From 865deed57e652a5ef96bbd40d75155df8a399869 Mon Sep 17 00:00:00 2001 From: uncrustify Date: Tue, 21 Aug 2012 19:19:50 -0700 Subject: [PATCH] uncrustify ArduCopter/Parameters.pde --- ArduCopter/Parameters.pde | 594 +++++++++++++++++++------------------- 1 file changed, 297 insertions(+), 297 deletions(-) diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde index ffa699a613..c34be68ad2 100644 --- a/ArduCopter/Parameters.pde +++ b/ArduCopter/Parameters.pde @@ -1,390 +1,390 @@ /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- /* - ArduCopter parameter definitions + * ArduCopter parameter definitions + * + * This firmware is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + */ - This firmware is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. -*/ - -#define GSCALAR(v, name, def) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v, {def_value:def} } -#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, {group_info:class::var_info} } -#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info:class::var_info} } +#define GSCALAR(v, name, def) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v, {def_value : def} } +#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, {group_info : class::var_info} } +#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info : class::var_info} } const AP_Param::Info var_info[] PROGMEM = { - GSCALAR(format_version, "SYSID_SW_MREV", 0), - GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type), + GSCALAR(format_version, "SYSID_SW_MREV", 0), + 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), + 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), + // @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: ALT_HOLD_RTL - // @DisplayName: RTL Altitude - // @Description: This is the altitude the model will move to before Returning to Launch. Set to zero to return at current altitude. - // @Units: centimeters - // @Range: 0 4000 - // @Increment: 1 - // @User: Standard - GSCALAR(RTL_altitude, "ALT_HOLD_RTL", RTL_HOLD_ALT), + // @Param: ALT_HOLD_RTL + // @DisplayName: RTL Altitude + // @Description: This is the altitude the model will move to before Returning to Launch. Set to zero to return at current altitude. + // @Units: centimeters + // @Range: 0 4000 + // @Increment: 1 + // @User: Standard + GSCALAR(RTL_altitude, "ALT_HOLD_RTL", RTL_HOLD_ALT), - // @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", DISABLED), + // @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", DISABLED), - GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL), - GSCALAR(battery_monitoring, "BATT_MONITOR", DISABLED), + GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL), + GSCALAR(battery_monitoring, "BATT_MONITOR", DISABLED), - // @Param: VOLT_DIVIDER - // @DisplayName: Voltage Divider - // @Description: TODO - GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO), + // @Param: VOLT_DIVIDER + // @DisplayName: Voltage Divider + // @Description: TODO + 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(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT), + 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: BATT_CAPACITY + // @DisplayName: Battery Capacity + // @Description: Battery capacity in milliamp-hours (mAh) + // @Units: mAh + GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE), - // @Param: MAG_ENABLE - // @DisplayName: Enable Compass - // @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass - // @Values: 0:Disabled,1:Enabled - // @User: Standard - GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER), + // @Param: MAG_ENABLE + // @DisplayName: Enable Compass + // @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass + // @Values: 0:Disabled,1:Enabled + // @User: Standard + GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER), - // @Param: FLOW_ENABLE - // @DisplayName: Enable