Copter: User parameters implementation

ArduCopter/APM_Config.h

@@ -66,3 +66,4 @@
 //#define USERHOOK_SLOWLOOP userhook_SlowLoop();            // for code to be run at 3.3hz
 //#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();  // for code to be run at 1hz
 //#define USERHOOK_AUXSWITCH ENABLED                        // for code to handle user aux switches
+//#define USER_PARAMS_ENABLED ENABLED                       // to enable user parameters

ArduCopter/Copter.h

@@ -171,6 +171,9 @@
 #endif
 
 // Local modules
+#ifdef USER_PARAMS_ENABLED
+#include "UserParameters.h"
+#endif
 #include "Parameters.h"
 #if ADSB_ENABLED == ENABLED
 #include "avoidance_adsb.h"

ArduCopter/Parameters.cpp

@@ -944,6 +944,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(follow, "FOLL", 27, ParametersG2, AP_Follow),
 #endif
 
+#ifdef USER_PARAMS_ENABLED
+    AP_SUBGROUPINFO(follow, "USR", 28, ParametersG2, UserParameters),
+#endif
+
     AP_GROUPEND
 };
 
@@ -1009,6 +1013,9 @@ ParametersG2::ParametersG2(void)
 #if MODE_FOLLOW_ENABLED == ENABLED
     ,follow()
 #endif
+#ifdef USER_PARAMS_ENABLED
+    ,user_parameters()
+#endif
 {
     AP_Param::setup_object_defaults(this, var_info);
 }

ArduCopter/Parameters.h

@@ -581,6 +581,11 @@ public:
     AP_Follow follow;
 #endif
 
+#ifdef USER_PARAMS_ENABLED
+    // User custom parameters
+    UserParameters user_parameters;
+#endif
+
 };
 
 extern const AP_Param::Info        var_info[];

ArduCopter/UserParameters.cpp

@@ -0,0 +1,13 @@
+#include "UserParameters.h"
+
+// "USR" + 13 chars remaining for param name 
+const AP_Param::GroupInfo UserParameters::var_info[] = {
+    
+    // Put your parameters definition here
+    // Note the maximum length of parameter name is 13 chars
+    AP_GROUPINFO("_INT8", 0, UserParameters, _int8, 0),
+    AP_GROUPINFO("_INT16", 1, UserParameters, _int16, 0),
+    AP_GROUPINFO("_FLOAT", 2, UserParameters, _float, 0),
+    
+    AP_GROUPEND
+};

ArduCopter/UserParameters.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#include <AP_Param/AP_Param.h>
+
+class UserParameters {
+
+public:
+    UserParameters() {}
+    static const struct AP_Param::GroupInfo var_info[];
+    
+    // Put accessors to your parameter variables here
+    // UserCode usage example: g2.user_parameters.get_int8Param()
+    AP_Int8 get_int8Param() const { return _int8; }
+    AP_Int16 get_int16Param() const { return _int16; }
+    AP_Float get_floatParam() const { return _float; }
+    
+private:
+    // Put your parameter variable definitions here
+    AP_Int8 _int8;
+    AP_Int16 _int16;
+    AP_Float _float;
+};