8 throttle_slewrate;
AP_Int8 throttle_fs_enabled;
AP_Int16 throttle_fs_value;
AP_Int8 throttle_cruise;
// Failsafe
AP_Int8 long_fs_action;
AP_Int8 gcs_heartbeat_fs_enabled;
// Flight modes
//
AP_Int8 mode_channel;
AP_Int8 mode1;
AP_Int8 mode2;
AP_Int8 mode3;
AP_Int8 mode4;
AP_Int8 mode5;
AP_Int8 mode6;
// Misc
//
AP_Int16 num_resets;
AP_Int16 log_bitmask;
AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change
AP_Int8 reset_switch_chan;
AP_Int8 manual_level;
AP_Float speed_cruise;
AP_Int8 ch7_option;
// sensor parameters
AP_Int8 compass_enabled;
// battery controls
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 rssi_pin;
AP_Int8 battery_volt_pin;
AP_Int8 battery_curr_pin;
#if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_SONAR == ENABLED
AP_Int8 sonar_enabled;
AP_Int8 sonar_type; // 0 = XL, 1 = LV,
// 2 = XLL (XL with 10m range)
// 3 = HRLV
#endif
#endif
// ************ ThermoPilot parameters ************************
// - JLN update
AP_Float sonar_trigger;
AP_Int8 booster;
// ************************************************************
// navigation parameters
//
AP_Float crosstrack_gain;
AP_Int16 crosstrack_entry_angle;
AP_Float speed_cruise;
AP_Int8 ch7_option;
// RC channels
RC_Channel channel_steer;
@ -236,6 +181,43 @@ public:
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
// Throttle
//
AP_Int8 throttle_min;
AP_Int8 throttle_max;
AP_Int8 throttle_cruise;
AP_Int8 throttle_slewrate;
// failsafe control
AP_Int8 fs_action;
AP_Float fs_timeout;
AP_Int8 fs_throttle_enabled;
AP_Int16 fs_throttle_value;
AP_Int8 fs_gcs_enabled;
// obstacle control
AP_Float sonar_trigger;
AP_Int8 sonar_enabled;
AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m
// range),
// 3 = HRLV
// driving modes
//
AP_Int8 mode_channel;
AP_Int8 mode1;
AP_Int8 mode2;
AP_Int8 mode3;
AP_Int8 mode4;
AP_Int8 mode5;
AP_Int8 mode6;
// Waypoints
//
AP_Int8 command_total;
AP_Int8 command_index;
AP_Float waypoint_radius;
// PID controllers
//
PID pidNavSteer;
@ -255,9 +237,9 @@ public:
// PID controller initial P initial I initial D initial imax
//-----------------------------------------------------------------------------------
pidNavSteer (0.7, 0.1, 0.2, 200),
pidServoSteer (0.5, 0.1, 0.2, 200),
pidSpeedThrottle (0.7, 0.2, 0.2, 200)
pidNavSteer (0.7, 0.1, 0.2, 2000),
pidServoSteer (0.5, 0.1, 0.2, 2000),
pidSpeedThrottle (0.7, 0.2, 0.2, 4000)
{}
};