Optical Flow - // @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow - // @Values: 0:Disabled,1:Enabled - // @User: Standard - GSCALAR(optflow_enabled, "FLOW_ENABLE", OPTFLOW), + // @Param: FLOW_ENABLE + // @DisplayName: Enable Optical Flow + // @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow + // @Values: 0:Disabled,1:Enabled + // @User: Standard + GSCALAR(optflow_enabled, "FLOW_ENABLE", OPTFLOW), - // @Param: LOW_VOLT - // @DisplayName: Low Voltage - // @Description: Set this to the voltage you want to represent low voltage - // @Range: 0 20 - // @Increment: .1 - // @User: Standard - GSCALAR(low_voltage, "LOW_VOLT", LOW_VOLTAGE), + // @Param: LOW_VOLT + // @DisplayName: Low Voltage + // @Description: Set this to the voltage you want to represent low voltage + // @Range: 0 20 + // @Increment: .1 + // @User: Standard + GSCALAR(low_voltage, "LOW_VOLT", LOW_VOLTAGE), - // @Param: SUPER_SIMPLE - // @DisplayName: Enable Super Simple Mode - // @Description: Setting this to Enabled(1) will enable Super Simple Mode. Setting this to Disabled(0) will disable Super Simple Mode - // @Values: 0:Disabled,1:Enabled - // @User: Standard - GSCALAR(super_simple, "SUPER_SIMPLE", SUPER_SIMPLE), + // @Param: SUPER_SIMPLE + // @DisplayName: Enable Super Simple Mode + // @Description: Setting this to Enabled(1) will enable Super Simple Mode. Setting this to Disabled(0) will disable Super Simple Mode + // @Values: 0:Disabled,1:Enabled + // @User: Standard + GSCALAR(super_simple, "SUPER_SIMPLE", SUPER_SIMPLE), - // @Param: APPROACH_ALT - // @DisplayName: RTL Approach Altitude - // @Description: This is the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land. - // @Units: centimeters - // @Range: 1 1000 - // @Increment: 1 - // @User: Standard - GSCALAR(rtl_approach_alt, "APPROACH_ALT", RTL_APPROACH_ALT), + // @Param: APPROACH_ALT + // @DisplayName: RTL Approach Altitude + // @Description: This is the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land. + // @Units: centimeters + // @Range: 1 1000 + // @Increment: 1 + // @User: Standard + GSCALAR(rtl_approach_alt, "APPROACH_ALT", RTL_APPROACH_ALT), - GSCALAR(tilt_comp, "TILT", 54), + GSCALAR(tilt_comp, "TILT", 54), - GSCALAR(waypoint_mode, "WP_MODE", 0), - GSCALAR(command_total, "WP_TOTAL", 0), - GSCALAR(command_index, "WP_INDEX", 0), - GSCALAR(command_nav_index, "WP_MUST_INDEX",0), + GSCALAR(waypoint_mode, "WP_MODE", 0), + GSCALAR(command_total, "WP_TOTAL", 0), + GSCALAR(command_index, "WP_INDEX", 0), + GSCALAR(command_nav_index, "WP_MUST_INDEX",0), // @Param: WP_RADIUS - // @DisplayName: Waypoint Radius - // @Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit. - // @Units: Meters - // @Range: 1 127 - // @Increment: 1 - // @User: Standard - GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT), + // @DisplayName: Waypoint Radius + // @Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit. + // @Units: Meters + // @Range: 1 127 + // @Increment: 1 + // @User: Standard + GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT), // @Param: WP_LOITER_RAD - // @DisplayName: Waypoint Loiter Radius - // @Description: Defines the distance from the waypoint center, the vehicle will maintain during a loiter - // @Units: Meters - // @Range: 1 127 - // @Increment: 1 - // @User: Standard - GSCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS), - GSCALAR(waypoint_speed_max, "WP_SPEED_MAX", WAYPOINT_SPEED_MAX), - GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", CROSSTRACK_GAIN), - GSCALAR(auto_land_timeout, "AUTO_LAND", AUTO_LAND_TIME*1000), + // @DisplayName: Waypoint Loiter Radius + // @Description: Defines the distance from the waypoint center, the vehicle will maintain during a loiter + // @Units: Meters + // @Range: 1 127 + // @Increment: 1 + // @User: Standard + GSCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS), + GSCALAR(waypoint_speed_max, "WP_SPEED_MAX", WAYPOINT_SPEED_MAX), + GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", CROSSTRACK_GAIN), + GSCALAR(auto_land_timeout, "AUTO_LAND", AUTO_LAND_TIME*1000), // @Param: THR_MIN - // @DisplayName: Minimum Throttle - // @Description: The minimum throttle which the autopilot will apply. - // @Units: Percent - // @Range: 0 100 - // @Increment: 1 - // @User: Standard - GSCALAR(throttle_min, "THR_MIN", MINIMUM_THROTTLE), + // @DisplayName: Minimum Throttle + // @Description: The minimum throttle which the autopilot will apply. + // @Units: Percent + // @Range: 0 100 + // @Increment: 1 + // @User: Standard + GSCALAR(throttle_min, "THR_MIN", MINIMUM_THROTTLE), // @Param: THR_MAX - // @DisplayName: Maximum Throttle - // @Description: The maximum throttle which the autopilot will apply. - // @Units: Percent - // @Range: 0 100 - // @Increment: 1 - // @User: Standard - GSCALAR(throttle_max, "THR_MAX", MAXIMUM_THROTTLE), + // @DisplayName: Maximum Throttle + // @Description: The maximum throttle which the autopilot will apply. + // @Units: Percent + // @Range: 0 100 + // @Increment: 1 + // @User: Standard + GSCALAR(throttle_max, "THR_MAX", MAXIMUM_THROTTLE), // @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), + // @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), - GSCALAR(throttle_fs_action, "THR_FS_ACTION", THROTTLE_FAILSAFE_ACTION), + GSCALAR(throttle_fs_action, "THR_FS_ACTION", THROTTLE_FAILSAFE_ACTION), // @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), + // @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), - GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE), + GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE), - GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1), - GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2), - GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3), - GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4), - GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5), - GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6), - GSCALAR(simple_modes, "SIMPLE", 0), + GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1), + GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2), + GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3), + GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4), + GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5), + GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6), + GSCALAR(simple_modes, "SIMPLE", 0), // @Param: LOG_BITMASK - // @DisplayName: Log bitmask - // @Description: bitmap of log fields to enable - // @User: Advanced - GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK), - GSCALAR(log_last_filenumber, "LOG_LASTFILE", 0), - // THOR - // Added to allow change of Rate in the Mission planner - GSCALAR(toy_yaw_rate, "TOY_RATE", 1), + // @DisplayName: Log bitmask + // @Description: bitmap of log fields to enable + // @User: Advanced + GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK), + GSCALAR(log_last_filenumber, "LOG_LASTFILE", 0), + // THOR + // Added to allow change of Rate in the Mission planner + GSCALAR(toy_yaw_rate, "TOY_RATE", 1), - GSCALAR(esc_calibrate, "ESC", 0), - GSCALAR(radio_tuning, "TUNE", 0), - GSCALAR(radio_tuning_low, "TUNE_LOW", 0), - GSCALAR(radio_tuning_high, "TUNE_HIGH", 1000), - GSCALAR(frame_orientation, "FRAME", FRAME_ORIENTATION), - GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION), - GSCALAR(auto_slew_rate, "AUTO_SLEW", AUTO_SLEW_RATE), + GSCALAR(esc_calibrate, "ESC", 0), + GSCALAR(radio_tuning, "TUNE", 0), + GSCALAR(radio_tuning_low, "TUNE_LOW", 0), + GSCALAR(radio_tuning_high, "TUNE_HIGH", 1000), + GSCALAR(frame_orientation, "FRAME", FRAME_ORIENTATION), + GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION), + GSCALAR(auto_slew_rate, "AUTO_SLEW", AUTO_SLEW_RATE), - #if