From 934df2e9f33c4fff56b429973b91aef63a826583 Mon Sep 17 00:00:00 2001 From: jasonshort Date: Sat, 19 Feb 2011 22:44:03 +0000 Subject: [PATCH] cleanup git-svn-id: https://arducopter.googlecode.com/svn/trunk@1692 f9c3cf11-9bcb-44bc-f272-b75c42450872 --- ArduCopterMega/Parameters.h | 85 +++++++++++++++++++------------------ 1 file changed, 43 insertions(+), 42 deletions(-) diff --git a/ArduCopterMega/Parameters.h b/ArduCopterMega/Parameters.h index 62f2ef69a4..e702136e5c 100644 --- a/ArduCopterMega/Parameters.h +++ b/ArduCopterMega/Parameters.h @@ -149,7 +149,7 @@ public: AP_Int8 throttle_failsafe_enabled; AP_Int8 throttle_failsafe_action; AP_Int16 throttle_failsafe_value; - AP_Int8 throttle_cruise; + AP_Int16 throttle_cruise; // Flight modes // @@ -208,25 +208,25 @@ public: uint8_t junk; Parameters() : - // variable default key name - //------------------------------------------------------------------------------------------------------- - format_version (k_format_version, k_param_format_version, NULL), + // variable default key name + //------------------------------------------------------------------------------------------------------------------- + format_version (k_format_version, k_param_format_version, NULL), - crosstrack_gain (XTRACK_GAIN_SCALED, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SCALED")), - crosstrack_entry_angle (XTRACK_ENTRY_ANGLE_CENTIDEGREE,k_param_crosstrack_entry_angle, PSTR("XTRACK_ENTRY_ANGLE_CENTIDEGREE")), - - frame_type (FRAME_CONFIG, k_param_frame_type, PSTR("FRAME_CONFIG")), - - current_enabled (DISABLED, k_param_current, PSTR("CURRENT_ENABLE")), - milliamp_hours (2100, k_param_milliamp_hours, PSTR("MAH")), - compass_enabled (DISABLED, k_param_compass, PSTR("COMPASS_ENABLE")), - - waypoint_mode (0, k_param_waypoint_mode, PSTR("WP_MODE")), - waypoint_total (0, k_param_waypoint_total, PSTR("WP_TOTAL")), - waypoint_index (0, k_param_waypoint_index, PSTR("WP_INDEX")), - command_must_index (0, k_param_command_must_index, PSTR("WP_MUST_INDEX")), - waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")), - loiter_radius (LOITER_RADIUS_DEFAULT, k_param_loiter_radius, PSTR("LOITER_RADIUS")), + crosstrack_gain (XTRACK_GAIN * 100, k_param_crosstrack_gain, PSTR("XTRK_GAIN")), + crosstrack_entry_angle (XTRACK_ENTRY_ANGLE * 100, k_param_crosstrack_entry_angle, PSTR("XTRACK_ANGLE")), + + frame_type (FRAME_CONFIG, k_param_frame_type, PSTR("FRAME_CONFIG")), + + current_enabled (DISABLED, k_param_current, PSTR("CURRENT_ENABLE")), + milliamp_hours (2100, k_param_milliamp_hours, PSTR("MAH")), + compass_enabled (DISABLED, k_param_compass, PSTR("COMPASS_ENABLE")), + + waypoint_mode (0, k_param_waypoint_mode, PSTR("WP_MODE")), + waypoint_total (0, k_param_waypoint_total, PSTR("WP_TOTAL")), + waypoint_index (0, k_param_waypoint_index, PSTR("WP_INDEX")), + command_must_index (0, k_param_command_must_index, PSTR("WP_MUST_INDEX")), + waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")), + loiter_radius (LOITER_RADIUS_DEFAULT, k_param_loiter_radius, PSTR("LOITER_RADIUS")), throttle_min (THROTTLE_MIN, k_param_throttle_min, PSTR("THR_MIN")), throttle_max (THROTTLE_MAX, k_param_throttle_max, PSTR("THR_MAX")), @@ -234,16 +234,16 @@ public: throttle_failsafe_action (THROTTLE_FAILSAFE_ACTION, k_param_throttle_failsafe_action, PSTR("THR_FS_ACTION")), throttle_failsafe_value (THROTTLE_FS_VALUE, k_param_throttle_failsafe_value, PSTR("THR_FS_VALUE")), throttle_cruise (THROTTLE_CRUISE, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")), - - flight_mode_channel (FLIGHT_MODE_CHANNEL, k_param_flight_mode_channel, PSTR("FLIGHT_MODE_CH")), - flight_modes (k_param_flight_modes, PSTR("FLIGHT_MODES")), - - pitch_max (PITCH_MAX_CENTIDEGREE, k_param_pitch_max, PSTR("PITCH_MAX_CENTIDEGREE")), - - log_bitmask (0, k_param_log_bitmask, PSTR("LOG_BITMASK")), - ground_temperature (0, k_param_ground_temperature, PSTR("GND_TEMP")), - ground_pressure (0, k_param_ground_pressure, PSTR("GND_ABS_PRESS")), - RTL_altitude (ALT_HOLD_HOME_CM, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")), + + flight_mode_channel (FLIGHT_MODE_CHANNEL, k_param_flight_mode_channel, PSTR("FLIGHT_MODE_CH")), + flight_modes (k_param_flight_modes, PSTR("FLIGHT_MODES")), + + pitch_max (PITCH_MAX_CENTIDEGREE, k_param_pitch_max, PSTR("PITCH_MAX_CENTIDEGREE")), + + log_bitmask (0, k_param_log_bitmask, PSTR("LOG_BITMASK")), + ground_temperature (0, k_param_ground_temperature, PSTR("GND_TEMP")), + ground_pressure (0, k_param_ground_pressure, PSTR("GND_ABS_PRESS")), + RTL_altitude (ALT_HOLD_HOME_CM, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")), // RC channel group key name //---------------------------------------------------------------------- @@ -255,24 +255,25 @@ public: rc_6 (k_param_rc_6, PSTR("RC6_")), rc_7 (k_param_rc_7, PSTR("RC7_")), rc_8 (k_param_rc_8, PSTR("RC8_")), - rc_camera_pitch (k_param_rc_9, PSTR("RC9_")), rc_camera_roll (k_param_rc_10, PSTR("RC10_")), - // PID controller group key name initial P initial I initial D initial imax - //--------------------------------------------------------------------------------------------------------------------------------------- - pid_acro_rate_roll (k_param_pid_acro_rate_roll, PSTR("ACR_RLL_"), ACRO_RATE_ROLL_P, ACRO_RATE_ROLL_I, ACRO_RATE_ROLL_D, ACRO_RATE_ROLL_IMAX_CENTIDEGREE), - pid_acro_rate_pitch (k_param_pid_acro_rate_pitch, PSTR("ACR_PIT_"), ACRO_RATE_PITCH_P, ACRO_RATE_PITCH_I, ACRO_RATE_PITCH_D, ACRO_RATE_PITCH_IMAX_CENTIDEGREE), - pid_acro_rate_yaw (k_param_pid_acro_rate_yaw, PSTR("ACR_YAW_"), ACRO_RATE_YAW_P, ACRO_RATE_YAW_I, ACRO_RATE_YAW_D, ACRO_RATE_YAW_IMAX_CENTIDEGREE), + // PID controller group key name initial P initial I initial D initial imax + //-------------------------------------------------------------------------------------------------------------------------------------------------------------------- + pid_acro_rate_roll (k_param_pid_acro_rate_roll, PSTR("ACR_RLL_"), ACRO_RATE_ROLL_P, ACRO_RATE_ROLL_I, ACRO_RATE_ROLL_D, ACRO_RATE_ROLL_IMAX * 100), + pid_acro_rate_pitch (k_param_pid_acro_rate_pitch, PSTR("ACR_PIT_"), ACRO_RATE_PITCH_P, ACRO_RATE_PITCH_I, ACRO_RATE_PITCH_D, ACRO_RATE_PITCH_IMAX * 100), + pid_acro_rate_yaw (k_param_pid_acro_rate_yaw, PSTR("ACR_YAW_"), ACRO_RATE_YAW_P, ACRO_RATE_YAW_I, ACRO_RATE_YAW_D, ACRO_RATE_YAW_IMAX * 100), - pid_stabilize_roll (k_param_pid_stabilize_roll, PSTR("STB_RLL_"), STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_D, STABILIZE_ROLL_IMAX_CENTIDEGREE), - pid_stabilize_pitch (k_param_pid_stabilize_pitch, PSTR("STB_PIT_"), STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_D, STABILIZE_PITCH_IMAX_CENTIDEGREE), - pid_yaw (k_param_pid_yaw, PSTR("STB_YAW_"), YAW_P, YAW_I, YAW_D, YAW_IMAX_CENTIDEGREE), - pid_nav_lat (k_param_pid_nav_lat, PSTR("NAV_LAT_"), NAV_P, NAV_I, NAV_D, NAV_IMAX_CENTIDEGREE), - pid_nav_lon (k_param_pid_nav_lon, PSTR("NAV_LON_"), NAV_P, NAV_I, NAV_D, NAV_IMAX_CENTIDEGREE), - pid_baro_throttle (k_param_pid_baro_throttle, PSTR("THR_BAR_"), THROTTLE_BARO_P, THROTTLE_BARO_I, THROTTLE_BARO_D, THROTTLE_BARO_IMAX_CENTIDEGREE), - pid_sonar_throttle (k_param_pid_sonar_throttle, PSTR("THR_SON_"), THROTTLE_SONAR_P, THROTTLE_SONAR_I, THROTTLE_SONAR_D, THROTTLE_SONAR_IMAX_CENTIDEGREE), + pid_stabilize_roll (k_param_pid_stabilize_roll, PSTR("STB_RLL_"), STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_D, STABILIZE_ROLL_IMAX * 100), + pid_stabilize_pitch (k_param_pid_stabilize_pitch, PSTR("STB_PIT_"), STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_D, STABILIZE_PITCH_IMAX * 100), + pid_yaw (k_param_pid_yaw, PSTR("STB_YAW_"), YAW_P, YAW_I, YAW_D, YAW_IMAX * 100), + + pid_nav_lat (k_param_pid_nav_lat, PSTR("NAV_LAT_"), NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), + pid_nav_lon (k_param_pid_nav_lon, PSTR("NAV_LON_"), NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), + + pid_baro_throttle (k_param_pid_baro_throttle, PSTR("THR_BAR_"), THROTTLE_BARO_P, THROTTLE_BARO_I, THROTTLE_BARO_D, THROTTLE_BARO_IMAX * 100), + pid_sonar_throttle (k_param_pid_sonar_throttle, PSTR("THR_SON_"), THROTTLE_SONAR_P, THROTTLE_SONAR_I, THROTTLE_SONAR_D, THROTTLE_SONAR_IMAX * 100), stabilize_dampener (STABILIZE_DAMPENER, k_param_stabilize_dampener, PSTR("STB_DAMP")), hold_yaw_dampener (HOLD_YAW_DAMPENER, k_param_hold_yaw_dampener, PSTR("YAW_DAMP")),