mirror of https://github.com/ArduPilot/ardupilot
Rover: added SERIAL0_BAUD parameter
This commit is contained in:
Andrew Tridgell
parent
74e3d64e62
commit
aff5b1559d
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@ -55,12 +55,13 @@ public:
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k_param_battery_curr_pin,
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// 110: Telemetry control
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//
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k_param_gcs0 = 110, // stream rates for port0
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k_param_gcs3, // stream rates for port3
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k_param_sysid_this_mav,
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k_param_sysid_my_gcs,
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// 110: Telemetry control
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//
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k_param_gcs0 = 110, // stream rates for port0
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k_param_gcs3, // stream rates for port3
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k_param_sysid_this_mav,
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k_param_sysid_my_gcs,
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k_param_serial0_baud,
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k_param_serial3_baud,
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k_param_telem_delay,
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@ -78,18 +79,18 @@ public:
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k_param_airspeed_ratio,
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k_param_ground_temperature,
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k_param_ground_pressure,
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k_param_compass_enabled,
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k_param_compass,
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k_param_battery_monitoring,
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k_param_volt_div_ratio,
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k_param_curr_amp_per_volt,
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k_param_input_voltage,
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k_param_pack_capacity,
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k_param_compass_enabled,
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k_param_compass,
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k_param_battery_monitoring,
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k_param_volt_div_ratio,
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k_param_curr_amp_per_volt,
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k_param_input_voltage,
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k_param_pack_capacity,
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k_param_airspeed_offset,
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#if HIL_MODE != HIL_MODE_ATTITUDE
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#if CONFIG_SONAR == ENABLED
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k_param_sonar_enabled,
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k_param_sonar_type,
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k_param_sonar_enabled,
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k_param_sonar_type,
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#endif
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#endif
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k_param_ahrs, // AHRS group
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@ -231,115 +232,116 @@ public:
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// 254,255: reserved
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};
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AP_Int16 format_version;
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AP_Int16 format_version;
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AP_Int8 software_type;
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// Telemetry control
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//
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AP_Int16 sysid_this_mav;
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AP_Int16 sysid_my_gcs;
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AP_Int8 serial3_baud;
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AP_Int8 telem_delay;
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AP_Int8 serial0_baud;
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AP_Int8 serial3_baud;
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AP_Int8 telem_delay;
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// Crosstrack navigation
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//
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AP_Float crosstrack_gain;
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AP_Int16 crosstrack_entry_angle;
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// Crosstrack navigation
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//
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AP_Float crosstrack_gain;
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AP_Int16 crosstrack_entry_angle;
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// Estimation
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//
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AP_Float altitude_mix;
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AP_Float airspeed_ratio;
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// Estimation
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//
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AP_Float altitude_mix;
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AP_Float airspeed_ratio;
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AP_Int16 airspeed_offset;
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// Waypoints
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//
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AP_Int8 waypoint_mode;
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AP_Int8 command_total;
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AP_Int8 command_index;
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AP_Int8 waypoint_radius;
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// Waypoints
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//
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AP_Int8 waypoint_mode;
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AP_Int8 command_total;
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AP_Int8 command_index;
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AP_Int8 waypoint_radius;
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// Fly-by-wire
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//
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AP_Int8 flybywire_airspeed_min;
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AP_Int8 flybywire_airspeed_max;
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AP_Int16 FBWB_min_altitude;
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// Fly-by-wire
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//
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AP_Int8 flybywire_airspeed_min;
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AP_Int8 flybywire_airspeed_max;
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AP_Int16 FBWB_min_altitude;
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// Throttle
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//
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AP_Int8 throttle_min;
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AP_Int8 throttle_max;
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AP_Int8 throttle_slewrate;
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AP_Int8 throttle_fs_enabled;
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AP_Int16 throttle_fs_value;
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AP_Int8 throttle_cruise;
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// Throttle
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//
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AP_Int8 throttle_min;
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AP_Int8 throttle_max;
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AP_Int8 throttle_slewrate;
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AP_Int8 throttle_fs_enabled;
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AP_Int16 throttle_fs_value;
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AP_Int8 throttle_cruise;
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// Failsafe
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AP_Int8 short_fs_action;
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AP_Int8 long_fs_action;
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// Failsafe
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AP_Int8 short_fs_action;
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AP_Int8 long_fs_action;
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AP_Int8 gcs_heartbeat_fs_enabled;
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// Flight modes
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//
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AP_Int8 flight_mode_channel;
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AP_Int8 flight_mode1;
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AP_Int8 flight_mode2;
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AP_Int8 flight_mode3;
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AP_Int8 flight_mode4;
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AP_Int8 flight_mode5;
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AP_Int8 flight_mode6;
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// Flight modes
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//
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AP_Int8 flight_mode_channel;
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AP_Int8 flight_mode1;
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AP_Int8 flight_mode2;
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AP_Int8 flight_mode3;
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AP_Int8 flight_mode4;
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AP_Int8 flight_mode5;
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AP_Int8 flight_mode6;
