Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-03 04:03:59 -04:00
Code Issues Packages Projects Releases Wiki Activity

Sub: Fixup parameter metadata

Browse Source
This commit is contained in:
Jacob Walser 2016-12-20 15:20:15 -05:00 committed by Andrew Tridgell
parent 173ee85ac7
commit 7c849f1e52
3 changed files with 13 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
ArduSub/Parameters.cpp
View File

@ -18,7 +18,7 @@
*/
/*
* ArduCopter parameter definitions
* ArduSub parameter definitions
*
*/
@ -98,7 +98,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Param: RNGFND_GAIN
// @DisplayName: Rangefinder gain
// @Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter
// @Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the sub
// @Range: 0.01 2.0
// @Increment: 0.01
// @User: Standard
@ -107,13 +107,13 @@ const AP_Param::Info Sub::var_info[] = {
// @Param: FS_BATT_ENABLE
// @DisplayName: Battery Failsafe Enable
// @Description: Controls whether failsafe will be invoked when battery voltage or current runs low
// @Values: 0:Disabled,1:Land,2:RTL
// @Values: 0:Disabled
// @User: Standard
GSCALAR(failsafe_battery_enabled, "FS_BATT_ENABLE", FS_BATT_DISABLED),
// @Param: FS_BATT_VOLTAGE
// @DisplayName: Failsafe battery voltage
// @Description: Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL
// @Description: Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe.
// @Units: Volts
// @Increment: 0.1
// @User: Standard
@ -121,7 +121,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Param: FS_BATT_MAH
// @DisplayName: Failsafe battery milliAmpHours
// @Description: Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL
// @Description: Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe.
// @Units: mAh
// @Increment: 50
// @User: Standard
@ -283,7 +283,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Param: ESC_CALIBRATION
// @DisplayName: ESC Calibration
// @Description: Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.
// @Description: Controls whether ArduSub will enter ESC calibration on the next restart. Do not adjust this parameter manually.
// @User: Advanced
// @Values: 0:Normal Start-up, 1:Start-up in ESC Calibration mode if throttle high, 2:Start-up in ESC Calibration mode regardless of throttle, 9:Disabled
GSCALAR(esc_calibrate, "ESC_CALIBRATION", 0),
@ -391,7 +391,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Param: FS_EKF_ACTION
// @DisplayName: EKF Failsafe Action
// @Description: Controls the action that will be taken when an EKF failsafe is invoked
// @Values: 1:Land, 2:AltHold, 3:Land even in Stabilize
// @Values: 1:Disabled
// @User: Advanced
GSCALAR(fs_ekf_action, "FS_EKF_ACTION", FS_EKF_ACTION_DEFAULT),
@ -405,7 +405,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Param: FS_CRASH_CHECK
// @DisplayName: Crash check enable
// @Description: This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
// @Values: 0:Disabled, 1:Enabled
// @Values: 0:Disabled
// @User: Advanced
GSCALAR(fs_crash_check, "FS_CRASH_CHECK", 0),
@ -508,7 +508,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Range: 0.5 4.0
GSCALAR(throttle_gain, "JS_THR_GAIN", 1.0f),
// @Param: CAM_TILT_CENTER
// @Param: CAM_CENTER
// @DisplayName: Camera tilt mount center
// @Description: Servo PWM at camera center position
// @User: Standard
@ -597,7 +597,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Param: ACRO_YAW_P
// @DisplayName: Acro Yaw P gain
// @Description: Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes. Higher values mean faster rate of rotation.
// @Description: Converts pilot yaw input into a desired rate of rotation. Higher values mean faster rate of rotation.
// @Range: 1 10
// @User: Standard
GSCALAR(acro_yaw_p, "ACRO_YAW_P", ACRO_YAW_P),

4
ArduSub/config.h
View File

@ -176,7 +176,7 @@
// Battery monitoring
//
#ifndef FS_BATT_VOLTAGE_DEFAULT
# define FS_BATT_VOLTAGE_DEFAULT 10.5f // default battery voltage below which failsafe will be triggered
# define FS_BATT_VOLTAGE_DEFAULT 0 // default battery voltage below which failsafe will be triggered
#endif
#ifndef FS_BATT_MAH_DEFAULT
@ -241,7 +241,7 @@
//////////////////////////////////////////////////////////////////////////////
// EKF Failsafe
#ifndef FS_EKF_ACTION_DEFAULT
# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_LAND // EKF failsafe triggers land by default
# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_DISABLED // EKF failsafe triggers land by default
#endif
#ifndef FS_EKF_THRESHOLD_DEFAULT
# define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered

4
ArduSub/defines.h
View File

@ -474,9 +474,7 @@ enum LoiterModeState {
#define FS_TERRAIN_RECOVER_TIMEOUT_MS 10000
// EKF failsafe definitions (FS_EKF_ENABLE parameter)
#define FS_EKF_ACTION_LAND 1 // switch to LAND mode on EKF failsafe
#define FS_EKF_ACTION_ALTHOLD 2 // switch to ALTHOLD mode on EKF failsafe
#define FS_EKF_ACTION_LAND_EVEN_STABILIZE 3 // switch to Land mode on EKF failsafe even if in a manual flight mode like stabilize
#define FS_EKF_ACTION_DISABLED 1 // Disabled, not implemented yet in Sub
// for mavlink SET_POSITION_TARGET messages
#define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1) | (1<<2))