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Tracker: parameter descriptions for FORMAT_VERSION 

Also added for SYSID_SW_TYPE and pitch and yaw PID parameters
No functional change
This commit is contained in:
Randy Mackay 2016-02-08 20:40:31 +09:00
parent d1babdb0fb
commit 942da17b7d
1 changed files with 67 additions and 0 deletions
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67
AntennaTracker/Parameters.cpp
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@ -14,7 +14,17 @@
#define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&tracker.v, {group_info : class::var_info} } #define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&tracker.v, {group_info : class::var_info} }
const AP_Param::Info Tracker::var_info[] = { const AP_Param::Info Tracker::var_info[] = {
// @Param: FORMAT_VERSION
// @DisplayName: Eeprom format version number
// @Description: This value is incremented when changes are made to the eeprom format
// @User: Advanced
GSCALAR(format_version, "FORMAT_VERSION", 0), GSCALAR(format_version, "FORMAT_VERSION", 0),
// @Param: SYSID_SW_TYPE
// @DisplayName: Software Type
// @Description: This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)
// @Values: 0:ArduPlane,4:AntennaTracker,10:Copter,20:Rover
// @User: Advanced
GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type), GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type),
// @Param: SYSID_THISMAV // @Param: SYSID_THISMAV
@ -275,7 +285,64 @@ const AP_Param::Info Tracker::var_info[] = {
// @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp // @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
GOBJECT(serial_manager, "SERIAL", AP_SerialManager), GOBJECT(serial_manager, "SERIAL", AP_SerialManager),
// @Param: PITCH2SRV_P
// @DisplayName: Pitch axis controller P gain
// @Description: Pitch axis controller P gain. Converts the difference between desired pitch angle and actual pitch angle into a pitch servo pwm change
// @Range: 0.0 3.0
// @Increment: 0.01
// @User: Standard
// @Param: PITCH2SRV_I
// @DisplayName: Pitch axis controller I gain
// @Description: Pitch axis controller I gain. Corrects long-term difference in desired pitch angle vs actual pitch angle
// @Range: 0.0 3.0
// @Increment: 0.01
// @User: Standard
// @Param: PITCH2SRV_IMAX
// @DisplayName: Pitch axis controller I gain maximum
// @Description: Pitch axis controller I gain maximum. Constrains the maximum pwm change that the I gain will output
// @Range: 0 4000
// @Increment: 10
// @Units: Percent*10
// @User: Standard
// @Param: PITCH2SRV_D
// @DisplayName: Pitch axis controller D gain
// @Description: Pitch axis controller D gain. Compensates for short-term change in desired pitch angle vs actual pitch angle
// @Range: 0.001 0.1
// @Increment: 0.001
// @User: Standard
GGROUP(pidPitch2Srv, "PITCH2SRV_", PID), GGROUP(pidPitch2Srv, "PITCH2SRV_", PID),
// @Param: YAW2SRV_P
// @DisplayName: Yaw axis controller P gain
// @Description: Yaw axis controller P gain. Converts the difference between desired yaw angle (heading) and actual yaw angle into a yaw servo pwm change
// @Range: 0.0 3.0
// @Increment: 0.01
// @User: Standard
// @Param: YAW2SRV_I
// @DisplayName: Yaw axis controller I gain
// @Description: Yaw axis controller I gain. Corrects long-term difference in desired yaw angle (heading) vs actual yaw angle
// @Range: 0.0 3.0
// @Increment: 0.01
// @User: Standard
// @Param: YAW2SRV_IMAX
// @DisplayName: Yaw axis controller I gain maximum
// @Description: Yaw axis controller I gain maximum. Constrains the maximum pwm change that the I gain will output
// @Range: 0 4000
// @Increment: 10
// @Units: Percent*10
// @User: Standard
// @Param: YAW2SRV_D
// @DisplayName: Yaw axis controller D gain
// @Description: Yaw axis controller D gain. Compensates for short-term change in desired yaw angle (heading) vs actual yaw angle
// @Range: 0.001 0.1
// @Increment: 0.001
// @User: Standard
GGROUP(pidYaw2Srv, "YAW2SRV_", PID), GGROUP(pidYaw2Srv, "YAW2SRV_", PID),
// @Param: CMD_TOTAL // @Param: CMD_TOTAL