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// Navigational maneuvering limits
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//
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AP_Int16 roll_limit;
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AP_Int16 pitch_limit_max;
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AP_Int16 pitch_limit_min;
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// Navigational maneuvering limits
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//
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AP_Int16 roll_limit;
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AP_Int16 pitch_limit_max;
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AP_Int16 pitch_limit_min;
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// Misc
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//
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AP_Int8 auto_trim;
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AP_Int16 num_resets;
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AP_Int16 log_bitmask;
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AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change
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AP_Int8 reset_switch_chan;
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AP_Int8 manual_level;
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AP_Int16 airspeed_cruise;
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AP_Int16 min_gndspeed;
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AP_Int8 ch7_option;
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// Misc
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//
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AP_Int8 auto_trim;
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AP_Int16 num_resets;
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AP_Int16 log_bitmask;
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AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change
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AP_Int8 reset_switch_chan;
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AP_Int8 manual_level;
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AP_Int16 airspeed_cruise;
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AP_Int16 min_gndspeed;
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AP_Int8 ch7_option;
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AP_Int16 ground_temperature;
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AP_Int32 ground_pressure;
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AP_Int8 compass_enabled;
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AP_Int16 angle_of_attack;
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AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
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AP_Float volt_div_ratio;
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AP_Float curr_amp_per_volt;
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AP_Float input_voltage;
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AP_Int16 pack_capacity; // Battery pack capacity less reserve
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AP_Int8 rssi_pin;
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AP_Int8 battery_volt_pin;
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AP_Int8 battery_curr_pin;
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AP_Int16 ground_temperature;
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AP_Int32 ground_pressure;
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AP_Int8 compass_enabled;
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AP_Int16 angle_of_attack;
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AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
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AP_Float volt_div_ratio;
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AP_Float curr_amp_per_volt;
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AP_Float input_voltage;
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AP_Int16 pack_capacity; // Battery pack capacity less reserve
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AP_Int8 rssi_pin;
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AP_Int8 battery_volt_pin;
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AP_Int8 battery_curr_pin;
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#if HIL_MODE != HIL_MODE_ATTITUDE
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#if CONFIG_SONAR == ENABLED
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AP_Int8 sonar_enabled;
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AP_Int8 sonar_enabled;
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AP_Int8 sonar_type; // 0 = XL, 1 = LV,
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// 2 = XLL (XL with 10m range)
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// 3 = HRLV
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// 2 = XLL (XL with 10m range)
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// 3 = HRLV
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#endif
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#endif
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// ************ ThermoPilot parameters ************************
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// - JLN update
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AP_Int8 auto_wp_radius;
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AP_Int16 sonar_trigger;
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AP_Int16 turn_gain;
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AP_Int8 booster;
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AP_Int8 auto_wp_radius;
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AP_Int16 sonar_trigger;
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AP_Int16 turn_gain;
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AP_Int8 booster;
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// ************************************************************
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// RC channels
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// RC channels
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RC_Channel channel_roll;
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RC_Channel channel_pitch;
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RC_Channel channel_throttle;
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@ -349,15 +351,15 @@ public:
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RC_Channel_aux rc_7;
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RC_Channel_aux rc_8;
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// PID controllers
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//
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PID pidNavRoll;
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PID pidServoRoll;
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PID pidServoPitch;
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PID pidNavPitchAirspeed;
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PID pidServoRudder;
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PID pidTeThrottle;
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PID pidNavPitchAltitude;
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// PID controllers
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//
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PID pidNavRoll;
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PID pidServoRoll;
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PID pidServoPitch;
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PID pidNavPitchAirspeed;
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PID pidServoRudder;
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PID pidTeThrottle;
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PID pidNavPitchAltitude;
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Parameters() :
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// RC channels
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@ -14,11 +14,18 @@
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#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info:class::var_info} }
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const AP_Param::Info var_info[] PROGMEM = {
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GSCALAR(format_version, "FORMAT_VERSION", 0),
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GSCALAR(format_version, "FORMAT_VERSION", 1),
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GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type),
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GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
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GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
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// @Param: SERIAL0_BAUD
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// @DisplayName: Telemetry Baud Rate
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// @Description: The baud rate used on the first serial port
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// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
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// @User: Standard
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GSCALAR(serial0_baud, "SERIAL0_BAUD", SERIAL0_BAUD/1000),
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// @Param: SERIAL3_BAUD
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// @DisplayName: Telemetry Baud Rate
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// @Description: The baud rate used on the telemetry port
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@ -118,6 +118,9 @@ static void init_ardupilot()
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load_parameters();
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// after parameter load setup correct baud rate on uartA
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hal.uartA->begin(map_baudrate(g.serial0_baud, SERIAL0_BAUD));
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// keep a record of how many resets have happened. This can be
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// used to detect in-flight resets
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g.num_resets.set_and_save(g.num_resets+1);
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