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Added new params for CH6 Tuning

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moved enums to give more room for additional PIDs for Loiter
added new Acro_P gain
added auto_land_enabled option
added pi_loiter_lon and pi_loiter_lat for separate tuning of loiter
This commit is contained in:
Jason Short 2012-02-15 09:04:12 -08:00
parent 05abe44f32
commit aa0662008b
1 changed files with 15 additions and 9 deletions
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24
ArduCopter/Parameters.h
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@ -17,7 +17,7 @@ public:
// The increment will prevent old parameters from being used incorrectly
// by newer code.
//
static const uint16_t k_format_version = 115;
static const uint16_t k_format_version = 116;
// The parameter software_type is set up solely for ground station use
// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
@ -138,13 +138,15 @@ public:
k_param_throttle_cruise,
k_param_esc_calibrate,
k_param_radio_tuning,
k_param_radio_tuning_high,
k_param_radio_tuning_low,
k_param_camera_pitch_gain,
k_param_camera_roll_gain,
//
// 210: flight modes
// 200: flight modes
//
k_param_flight_mode1,
k_param_flight_mode1 = 200,
k_param_flight_mode2,
k_param_flight_mode3,
k_param_flight_mode4,
@ -153,9 +155,9 @@ public:
k_param_simple_modes,
//
// 220: Waypoint data
// 210: Waypoint data
//
k_param_waypoint_mode = 220,
k_param_waypoint_mode = 210,
k_param_command_total,
k_param_command_index,
k_param_command_nav_index,
@ -164,10 +166,10 @@ public:
k_param_waypoint_speed_max,
//
// 235: PI/D Controllers
// 220: PI/D Controllers
//
k_param_stabilize_d = 234,
k_param_pid_rate_roll = 235,
k_param_stabilize_d = 220,
k_param_pid_rate_roll,
k_param_pid_rate_pitch,
k_param_pid_rate_yaw,
k_param_pi_stabilize_roll,
@ -180,7 +182,7 @@ public:
k_param_pi_alt_hold,
k_param_pid_throttle,
k_param_pid_optflow_roll,
k_param_pid_optflow_pitch, // 250
k_param_pid_optflow_pitch,
// 254,255: reserved
};
@ -248,6 +250,8 @@ public:
AP_Int8 esc_calibrate;
AP_Int8 radio_tuning;
AP_Int16 radio_tuning_high;
AP_Int16 radio_tuning_low;
AP_Int8 frame_orientation;
AP_Float top_bottom_ratio;
AP_Int8 ch7_option;
@ -354,6 +358,8 @@ public:
log_last_filenumber (0),
esc_calibrate (0),
radio_tuning (0),
radio_tuning_high (1000),
radio_tuning_low (0),
frame_orientation (FRAME_ORIENTATION),
top_bottom_ratio (TOP_BOTTOM_RATIO),
ch7_option (CH7_OPTION),