mirror of
https://github.com/ArduPilot/ardupilot
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uncrustify ArduPlane/Parameters.h
This commit is contained in:
uncrustify
Pat Hickey
parent
3bee769405
commit
70048f3d6f
@ -11,25 +11,25 @@ class Parameters {
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public:
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/*
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The value of k_format_version determines whether the existing
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eeprom data is considered valid. You should only change this
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value under the following circumstances:
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1) the meaning of an existing eeprom parameter changes
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2) the value of an existing k_param_* enum value changes
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Adding a new parameter should _not_ require a change to
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k_format_version except under special circumstances. If you
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change it anyway then all ArduPlane users will need to reload all
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their parameters. We want that to be an extremely rare
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thing. Please do not just change it "just in case".
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To determine if a k_param_* value has changed, use the rules of
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C++ enums to work out the value of the neighboring enum
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values. If you don't know the C++ enum rules then please ask for
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help.
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*/
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* The value of k_format_version determines whether the existing
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* eeprom data is considered valid. You should only change this
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* value under the following circumstances:
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*
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* 1) the meaning of an existing eeprom parameter changes
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*
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* 2) the value of an existing k_param_* enum value changes
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*
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* Adding a new parameter should _not_ require a change to
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* k_format_version except under special circumstances. If you
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* change it anyway then all ArduPlane users will need to reload all
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* their parameters. We want that to be an extremely rare
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* thing. Please do not just change it "just in case".
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*
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* To determine if a k_param_* value has changed, use the rules of
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* C++ enums to work out the value of the neighboring enum
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* values. If you don't know the C++ enum rules then please ask for
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* help.
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*/
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//////////////////////////////////////////////////////////////////
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// STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE
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@ -38,18 +38,18 @@ public:
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//////////////////////////////////////////////////////////////////
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// The parameter software_type is set up solely for ground station use
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// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
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// GCS will interpret values 0-9 as ArduPilotMega. Developers may use
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// values within that range to identify different branches.
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//
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static const uint16_t k_software_type = 0; // 0 for APM trunk
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// The parameter software_type is set up solely for ground station use
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// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
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// GCS will interpret values 0-9 as ArduPilotMega. Developers may use
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// values within that range to identify different branches.
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//
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static const uint16_t k_software_type = 0; // 0 for APM trunk
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enum {
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// Layout version number, always key zero.
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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_software_type,
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k_param_num_resets,
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// Misc
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@ -67,19 +67,19 @@ public:
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k_param_flap_2_speed,
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k_param_reset_switch_chan,
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k_param_manual_level,
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k_param_land_pitch_cd,
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k_param_ins,
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k_param_land_pitch_cd,
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k_param_ins,
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k_param_stick_mixing,
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k_param_reset_mission_chan,
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k_param_land_flare_alt,
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k_param_land_flare_sec,
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k_param_land_flare_alt,
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k_param_land_flare_sec,
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// 110: Telemetry control
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//
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k_param_gcs0 = 110, // stream rates for port0
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k_param_gcs3, // stream rates for port3
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k_param_sysid_this_mav,
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k_param_sysid_my_gcs,
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// 110: Telemetry control
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//
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k_param_gcs0 = 110, // stream rates for port0
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k_param_gcs3, // stream rates for port3
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k_param_sysid_this_mav,
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k_param_sysid_my_gcs,
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k_param_serial3_baud,
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// 120: Fly-by-wire control
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@ -95,14 +95,14 @@ public:
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k_param_imu = 130, // sensor calibration
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k_param_altitude_mix,
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k_param_compass_enabled,
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k_param_compass,
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k_param_battery_monitoring,
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k_param_volt_div_ratio,
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k_param_curr_amp_per_volt,
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k_param_input_voltage,
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k_param_pack_capacity,
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k_param_sonar_enabled,
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k_param_compass_enabled,
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k_param_compass,
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k_param_battery_monitoring,
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k_param_volt_div_ratio,
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k_param_curr_amp_per_volt,
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k_param_input_voltage,
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k_param_pack_capacity,
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k_param_sonar_enabled,
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k_param_ahrs, // AHRS group
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k_param_barometer, // barometer ground calibration
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k_param_airspeed, // AP_Airspeed parameters
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@ -151,7 +151,7 @@ public:
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k_param_short_fs_action,
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k_param_long_fs_action,
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k_param_gcs_heartbeat_fs_enabled,
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k_param_gcs_heartbeat_fs_enabled,
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k_param_throttle_slewrate,
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//