FRAME_CONFIG == HELI_FRAME - GGROUP(heli_servo_1, "HS1_", RC_Channel), - GGROUP(heli_servo_2, "HS2_", RC_Channel), - GGROUP(heli_servo_3, "HS3_", RC_Channel), - GGROUP(heli_servo_4, "HS4_", RC_Channel), - #endif +#if FRAME_CONFIG == HELI_FRAME + GGROUP(heli_servo_1, "HS1_", RC_Channel), + GGROUP(heli_servo_2, "HS2_", RC_Channel), + GGROUP(heli_servo_3, "HS3_", RC_Channel), + GGROUP(heli_servo_4, "HS4_", RC_Channel), +#endif #if CAMERA == ENABLED - // @Group: CAM_ - // @Path: ../libraries/AP_Camera/AP_Camera.cpp - GGROUP(camera, "CAM_", AP_Camera), + // @Group: CAM_ + // @Path: ../libraries/AP_Camera/AP_Camera.cpp + GGROUP(camera, "CAM_", AP_Camera), #endif - // RC channel - //----------- - // @Group: RC1_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(rc_1, "RC1_", RC_Channel), - // @Group: RC2_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(rc_2, "RC2_", RC_Channel), - // @Group: RC3_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(rc_3, "RC3_", RC_Channel), - // @Group: RC4_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(rc_4, "RC4_", RC_Channel), - // @Group: RC5_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(rc_5, "RC5_", RC_Channel), - // @Group: RC6_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(rc_6, "RC6_", RC_Channel), - // @Group: RC7_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(rc_7, "RC7_", RC_Channel), - // @Group: RC8_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(rc_8, "RC8_", RC_Channel), + // RC channel + //----------- + // @Group: RC1_ + // @Path: ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(rc_1, "RC1_", RC_Channel), + // @Group: RC2_ + // @Path: ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(rc_2, "RC2_", RC_Channel), + // @Group: RC3_ + // @Path: ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(rc_3, "RC3_", RC_Channel), + // @Group: RC4_ + // @Path: ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(rc_4, "RC4_", RC_Channel), + // @Group: RC5_ + // @Path: ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(rc_5, "RC5_", RC_Channel), + // @Group: RC6_ + // @Path: ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(rc_6, "RC6_", RC_Channel), + // @Group: RC7_ + // @Path: ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(rc_7, "RC7_", RC_Channel), + // @Group: RC8_ + // @Path: ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(rc_8, "RC8_", RC_Channel), #if MOUNT == ENABLED - // @Group: RC9_ - // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp - GGROUP(rc_9, "RC9_", RC_Channel_aux), + // @Group: RC9_ + // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp + GGROUP(rc_9, "RC9_", RC_Channel_aux), - // @Group: RC10_ - // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp - GGROUP(rc_10, "RC10_", RC_Channel_aux), + // @Group: RC10_ + // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp + GGROUP(rc_10, "RC10_", RC_Channel_aux), - // @Group: RC11_ - // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp - GGROUP(rc_11, "RC11_", RC_Channel_aux), + // @Group: RC11_ + // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp + GGROUP(rc_11, "RC11_", RC_Channel_aux), #endif - // @Param: RC_SPEED - // @DisplayName: ESC Update Speed - // @Description: This is the speed in Hertz that your ESCs will receive updates - // @Units: Hertz (Hz) - // @Values: 125,400,490 - // @User: Advanced - GSCALAR(rc_speed, "RC_SPEED", RC_FAST_SPEED), + // @Param: RC_SPEED + // @DisplayName: ESC Update Speed + // @Description: This is the speed in Hertz that your ESCs will receive updates + // @Units: Hertz (Hz) + // @Values: 125,400,490 + // @User: Advanced + GSCALAR(rc_speed, "RC_SPEED", RC_FAST_SPEED), - // variable - //--------- - GSCALAR(stabilize_d, "STAB_D", STABILIZE_D), + // variable + //--------- + GSCALAR(stabilize_d, "STAB_D", STABILIZE_D), - // @Param: STAB_D_S - // @DisplayName: Stabilize D Schedule - // @Description: This value is a percentage of scheduling applied to the Stabilize D term. - // @Range: 0 1 - // @Increment: .01 - // @User: Advanced - GSCALAR(stabilize_d_schedule, "STAB_D_S", STABILIZE_D_SCHEDULE), + // @Param: STAB_D_S + // @DisplayName: Stabilize D Schedule + // @Description: This value is a percentage of scheduling applied to the Stabilize D term. + // @Range: 0 1 + // @Increment: .01 + // @User: Advanced + GSCALAR(stabilize_d_schedule, "STAB_D_S", STABILIZE_D_SCHEDULE), - GSCALAR(acro_p, "ACRO_P", ACRO_P), - GSCALAR(axis_lock_p, "AXIS_P", AXIS_LOCK_P), - GSCALAR(axis_enabled, "AXIS_ENABLE", AXIS_LOCK_ENABLED), - GSCALAR(copter_leds_mode, "LED_MODE", 9), + GSCALAR(acro_p, "ACRO_P", ACRO_P), + GSCALAR(axis_lock_p, "AXIS_P", AXIS_LOCK_P), + GSCALAR(axis_enabled, "AXIS_ENABLE", AXIS_LOCK_ENABLED), + GSCALAR(copter_leds_mode, "LED_MODE", 9), - // PID controller - //--------------- - GGROUP(pid_rate_roll, "RATE_RLL_", AC_PID), - GGROUP(pid_rate_pitch, "RATE_PIT_", AC_PID), - GGROUP(pid_rate_yaw, "RATE_YAW_", AC_PID), + // PID controller + //--------------- + GGROUP(pid_rate_roll, "RATE_RLL_", AC_PID), + GGROUP(pid_rate_pitch, "RATE_PIT_", AC_PID), + GGROUP(pid_rate_yaw, "RATE_YAW_", AC_PID), - GGROUP(pid_loiter_rate_lat, "LOITER_LAT_", AC_PID), - GGROUP(pid_loiter_rate_lon, "LOITER_LON_", AC_PID), + GGROUP(pid_loiter_rate_lat, "LOITER_LAT_", AC_PID), + GGROUP(pid_loiter_rate_lon, "LOITER_LON_", AC_PID), - GGROUP(pid_nav_lat, "NAV_LAT_", AC_PID), - GGROUP(pid_nav_lon, "NAV_LON_", AC_PID), + GGROUP(pid_nav_lat, "NAV_LAT_", AC_PID), + GGROUP(pid_nav_lon, "NAV_LON_", AC_PID), - GGROUP(pid_throttle, "THR_RATE_", AC_PID), - GGROUP(pid_optflow_roll, "OF_RLL_", AC_PID), - GGROUP(pid_optflow_pitch, "OF_PIT_", AC_PID), + GGROUP(pid_throttle, "THR_RATE_", AC_PID), + GGROUP(pid_optflow_roll, "OF_RLL_", AC_PID), + GGROUP(pid_optflow_pitch, "OF_PIT_", AC_PID), - // PI controller - //-------------- - GGROUP(pi_stabilize_roll, "STB_RLL_", APM_PI), - GGROUP(pi_stabilize_pitch, "STB_PIT_", APM_PI), - GGROUP(pi_stabilize_yaw, "STB_YAW_", APM_PI), + // PI controller + //-------------- + GGROUP(pi_stabilize_roll, "STB_RLL_", APM_PI), + GGROUP(pi_stabilize_pitch, "STB_PIT_", APM_PI), + GGROUP(pi_stabilize_yaw, "STB_YAW_", APM_PI), - GGROUP(pi_alt_hold, "THR_ALT_", APM_PI), - GGROUP(pi_loiter_lat, "HLD_LAT_", APM_PI), - GGROUP(pi_loiter_lon, "HLD_LON_", APM_PI), + GGROUP(pi_alt_hold, "THR_ALT_", APM_PI), + GGROUP(pi_loiter_lat, "HLD_LAT_", APM_PI), + GGROUP(pi_loiter_lon, "HLD_LON_", APM_PI), - // variables not in the g class which contain EEPROM saved variables + // variables not in the g class which contain EEPROM saved variables - // @Group: COMPASS_ - // @Path: ../libraries/AP_Compass/Compass.cpp - GOBJECT(compass, "COMPASS_", Compass), + // @Group: COMPASS_ + // @Path: ../libraries/AP_Compass/Compass.cpp + GOBJECT(compass, "COMPASS_", Compass), - // @Group: INS_ - // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp + // @Group: INS_ + // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp #if HIL_MODE == HIL_MODE_DISABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 - GOBJECT(ins, "INS_", AP_InertialSensor_Oilpan), + GOBJECT(ins, "INS_", AP_InertialSensor_Oilpan), #endif - GOBJECT(gcs0, "SR0_", GCS_MAVLINK), - GOBJECT(gcs3, "SR3_", GCS_MAVLINK), + GOBJECT(gcs0, "SR0_", GCS_MAVLINK), + GOBJECT(gcs3, "SR3_", GCS_MAVLINK), - // @Group: IMU_ - // @Path: ../libraries/AP_IMU/IMU.cpp - GOBJECT(imu, "IMU_", IMU), + // @Group: IMU_ + // @Path: ../libraries/AP_IMU/IMU.cpp + GOBJECT(imu, "IMU_", IMU), - // @Group: AHRS_ - // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp - GOBJECT(ahrs, "AHRS_", AP_AHRS), + // @Group: AHRS_ + // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp + GOBJECT(ahrs, "AHRS_", AP_AHRS), #if MOUNT == ENABLED - // @Group: MNT_ - // @Path: ../libraries/AP_Mount/AP_Mount.cpp - GOBJECT(camera_mount, "MNT_", AP_Mount), + // @Group: MNT_ + // @Path: ../libraries/AP_Mount/AP_Mount.cpp + GOBJECT(camera_mount, "MNT_", AP_Mount), #endif #if MOUNT2 == ENABLED - // @Group: MNT2_ - // @Path: ../libraries/AP_Mount/AP_Mount.cpp - GOBJECT(camera_mount2, "MNT2_", AP_Mount), + // @Group: MNT2_ + // @Path: ../libraries/AP_Mount/AP_Mount.cpp + GOBJECT(camera_mount2, "MNT2_", AP_Mount), #endif #ifdef DESKTOP_BUILD - GOBJECT(sitl, "SIM_", SITL), + GOBJECT(sitl, "SIM_", SITL), #endif - //@Group: LIM_ - //@Path: ../libraries/AP_Limits/AP_Limits.cpp,../libraries/AP_Limits/AP_Limit_GPSLock.cpp, ../libraries/AP_Limits/AP_Limit_Geofence.cpp, ../libraries/AP_Limits/AP_Limit_Altitude.cpp, ../libraries/AP_Limits/AP_Limit_Module.cpp - GOBJECT(limits, "LIM_", AP_Limits), - GOBJECT(gpslock_limit, "LIM_", AP_Limit_GPSLock), - GOBJECT(geofence_limit, "LIM_", AP_Limit_Geofence), - GOBJECT(altitude_limit, "LIM_", AP_Limit_Altitude), + //@Group: LIM_ + //@Path: ../libraries/AP_Limits/AP_Limits.cpp,../libraries/AP_Limits/AP_Limit_GPSLock.cpp, ../libraries/AP_Limits/AP_Limit_Geofence.cpp, ../libraries/AP_Limits/AP_Limit_Altitude.cpp, ../libraries/AP_Limits/AP_Limit_Module.cpp + GOBJECT(limits, "LIM_", AP_Limits), + GOBJECT(gpslock_limit, "LIM_", AP_Limit_GPSLock), + GOBJECT(geofence_limit, "LIM_", AP_Limit_Geofence), + GOBJECT(altitude_limit, "LIM_", AP_Limit_Altitude), - #if FRAME_CONFIG == HELI_FRAME - // @Group: H_ - // @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp - GOBJECT(motors, "H_", AP_MotorsHeli), - #else - GOBJECT(motors, "MOT_", AP_Motors), - #endif +#if FRAME_CONFIG == HELI_FRAME + // @Group: H_ + // @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp + GOBJECT(motors, "H_", AP_MotorsHeli), +#else + GOBJECT(motors, "MOT_", AP_Motors), +#endif - AP_VAREND + AP_VAREND }; static void load_parameters(void) { - // change the default for the AHRS_GPS_GAIN for ArduCopter - // if it hasn't been set by the user - if (!ahrs.gps_gain.load()) { - ahrs.gps_gain.set_and_save(0.0); - } + // change the default for the AHRS_GPS_GAIN for ArduCopter + // if it hasn't been set by the user + if (!ahrs.gps_gain.load()) { + ahrs.gps_gain.set_and_save(0.0); + } - // setup different AHRS gains for ArduCopter than the default - // but allow users to override in their config - if (!ahrs._kp.load()) { - ahrs._kp.set_and_save(0.1); - } - if (!ahrs._kp_yaw.load()) { - ahrs._kp_yaw.set_and_save(0.1); - } + // setup different AHRS gains for ArduCopter than the default + // but allow users to override in their config + if (!ahrs._kp.load()) { + ahrs._kp.set_and_save(0.1); + } + if (!ahrs._kp_yaw.load()) { + ahrs._kp_yaw.set_and_save(0.1); + } - if (!g.format_version.load() || - g.format_version != Parameters::k_format_version) { + if (!g.format_version.load() || + g.format_version != Parameters::k_format_version) { - // erase all parameters - Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n")); - AP_Param::erase_all(); + // erase all parameters + Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n")); + AP_Param::erase_all(); - // save the current format version - g.format_version.set_and_save(Parameters::k_format_version); - default_dead_zones(); - Serial.println_P(PSTR("done.")); - } else { - uint32_t before = micros(); - // Load all auto-loaded EEPROM variables - AP_Param::load_all(); + // save the current format version + g.format_version.set_and_save(Parameters::k_format_version); + default_dead_zones(); + Serial.println_P(PSTR("done.")); + } else { + uint32_t before = micros(); + // Load all auto-loaded EEPROM variables + AP_Param::load_all(); - Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before); - } + Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before); + } }