270
APMrover2/Parameters.pde
View File

@ -16,7 +16,45 @@
const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(format_version, "FORMAT_VERSION", 1),
GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type),
// misc
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
GSCALAR(num_resets, "SYS_NUM_RESETS", 0),
GSCALAR(reset_switch_chan, "RST_SWITCH_CH", 0),
// @Param: RSSI_PIN
// @DisplayName: Receiver RSSI sensing pin
// @Description: This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum
// @Values: -1:Disabled, 0:A0, 1:A1, 13:A13
// @User: Standard
GSCALAR(rssi_pin, "RSSI_PIN", -1),
// @Param: BATT_VOLT_PIN
// @DisplayName: Battery Voltage sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13.
// @Values: -1:Disabled, 0:A0, 1:A1, 13:A13
// @User: Standard
GSCALAR(battery_volt_pin, "BATT_VOLT_PIN", 1),
// @Param: BATT_CURR_PIN
// @DisplayName: Battery Current sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13.
// @Values: -1:Disabled, 1:A1, 2:A2, 12:A12
// @User: Standard
GSCALAR(battery_curr_pin, "BATT_CURR_PIN", 2),
// @Param: SYSID_THIS_MAV
// @DisplayName: MAVLink system ID
// @Description: ID used in MAVLink protocol to identify this vehicle
// @User: Advanced
GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
// @Param: SYSID_MYGCS
// @DisplayName: MAVLink ground station ID
// @Description: ID used in MAVLink protocol to identify the controlling ground station
// @User: Advanced
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
// @Param: SERIAL0_BAUD
@ -42,12 +80,43 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Increment: 1
GSCALAR(telem_delay, "TELEM_DELAY", 0),
// @Param: MANUAL_LEVEL
// @DisplayName: Manual Level
// @Description: Setting this to Disabled(0) will enable autolevel on every boot. Setting it to Enabled(1) will do a calibration only when you tell it to. This defaults to enabled.
// @Param: MAG_ENABLED
// @DisplayName: Magnetometer (compass) enabled
// @Description: This should be set to 1 if a compass is installed
// @User: Standard
// @Values: 0:Disabled,1:Enabled
GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER),
// @Param: BATT_MONITOR
// @DisplayName: Battery monitoring
// @Description: Controls enabling monitoring of the battery's voltage and current
// @Values: 0:Disabled,3:Voltage Only,4:Voltage and Current
// @User: Standard
GSCALAR(battery_monitoring, "BATT_MONITOR", DISABLED),
// @Param: VOLT_DIVIDER
// @DisplayName: Voltage Divider
// @Description: Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin voltage * INPUT_VOLTS/1024 * VOLT_DIVIDER)
// @User: Advanced
GSCALAR(manual_level, "MANUAL_LEVEL", 1),
GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO),
// @Param: AMP_PER_VOLT
// @DisplayName: Current Amps per volt
// @Description: Used to convert the voltage on the current sensing pin (BATT_CURR_PIN) to the actual current being consumed in amps (curr pin voltage * INPUT_VOLTS/1024 * AMP_PER_VOLT )
// @User: Advanced
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT),
// @Param: INPUT_VOLTS
// @DisplayName: Max internal voltage of the battery voltage and current sensing pins
// @Description: Used to convert the voltage read in on the voltage and current pins for battery monitoring. Normally 5 meaning 5 volts.
// @User: Advanced
GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE),
// @Param: BATT_CAPACITY
// @DisplayName: Battery Capacity
// @Description: Battery capacity in milliamp-hours (mAh)
// @Units: mAh
GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE),
// @Param: XTRK_GAIN_SC
// @DisplayName: Crosstrack Gain
@ -66,17 +135,30 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD", XTRACK_ENTRY_ANGLE_CENTIDEGREE),
GSCALAR(command_total, "CMD_TOTAL", 0),
GSCALAR(command_index, "CMD_INDEX", 0),
// @Param: WP_RADIUS
// @DisplayName: Waypoint radius
// @Description: The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path.
// @Units: meters
// @Range: 0 1000
// @Param: CRUISE_SPEED
// @DisplayName: Target speed in auto modes
// @Description: The target speed in auto missions.
// @Units: m/s
// @Range: 0 100