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@ -206,167 +206,167 @@ public:
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// 254,255: reserved
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};
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AP_Int16 format_version;
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AP_Int8 software_type;
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AP_Int16 format_version;
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AP_Int8 software_type;
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// Telemetry control
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//
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AP_Int16 sysid_this_mav;
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AP_Int16 sysid_my_gcs;
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AP_Int8 serial3_baud;
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// Telemetry control
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//
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AP_Int16 sysid_this_mav;
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AP_Int16 sysid_my_gcs;
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AP_Int8 serial3_baud;
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// Feed-forward gains
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//
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AP_Float kff_pitch_compensation;
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AP_Float kff_rudder_mix;
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AP_Float kff_pitch_to_throttle;
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AP_Float kff_throttle_to_pitch;
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AP_Float kff_pitch_compensation;
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AP_Float kff_rudder_mix;
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AP_Float kff_pitch_to_throttle;
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AP_Float kff_throttle_to_pitch;
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// speed used for speed scaling
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AP_Float scaling_speed;
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AP_Float scaling_speed;
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// Crosstrack navigation
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//
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AP_Float crosstrack_gain;
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AP_Int16 crosstrack_entry_angle;
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AP_Float crosstrack_gain;
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AP_Int16 crosstrack_entry_angle;
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// Estimation
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//
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AP_Float altitude_mix;
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AP_Float altitude_mix;
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// Waypoints
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//
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AP_Int8 waypoint_mode;
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AP_Int8 command_total;
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AP_Int8 command_index;
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AP_Int16 waypoint_radius;
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AP_Int16 loiter_radius;
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AP_Int8 waypoint_mode;
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AP_Int8 command_total;
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AP_Int8 command_index;
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AP_Int16 waypoint_radius;
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AP_Int16 loiter_radius;
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#if GEOFENCE_ENABLED == ENABLED
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AP_Int8 fence_action;
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AP_Int8 fence_total;
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AP_Int8 fence_channel;
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AP_Int16 fence_minalt; // meters
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AP_Int16 fence_maxalt; // meters
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AP_Int8 fence_action;
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AP_Int8 fence_total;
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AP_Int8 fence_channel;
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AP_Int16 fence_minalt; // meters
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AP_Int16 fence_maxalt; // meters
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#endif
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// Fly-by-wire
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//
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AP_Int16 flybywire_airspeed_min;
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AP_Int16 flybywire_airspeed_max;
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AP_Int8 flybywire_elev_reverse;
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AP_Int16 flybywire_airspeed_min;
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AP_Int16 flybywire_airspeed_max;
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AP_Int8 flybywire_elev_reverse;
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// Throttle
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//
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AP_Int8 throttle_min;
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AP_Int8 throttle_max;
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AP_Int8 throttle_slewrate;
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AP_Int8 throttle_fs_enabled;
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AP_Int16 throttle_fs_value;
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AP_Int8 throttle_cruise;
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AP_Int8 throttle_min;
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AP_Int8 throttle_max;
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AP_Int8 throttle_slewrate;
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AP_Int8 throttle_fs_enabled;
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AP_Int16 throttle_fs_value;
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AP_Int8 throttle_cruise;
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// Failsafe
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AP_Int8 short_fs_action;
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AP_Int8 long_fs_action;
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AP_Int8 gcs_heartbeat_fs_enabled;
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// Failsafe
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AP_Int8 short_fs_action;
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AP_Int8 long_fs_action;
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AP_Int8 gcs_heartbeat_fs_enabled;
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// Flight modes
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//
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AP_Int8 flight_mode_channel;
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AP_Int8 flight_mode1;
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AP_Int8 flight_mode2;
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AP_Int8 flight_mode3;
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AP_Int8 flight_mode4;
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AP_Int8 flight_mode5;
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AP_Int8 flight_mode6;
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AP_Int8 flight_mode_channel;
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AP_Int8 flight_mode1;
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AP_Int8 flight_mode2;
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AP_Int8 flight_mode3;
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AP_Int8 flight_mode4;
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AP_Int8 flight_mode5;
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AP_Int8 flight_mode6;
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// Navigational maneuvering limits
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//
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AP_Int16 roll_limit_cd;
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AP_Int16 pitch_limit_max_cd;
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AP_Int16 pitch_limit_min_cd;
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AP_Int16 roll_limit_cd;
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AP_Int16 pitch_limit_max_cd;
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AP_Int16 pitch_limit_min_cd;
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// Misc
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//
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AP_Int8 auto_trim;
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AP_Int8 mix_mode;
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AP_Int8 reverse_elevons;
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AP_Int8 reverse_ch1_elevon;
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AP_Int8 reverse_ch2_elevon;
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AP_Int16 num_resets;
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AP_Int16 log_bitmask;
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AP_Int8 reset_switch_chan;
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AP_Int8 reset_mission_chan;
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AP_Int8 manual_level;
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AP_Int32 airspeed_cruise_cm;
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AP_Int32 RTL_altitude_cm;
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AP_Int16 land_pitch_cd;
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AP_Float land_flare_alt;
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AP_Float land_flare_sec;
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AP_Int32 min_gndspeed_cm;
