diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h index 63f1076bc1..68b84748fa 100644 --- a/APMrover2/Parameters.h +++ b/APMrover2/Parameters.h @@ -138,10 +138,10 @@ public: // // 200: Feed-forward gains // - k_param_kff_pitch_compensation = 200, - k_param_kff_rudder_mix, - k_param_kff_pitch_to_throttle, - k_param_kff_throttle_to_pitch, + k_param_kff_pitch_compensation = 200, // unused + k_param_kff_rudder_mix, // unused + k_param_kff_pitch_to_throttle, // unused + k_param_kff_throttle_to_pitch, // unused // // 210: flight modes @@ -238,13 +238,6 @@ public: AP_Int8 serial3_baud; AP_Int8 telem_delay; - // Feed-forward gains - // - AP_Float kff_pitch_compensation; - AP_Float kff_rudder_mix; - AP_Float kff_pitch_to_throttle; - AP_Float kff_throttle_to_pitch; - // Crosstrack navigation // AP_Float crosstrack_gain; diff --git a/APMrover2/Parameters.pde b/APMrover2/Parameters.pde index a198ccaaf7..fad2d7a028 100644 --- a/APMrover2/Parameters.pde +++ b/APMrover2/Parameters.pde @@ -18,38 +18,167 @@ const AP_Param::Info var_info[] PROGMEM = { GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type), GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID), GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255), + + // @Param: SERIAL3_BAUD + // @DisplayName: Telemetry Baud Rate + // @Description: The baud rate used on the telemetry port + // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200 + // @User: Standard GSCALAR(serial3_baud, "SERIAL3_BAUD", SERIAL3_BAUD/1000), + + // @Param: TELEM_DELAY + // @DisplayName: Telemetry startup delay + // @Description: The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up + // @User: Standard + // @Units: seconds + // @Range: 0 10 + // @Increment: 1 GSCALAR(telem_delay, "TELEM_DELAY", 0), - GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP", PITCH_COMP), - GSCALAR(kff_rudder_mix, "KFF_RDDRMIX", RUDDER_MIX), - GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR", P_TO_T), - GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH", T_TO_P), + + // @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 + // @Values: 0:Disabled,1:Enabled + // @User: Advanced GSCALAR(manual_level, "MANUAL_LEVEL", 0), + // @Param: XTRK_GAIN_SC + // @DisplayName: Crosstrack Gain + // @Description: The scale between distance off the line and angle to meet the line (in Degrees * 100) + // @Range: 0 2000 + // @Increment: 1 + // @User: Standard GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", XTRACK_GAIN_SCALED), + + // @Param: XTRK_ANGLE_CD + // @DisplayName: Crosstrack Entry Angle + // @Description: Maximum angle used to correct for track following. + // @Units: centi-Degrees + // @Range: 0 9000 + // @Increment: 1 + // @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), GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT), + // @Param: THR_MIN + // @DisplayName: Minimum Throttle + // @Description: The minimum throttle setting to which the autopilot will apply. + // @Units: Percent + // @Range: 0 100 + // @Increment: 1 + // @User: Standard GSCALAR(throttle_min, "THR_MIN", THROTTLE_MIN), + + // @Param: THR_MAX + // @DisplayName: Maximum Throttle + // @Description: The maximum throttle setting to which the autopilot will apply. + // @Units: Percent + // @Range: 0 100 + // @Increment: 1 + // @User: Standard GSCALAR(throttle_max, "THR_MAX", THROTTLE_MAX), + + // @Param: THR_SLEWRATE + // @DisplayName: Throttlw 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", THROTTLE_SLEW_LIMIT), + + // @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 + // @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: TRIM_THROTTLE + // @DisplayName: Throttle cruise percentage + // @Description: The target percentage of throttle to apply for normal flight + // @Units: Percent + // @Range: 0 100 + // @Increment: 1 + // @User: Standard GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE), + // @Param: FS_SHORT_ACTN + // @DisplayName: Short failsafe action + // @Description: The action to take on a short (1 second) failsafe event + // @Values: 0:None,1:ReturnToLaunch + // @User: Standard GSCALAR(short_fs_action, "FS_SHORT_ACTN", SHORT_FAILSAFE_ACTION), + + // @Param: FS_LONG_ACTN + // @DisplayName: Long failsafe action + // @Description: The action to take on a long (20 second) failsafe event + // @Values: 0:None,1:ReturnToLaunch + // @User: Standard GSCALAR(long_fs_action, "FS_LONG_ACTN", LONG_FAILSAFE_ACTION), + + // @Param: FS_GCS_ENABL + // @DisplayName: GCS failsafe enable + // @Description: Enable ground control station telemetry failsafe. Failsafe will trigger after 20 seconds of no MAVLink heartbeat messages + // @Values: 0:Disabled,1:Enabled + // @User: Standard GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL", GCS_HEARTBEAT_FAILSAFE), + // @Param: FLTMODE_CH + // @DisplayName: Flightmode channel + // @Description: RC Channel to use for flight mode control + // @User: Advanced GSCALAR(flight_mode_channel, "FLTMODE_CH", FLIGHT_MODE_CHANNEL), + + // @Param: FLTMODE1 + // @DisplayName: FlightMode1 + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard + // @Description: Flight mode for switch position 1 (910 to 1230 and above 2049) GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1), + + // @Param: FLTMODE2 + // @DisplayName: FlightMode2 + // @Description: Flight mode for switch position 2 (1231 to 1360) + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2), + + // @Param: FLTMODE3 + // @DisplayName: FlightMode3 + // @Description: Flight mode for switch position 3 (1361 to 1490) + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3), + + // @Param: FLTMODE4 + // @DisplayName: FlightMode4 + // @Description: Flight mode for switch position 4 (1491 to 1620) + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4), + + // @Param: FLTMODE5 + // @DisplayName: FlightMode5 + // @Description: Flight mode for switch position 5 (1621 to 1749) + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5), + + // @Param: FLTMODE6 + // @DisplayName: FlightMode6 + // @Description: Flight mode for switch position 6 (1750 to 2049) + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6), GSCALAR(roll_limit, "LIM_ROLL_CD", HEAD_MAX_CENTIDEGREE),