// @Increment: 0.1
// @User: Standard
GSCALAR(waypoint_radius, "WP_RADIUS", 2.0f),
GSCALAR(speed_cruise, "CRUISE_SPEED", 5),
// @Param: CH7_OPTION
// @DisplayName: Channel 7 option
// @Description: What to do use channel 7 for
// @Values: 0:Nothing,1:LearnWaypoint
// @User: Standard
GSCALAR(ch7_option, "CH7_OPTION", CH7_OPTION),
GGROUP(channel_steer, "RC1_", RC_Channel),
GGROUP(rc_2, "RC2_", RC_Channel_aux),
GGROUP(channel_throttle, "RC3_", RC_Channel),
GGROUP(rc_4, "RC4_", RC_Channel_aux),
GGROUP(rc_5, "RC5_", RC_Channel_aux),
GGROUP(rc_6, "RC6_", RC_Channel_aux),
GGROUP(rc_7, "RC7_", RC_Channel_aux),
GGROUP(rc_8, "RC8_", RC_Channel_aux),
// @Param: THR_MIN
// @DisplayName: Minimum Throttle
@ -96,56 +178,73 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(throttle_max, "THR_MAX", THROTTLE_MAX),
// @Param: THR_SLEWRATE
// @DisplayName: Throttle slew rate
// @Description: maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second
// @Units: Percent
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_slewrate, "THR_SLEWRATE", 0),
// @Param: THR_FAILSAFE
// @DisplayName: Throttle Failsafe Enable
// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(throttle_fs_enabled, "THR_FAILSAFE", THROTTLE_FAILSAFE),
// @Param: THR_FS_VALUE
// @DisplayName: Throttle Failsafe Value
// @Description: The PWM level on channel 3 below which throttle sailsafe triggers.
// @User: Standard
GSCALAR(throttle_fs_value, "THR_FS_VALUE", THROTTLE_FS_VALUE),
// @Param: CRUISE_THROTTLE
// @DisplayName: Throttle cruise percentage
// @Description: The target percentage of throttle to apply for auto missions.
// @DisplayName: Base throttle percentage in auto
// @Description: The base throttle percentage to use in auto mode
// @Units: Percent
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_cruise, "CRUISE_THROTTLE", 50),
// @Param: CRUISE_SPEED
// @DisplayName: Target speed in auto modes
// @Description: The target speed in auto missions.
// @Units: m/s
// @Param: THR_SLEWRATE
// @DisplayName: Throttle slew rate
// @Description: maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit.
// @Units: Percent
// @Range: 0 100
// @Increment: 0.1
// @Increment: 1
// @User: Standard
GSCALAR(speed_cruise, "CRUISE_SPEED", 5),
GSCALAR(throttle_slewrate, "THR_SLEWRATE", 0),
// @Param: FS_ACTION
// @DisplayName: Failsafe Action
// @Description: What to do on a failsafe event
// @Values: 0:Nothing,1:RTL,2:STOP
// @User: Standard
GSCALAR(fs_action, "FS_ACTION", 0),
// @Param: FS_TIMEOUT
// @DisplayName: Failsafe timeout
// @Description: How long a failsafe event need to happen for before we trigger the failsafe action
// @Units: seconds
// @User: Standard
GSCALAR(fs_timeout, "FS_TIMEOUT", 10),
// @Param: FS_THR_ENABLE
// @DisplayName: Throttle Failsafe Enable
// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(fs_throttle_enabled, "FS_THR_ENABLE", 0),
// @Param: FS_THR_VALUE
// @DisplayName: Throttle Failsafe Value
// @Description: The PWM level on channel 3 below which throttle sailsafe triggers.
// @User: Standard
GSCALAR(fs_throttle_value, "FS_THR_VALUE", 900),
// @Param: FS_GCS_ENABLE
// @DisplayName: GCS failsafe enable
// @Description: Enable ground control station telemetry failsafe
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABLE", 0),
GSCALAR(fs_gcs_enabled, "FS_GCS_ENABLE", 0),
#if CONFIG_SONAR == ENABLED
// @Param: SONAR_ENABLE
// @DisplayName: Enable Sonar
// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(sonar_trigger, "SONAR_TRIGGER", SONAR_TRIGGER),
GSCALAR(sonar_enabled, "SONAR_ENABLE", SONAR_ENABLED),
GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL),
#endif
// @Param: MODE_CH
// @DisplayName: Mode channel
// @Description: RC Channel to use for flight mode control
// @Description: RC Channel to use for driving mode control
// @User: Advanced
GSCALAR(mode_channel, "MODE_CH", MODE_CHANNEL),
@ -153,106 +252,55 @@ const AP_Param::Info var_info[] PROGMEM = {
// @DisplayName: Mode1
// @Values: 0:Manual,2:LEARNING,10:Auto,11:RTL,15:Guided
// @User: Standard
// @Description: Flight mode for switch position 1 (910 to 1230 and above 2049)