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AP_Int16 pitch_trim_cd;
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AP_Int16 FBWB_min_altitude_cm;
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AP_Int8 auto_trim;
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AP_Int8 mix_mode;
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AP_Int8 reverse_elevons;
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AP_Int8 reverse_ch1_elevon;
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AP_Int8 reverse_ch2_elevon;
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AP_Int16 num_resets;
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AP_Int16 log_bitmask;
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AP_Int8 reset_switch_chan;
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AP_Int8 reset_mission_chan;
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AP_Int8 manual_level;
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AP_Int32 airspeed_cruise_cm;
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AP_Int32 RTL_altitude_cm;
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AP_Int16 land_pitch_cd;
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AP_Float land_flare_alt;
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AP_Float land_flare_sec;
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AP_Int32 min_gndspeed_cm;
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AP_Int16 pitch_trim_cd;
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AP_Int16 FBWB_min_altitude_cm;
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AP_Int8 compass_enabled;
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AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
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AP_Int8 flap_1_percent;
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AP_Int8 flap_1_speed;
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AP_Int8 flap_2_percent;
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AP_Int8 flap_2_speed;
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AP_Float volt_div_ratio;
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AP_Float curr_amp_per_volt;
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AP_Float input_voltage;
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AP_Int32 pack_capacity; // Battery pack capacity less reserve
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AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
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AP_Int8 sonar_enabled;
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AP_Int8 stick_mixing;
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AP_Int8 compass_enabled;
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AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
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AP_Int8 flap_1_percent;
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AP_Int8 flap_1_speed;
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AP_Int8 flap_2_percent;
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AP_Int8 flap_2_speed;
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AP_Float volt_div_ratio;
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AP_Float curr_amp_per_volt;
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AP_Float input_voltage;
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AP_Int32 pack_capacity; // Battery pack capacity less reserve
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AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
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AP_Int8 sonar_enabled;
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AP_Int8 stick_mixing;
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// Camera
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// Camera
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#if CAMERA == ENABLED
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AP_Camera camera;
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AP_Camera camera;
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#endif
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// RC channels
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RC_Channel channel_roll;
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RC_Channel channel_pitch;
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RC_Channel channel_throttle;
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RC_Channel channel_rudder;
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RC_Channel_aux rc_5;
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RC_Channel_aux rc_6;
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RC_Channel_aux rc_7;
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RC_Channel_aux rc_8;
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RC_Channel channel_roll;
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RC_Channel channel_pitch;
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RC_Channel channel_throttle;
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RC_Channel channel_rudder;
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RC_Channel_aux rc_5;
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RC_Channel_aux rc_6;
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RC_Channel_aux rc_7;
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RC_Channel_aux rc_8;
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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RC_Channel_aux rc_9;
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RC_Channel_aux rc_10;
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RC_Channel_aux rc_11;
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RC_Channel_aux rc_9;
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RC_Channel_aux rc_10;
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RC_Channel_aux rc_11;
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#endif
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// PID controllers
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//
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PID pidNavRoll;
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PID pidServoRoll;
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PID pidServoPitch;
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PID pidNavPitchAirspeed;
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PID pidServoRudder;
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PID pidTeThrottle;
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PID pidNavPitchAltitude;
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PID pidWheelSteer;
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PID pidNavRoll;
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PID pidServoRoll;
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PID pidServoPitch;
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PID pidNavPitchAirspeed;
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PID pidServoRudder;
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PID pidTeThrottle;
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PID pidNavPitchAltitude;
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PID pidWheelSteer;
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Parameters() :
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// variable default
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//----------------------------------------
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channel_roll (CH_1),
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channel_pitch (CH_2),
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channel_throttle (CH_3),
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channel_rudder (CH_4),
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rc_5 (CH_5),
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rc_6 (CH_6),
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rc_7 (CH_7),
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rc_8 (CH_8),
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// variable default
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//----------------------------------------
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channel_roll (CH_1),
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channel_pitch (CH_2),
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channel_throttle (CH_3),
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channel_rudder (CH_4),
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rc_5 (CH_5),
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rc_6 (CH_6),
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rc_7 (CH_7),
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rc_8 (CH_8),
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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rc_9 (CH_9),
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rc_10 (CH_10),
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rc_11 (CH_11),
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rc_9 (CH_9),
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rc_10 (CH_10),
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rc_11 (CH_11),
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#endif
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// PID controller initial P initial I initial D initial imax
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@ -379,7 +379,8 @@ public:
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pidTeThrottle (THROTTLE_TE_P, THROTTLE_TE_I, THROTTLE_TE_D, THROTTLE_TE_INT_MAX),
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pidNavPitchAltitude (NAV_PITCH_ALT_P, NAV_PITCH_ALT_I, NAV_PITCH_ALT_D, NAV_PITCH_ALT_INT_MAX_CM),
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pidWheelSteer (0, 0, 0, 0)
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{}
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{
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}
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};
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extern const AP_Param::Info var_info[];
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