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Copter: User parameters implementation

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SergeyBokhantsev 2018-08-21 16:02:40 +03:00 committed by Randy Mackay
parent 0f10d2316a
commit af6303c82b
6 changed files with 51 additions and 0 deletions
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1
ArduCopter/APM_Config.h
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@ -66,3 +66,4 @@
//#define USERHOOK_SLOWLOOP userhook_SlowLoop(); // for code to be run at 3.3hz //#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_SUPERSLOWLOOP userhook_SuperSlowLoop(); // for code to be run at 1hz
//#define USERHOOK_AUXSWITCH ENABLED // for code to handle user aux switches //#define USERHOOK_AUXSWITCH ENABLED // for code to handle user aux switches
//#define USER_PARAMS_ENABLED ENABLED // to enable user parameters

3
ArduCopter/Copter.h
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@ -171,6 +171,9 @@
#endif #endif
// Local modules // Local modules
#ifdef USER_PARAMS_ENABLED
#include "UserParameters.h"
#endif
#include "Parameters.h" #include "Parameters.h"
#if ADSB_ENABLED == ENABLED #if ADSB_ENABLED == ENABLED
#include "avoidance_adsb.h" #include "avoidance_adsb.h"

7
ArduCopter/Parameters.cpp
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@ -944,6 +944,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_SUBGROUPINFO(follow, "FOLL", 27, ParametersG2, AP_Follow), AP_SUBGROUPINFO(follow, "FOLL", 27, ParametersG2, AP_Follow),
#endif #endif
#ifdef USER_PARAMS_ENABLED
AP_SUBGROUPINFO(follow, "USR", 28, ParametersG2, UserParameters),
#endif
AP_GROUPEND AP_GROUPEND
}; };
@ -1009,6 +1013,9 @@ ParametersG2::ParametersG2(void)
#if MODE_FOLLOW_ENABLED == ENABLED #if MODE_FOLLOW_ENABLED == ENABLED
,follow() ,follow()
#endif #endif
#ifdef USER_PARAMS_ENABLED
,user_parameters()
#endif
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
} }

5
ArduCopter/Parameters.h
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@ -581,6 +581,11 @@ public:
AP_Follow follow; AP_Follow follow;
#endif #endif
#ifdef USER_PARAMS_ENABLED
// User custom parameters
UserParameters user_parameters;
#endif
}; };
extern const AP_Param::Info var_info[]; extern const AP_Param::Info var_info[];

13
ArduCopter/UserParameters.cpp Normal file
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@ -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
};

22
ArduCopter/UserParameters.h Normal file
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@ -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;
};