// @Description: Driving mode for switch position 1 (910 to 1230 and above 2049)
GSCALAR(mode1, "MODE1", MODE_1),
// @Param: MODE2
// @DisplayName: Mode2
// @Description: Flight mode for switch position 2 (1231 to 1360)
// @Description: Driving mode for switch position 2 (1231 to 1360)
// @Values: 0:Manual,2:LEARNING,10:Auto,11:RTL,15:Guided
// @User: Standard
GSCALAR(mode2, "MODE2", MODE_2),
// @Param: MODE3
// @DisplayName: Mode3
// @Description: Flight mode for switch position 3 (1361 to 1490)
// @Description: Driving mode for switch position 3 (1361 to 1490)
// @Values: 0:Manual,2:LEARNING,10:Auto,11:RTL,15:Guided
// @User: Standard
GSCALAR(mode3, "MODE3", MODE_3),
// @Param: MODE4
// @DisplayName: Mode4
// @Description: Flight mode for switch position 4 (1491 to 1620)
// @Description: Driving mode for switch position 4 (1491 to 1620)
// @Values: 0:Manual,2:LEARNING,10:Auto,11:RTL,15:Guided
// @User: Standard
GSCALAR(mode4, "MODE4", MODE_4),
// @Param: MODE5
// @DisplayName: Mode5
// @Description: Flight mode for switch position 5 (1621 to 1749)
// @Description: Driving mode for switch position 5 (1621 to 1749)
// @Values: 0:Manual,2:LEARNING,10:Auto,11:RTL,15:Guided
// @User: Standard
GSCALAR(mode5, "MODE5", MODE_5),
// @Param: MODE6
// @DisplayName: Mode6
// @Description: Flight mode for switch position 6 (1750 to 2049)
// @Description: Driving mode for switch position 6 (1750 to 2049)
// @Values: 0:Manual,2:LEARNING,10:Auto,11:RTL,15:Guided
// @User: Standard
GSCALAR(mode6, "MODE6", MODE_6),
GSCALAR(num_resets, "SYS_NUM_RESETS", 0),
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
GSCALAR(log_last_filenumber, "LOG_LASTFILE", 0),
GSCALAR(reset_switch_chan, "RST_SWITCH_CH", 0),
GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION),
GSCALAR(command_total, "CMD_TOTAL", 0),
GSCALAR(command_index, "CMD_INDEX", 0),
GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER),
GSCALAR(battery_monitoring, "BATT_MONITOR", DISABLED),
GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO),
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT),
GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE),
GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE),
// @Param: BATT_VOLT_PIN
// @DisplayName: Battery Voltage sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13.
// @Values: -1:Disabled, 0:A0, 1:A1, 13:A13
// @Param: WP_RADIUS
// @DisplayName: Waypoint radius
// @Description: The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path.
// @Units: meters
// @Range: 0 1000
// @Increment: 0.1
// @User: Standard
GSCALAR(battery_volt_pin, "BATT_VOLT_PIN", 1),
// @Param: BATT_CURR_PIN
// @DisplayName: Battery Current sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13.
// @Values: -1:Disabled, 1:A1, 2:A2, 12:A12
// @User: Standard
GSCALAR(battery_curr_pin, "BATT_CURR_PIN", 2),
// @Param: RSSI_PIN
// @DisplayName: Receiver RSSI sensing pin
// @Description: This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum
// @Values: -1:Disabled, 0:A0, 1:A1, 13:A13
// @User: Standard
GSCALAR(rssi_pin, "RSSI_PIN", -1),
#if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_SONAR == ENABLED
// @Param: SONAR_ENABLE
// @DisplayName: Enable Sonar
// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(sonar_enabled, "SONAR_ENABLE", SONAR_ENABLED),
GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL),
#endif
#endif
// ************************************************************
// APMrover parameters - JLN update
GSCALAR(sonar_trigger, "ROV_SONAR_TRIG", SONAR_TRIGGER),
GSCALAR(booster, "ROV_BOOSTER", BOOSTER),
// ************************************************************
GGROUP(channel_steer, "RC1_", RC_Channel),
GGROUP(rc_2, "RC2_", RC_Channel_aux),
GGROUP(channel_throttle, "RC3_", RC_Channel),
GGROUP(rc_4, "RC4_", RC_Channel_aux),
GGROUP(rc_5, "RC5_", RC_Channel_aux),
GGROUP(rc_6, "RC6_", RC_Channel_aux),
GGROUP(rc_7, "RC7_", RC_Channel_aux),
GGROUP(rc_8, "RC8_", RC_Channel_aux),
GSCALAR(waypoint_radius, "WP_RADIUS", 2.0f),
GGROUP(pidNavSteer, "HDNG2STEER_", PID),
GGROUP(pidServoSteer, "STEER2SRV_", PID),

