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cleanup 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1692 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-02-19 22:44:03 +00:00
parent a329aa18fe
commit 934df2e9f3
1 changed files with 43 additions and 42 deletions
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73
ArduCopterMega/Parameters.h
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@ -149,7 +149,7 @@ public:
AP_Int8 throttle_failsafe_enabled; AP_Int8 throttle_failsafe_enabled;
AP_Int8 throttle_failsafe_action; AP_Int8 throttle_failsafe_action;
AP_Int16 throttle_failsafe_value; AP_Int16 throttle_failsafe_value;
AP_Int8 throttle_cruise; AP_Int16 throttle_cruise;
// Flight modes // Flight modes
// //
@ -208,25 +208,25 @@ public:
uint8_t junk; uint8_t junk;
Parameters() : Parameters() :
// variable default key name // variable default key name
//------------------------------------------------------------------------------------------------------- //-------------------------------------------------------------------------------------------------------------------
format_version (k_format_version, k_param_format_version, NULL), format_version (k_format_version, k_param_format_version, NULL),
crosstrack_gain (XTRACK_GAIN_SCALED, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SCALED")), crosstrack_gain (XTRACK_GAIN * 100, k_param_crosstrack_gain, PSTR("XTRK_GAIN")),
crosstrack_entry_angle (XTRACK_ENTRY_ANGLE_CENTIDEGREE,k_param_crosstrack_entry_angle, PSTR("XTRACK_ENTRY_ANGLE_CENTIDEGREE")), 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")), frame_type (FRAME_CONFIG, k_param_frame_type, PSTR("FRAME_CONFIG")),
current_enabled (DISABLED, k_param_current, PSTR("CURRENT_ENABLE")), current_enabled (DISABLED, k_param_current, PSTR("CURRENT_ENABLE")),
milliamp_hours (2100, k_param_milliamp_hours, PSTR("MAH")), milliamp_hours (2100, k_param_milliamp_hours, PSTR("MAH")),
compass_enabled (DISABLED, k_param_compass, PSTR("COMPASS_ENABLE")), compass_enabled (DISABLED, k_param_compass, PSTR("COMPASS_ENABLE")),
waypoint_mode (0, k_param_waypoint_mode, PSTR("WP_MODE")), waypoint_mode (0, k_param_waypoint_mode, PSTR("WP_MODE")),
waypoint_total (0, k_param_waypoint_total, PSTR("WP_TOTAL")), waypoint_total (0, k_param_waypoint_total, PSTR("WP_TOTAL")),
waypoint_index (0, k_param_waypoint_index, PSTR("WP_INDEX")), waypoint_index (0, k_param_waypoint_index, PSTR("WP_INDEX")),
command_must_index (0, k_param_command_must_index, PSTR("WP_MUST_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")), waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")),
loiter_radius (LOITER_RADIUS_DEFAULT, k_param_loiter_radius, PSTR("LOITER_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_min (THROTTLE_MIN, k_param_throttle_min, PSTR("THR_MIN")),
throttle_max (THROTTLE_MAX, k_param_throttle_max, PSTR("THR_MAX")), throttle_max (THROTTLE_MAX, k_param_throttle_max, PSTR("THR_MAX")),
@ -235,15 +235,15 @@ public:
throttle_failsafe_value (THROTTLE_FS_VALUE, k_param_throttle_failsafe_value, PSTR("THR_FS_VALUE")), 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")), 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_mode_channel (FLIGHT_MODE_CHANNEL, k_param_flight_mode_channel, PSTR("FLIGHT_MODE_CH")),
flight_modes (k_param_flight_modes, PSTR("FLIGHT_MODES")), flight_modes (k_param_flight_modes, PSTR("FLIGHT_MODES")),
pitch_max (PITCH_MAX_CENTIDEGREE, k_param_pitch_max, PSTR("PITCH_MAX_CENTIDEGREE")), pitch_max (PITCH_MAX_CENTIDEGREE, k_param_pitch_max, PSTR("PITCH_MAX_CENTIDEGREE")),
log_bitmask (0, k_param_log_bitmask, PSTR("LOG_BITMASK")), log_bitmask (0, k_param_log_bitmask, PSTR("LOG_BITMASK")),
ground_temperature (0, k_param_ground_temperature, PSTR("GND_TEMP")), ground_temperature (0, k_param_ground_temperature, PSTR("GND_TEMP")),
ground_pressure (0, k_param_ground_pressure, PSTR("GND_ABS_PRESS")), 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")), RTL_altitude (ALT_HOLD_HOME_CM, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")),
// RC channel group key name // RC channel group key name
//---------------------------------------------------------------------- //----------------------------------------------------------------------
@ -255,24 +255,25 @@ public:
rc_6 (k_param_rc_6, PSTR("RC6_")), rc_6 (k_param_rc_6, PSTR("RC6_")),
rc_7 (k_param_rc_7, PSTR("RC7_")), rc_7 (k_param_rc_7, PSTR("RC7_")),
rc_8 (k_param_rc_8, PSTR("RC8_")), rc_8 (k_param_rc_8, PSTR("RC8_")),
rc_camera_pitch (k_param_rc_9, PSTR("RC9_")), rc_camera_pitch (k_param_rc_9, PSTR("RC9_")),
rc_camera_roll (k_param_rc_10, PSTR("RC10_")), rc_camera_roll (k_param_rc_10, PSTR("RC10_")),
// PID controller group key name initial P initial I initial D initial imax // 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_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_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 * 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_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 * 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_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_CENTIDEGREE), 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_CENTIDEGREE), 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_CENTIDEGREE),
pid_nav_lon (k_param_pid_nav_lon, PSTR("NAV_LON_"), NAV_P, NAV_I, NAV_D, NAV_IMAX_CENTIDEGREE), pid_nav_lat (k_param_pid_nav_lat, PSTR("NAV_LAT_"), 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_CENTIDEGREE), pid_nav_lon (k_param_pid_nav_lon, PSTR("NAV_LON_"), NAV_P, NAV_I, NAV_D, NAV_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_CENTIDEGREE),
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")), 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")), hold_yaw_dampener (HOLD_YAW_DAMPENER, k_param_hold_yaw_dampener, PSTR("YAW_DAMP")),