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Sub: create and use defaults_table

This commit is contained in:
Willian Galvani 2023-07-27 11:07:27 -03:00
parent 5908508811
commit 9d768c0843
2 changed files with 21 additions and 18 deletions
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19
ArduSub/Parameters.cpp
View File

@ -701,26 +701,9 @@ void Sub::load_parameters()
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_SUB);
convert_old_parameters();
AP_Param::set_default_by_name("BRD_SAFETY_DEFLT", 0);
AP_Param::set_default_by_name("ARMING_CHECK",
AP_Arming::ARMING_CHECK_RC |
AP_Arming::ARMING_CHECK_VOLTAGE |
AP_Arming::ARMING_CHECK_BATTERY);
AP_Param::set_default_by_name("CIRCLE_RATE", 2.0f);
AP_Param::set_default_by_name("ATC_ACCEL_Y_MAX", 110000.0f);
AP_Param::set_default_by_name("RC3_TRIM", 1100);
AP_Param::set_default_by_name("COMPASS_OFFS_MAX", 1000);
AP_Param::set_default_by_name("INS_GYR_CAL", 0);
AP_Param::set_default_by_name("MNT1_TYPE", 1);
AP_Param::set_default_by_name("MNT1_DEFLT_MODE", MAV_MOUNT_MODE_RC_TARGETING);
AP_Param::set_default_by_name("MNT1_RC_RATE", 30);
AP_Param::set_default_by_name("RC7_OPTION", 214); // MOUNT1_YAW
AP_Param::set_default_by_name("RC8_OPTION", 213); // MOUNT1_PITCH
AP_Param::set_defaults_from_table(defaults_table, ARRAY_SIZE(defaults_table));
// We should ignore this parameter since ROVs are neutral buoyancy
AP_Param::set_by_name("MOT_THST_HOVER", 0.5);
AP_Param::set_default_by_name("MOT_PWM_MIN", 1100);
AP_Param::set_default_by_name("MOT_PWM_MAX", 1900);
// PARAMETER_CONVERSION - Added: JAN-2022
#if AP_AIRSPEED_ENABLED

20
ArduSub/Parameters.h
View File

@ -6,6 +6,7 @@
#include <AP_Gripper/AP_Gripper.h>
#include <AP_Stats/AP_Stats.h>
#include <AP_Arming/AP_Arming.h>
#if AP_SCRIPTING_ENABLED
#include <AP_Scripting/AP_Scripting.h>
@ -349,3 +350,22 @@ public:
extern const AP_Param::Info var_info[];
// Sub-specific default parameters
static const struct AP_Param::defaults_table_struct defaults_table[] = {
{ "BRD_SAFETY_DEFLT", 0 },
{ "ARMING_CHECK", AP_Arming::ARMING_CHECK_RC |
AP_Arming::ARMING_CHECK_VOLTAGE |
AP_Arming::ARMING_CHECK_BATTERY},
{ "CIRCLE_RATE", 2.0f},
{ "ATC_ACCEL_Y_MAX", 110000.0f},
{ "RC3_TRIM", 1100},
{ "COMPASS_OFFS_MAX", 1000},
{ "INS_GYR_CAL", 0},
{ "MNT1_TYPE", 1},
{ "MNT1_DEFLT_MODE", MAV_MOUNT_MODE_RC_TARGETING},
{ "MNT1_RC_RATE", 30},
{ "RC7_OPTION", 214}, // MOUNT1_YAW
{ "RC8_OPTION", 213}, // MOUNT1_PITCH
{ "MOT_PWM_MIN", 1100},
{ "MOT_PWM_MAX", 1900},
};