11
APMrover2/events.pde
View File

@ -16,9 +16,7 @@ static void failsafe_long_on_event(int fstype)
case AUTO:
case GUIDED:
if(g.long_fs_action == 1) {
set_mode(RTL);
}
break;
case RTL:
@ -28,15 +26,6 @@ static void failsafe_long_on_event(int fstype)
gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
}
#if BATTERY_EVENT == ENABLED
static void low_battery_event(void)
{
gcs_send_text_P(SEVERITY_HIGH,PSTR("Low Battery!"));
set_mode(RTL);
g.throttle_cruise = THROTTLE_CRUISE;
}
#endif
static void update_events(void) // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY
{
if(event_repeat == 0 || (millis() - event_timer) < event_delay)

8
APMrover2/radio.pde
View File

@ -83,8 +83,10 @@ static void read_radio()
static void control_failsafe(uint16_t pwm)
{
if(g.throttle_fs_enabled == 0)
if (!g.fs_throttle_enabled) {
// no throttle failsafe
return;
}
// Check for failsafe condition based on loss of GCS control
if (rc_override_active) {
@ -95,8 +97,8 @@ static void control_failsafe(uint16_t pwm)
}
//Check for failsafe and debounce funky reads
} else if (g.throttle_fs_enabled) {
if (pwm < (unsigned)g.throttle_fs_value){
} else if (g.fs_throttle_enabled) {
if (pwm < (unsigned)g.fs_throttle_value){
// we detect a failsafe from radio
// throttle has dropped below the mark
failsafeCounter++;

5
APMrover2/sensors.pde
View File

@ -39,10 +39,5 @@ static void read_battery(void)
current_amps1 = CURRENT_AMPS(batt_curr_pin->read_average());
current_total1 += current_amps1 * (float)delta_ms_medium_loop * 0.0002778; // .0002778 is 1/3600 (conversion to hours)
}
#if BATTERY_EVENT == ENABLED
if(battery_voltage1 < LOW_VOLTAGE) low_battery_event();
if(g.battery_monitoring == 4 && current_total1 > g.pack_capacity) low_battery_event();
#endif
}

28
APMrover2/setup.pde
View File

@ -302,13 +302,7 @@ setup_accel_scale(uint8_t argc, const Menu::arg *argv)
ins_sample_rate,
flash_leds);
AP_InertialSensor_UserInteractStream interact(hal.console);
bool success = ins.calibrate_accel(flash_leds, &interact);
if (success) {
if (g.manual_level == 0) {
cliSerial->println_P(PSTR("Setting MANUAL_LEVEL to 1"));
g.manual_level.set_and_save(1);
}
}
ins.calibrate_accel(flash_leds, &interact);
return(0);
}
#endif
@ -416,16 +410,16 @@ static void report_throttle()
cliSerial->printf_P(PSTR("Throttle\n"));
print_divider();
cliSerial->printf_P(PSTR("min: %d\n"
"max: %d\n"
"cruise: %d\n"
"failsafe_enabled: %d\n"
"failsafe_value: %d\n"),
(int)g.throttle_min,
(int)g.throttle_max,
(int)g.throttle_cruise,
(int)g.throttle_fs_enabled,
(int)g.throttle_fs_value);
cliSerial->printf_P(PSTR("min: %u\n"
"max: %u\n"
"cruise: %u\n"
"failsafe_enabled: %u\n"
"failsafe_value: %u\n"),
(unsigned)g.throttle_min,
(unsigned)g.throttle_max,
(unsigned)g.throttle_cruise,
(unsigned)g.fs_throttle_enabled,
(unsigned)g.fs_throttle_value);
print_blanks(2);
}

4
APMrover2/system.pde
View File

@ -383,7 +383,7 @@ static void check_long_failsafe()
if(! rc_override_active && failsafe == FAILSAFE_SHORT && millis() - ch3_failsafe_timer > FAILSAFE_LONG_TIME) {
failsafe_long_on_event(FAILSAFE_LONG);
}
if(g.gcs_heartbeat_fs_enabled && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
if (g.fs_gcs_enabled && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
failsafe_long_on_event(FAILSAFE_GCS);
}
} else {
@ -412,7 +412,7 @@ static void startup_INS_ground(bool force_accel_level)
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
flash_leds);
if (force_accel_level || g.manual_level == 0) {
if (force_accel_level) {
// when MANUAL_LEVEL is set to 1 we don't do accelerometer
// levelling on each boot, and instead rely on the user to do
// it once via the ground station

2
APMrover2/test.pde
View File

@ -209,7 +209,7 @@ test_failsafe(uint8_t argc, const Menu::arg *argv)
fail_test++;
}
if(g.throttle_fs_enabled && g.channel_throttle.get_failsafe()){
if (g.fs_throttle_enabled && g.channel_throttle.get_failsafe()){
cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), g.channel_throttle.radio_in);
print_mode(readSwitch());
fail_test++;