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update main parameter code for AP_Param in ACM

This commit is contained in:
Andrew Tridgell 2012-02-12 22:26:36 +11:00
parent db96303fa0
commit bf1eb670e3
2 changed files with 265 additions and 115 deletions
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211
ArduCopter/Parameters.h
View File

@ -83,8 +83,8 @@ public:
// 110: Telemetry control
//
k_param_streamrates_port0 = 110,
k_param_streamrates_port3,
k_param_gcs0 = 110,
k_param_gcs3,
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial3_baud,
@ -100,7 +100,7 @@ public:
k_param_pack_capacity,
k_param_compass_enabled,
k_param_compass,
k_param_sonar,
k_param_sonar_enabled,
k_param_frame_orientation,
k_param_top_bottom_ratio,
k_param_optflow_enabled,
@ -128,8 +128,8 @@ public:
k_param_rc_6,
k_param_rc_7,
k_param_rc_8,
k_param_rc_9,
k_param_rc_10,
k_param_rc_camera_pitch,// rc_9
k_param_rc_camera_roll, // rc_10
k_param_throttle_min,
k_param_throttle_max,
k_param_throttle_fs_enabled,
@ -281,7 +281,7 @@ public:
AP_Float camera_pitch_gain;
AP_Float camera_roll_gain;
AP_Float stablize_d;
AP_Float stabilize_d;
// PI/D controllers
AC_PID pid_rate_roll;
@ -301,129 +301,110 @@ public:
APM_PI pi_stabilize_yaw;
APM_PI pi_alt_hold;
uint8_t junk;
// Note: keep initializers here in the same order as they are declared above.
Parameters() :
// variable default key name
//-------------------------------------------------------------------------------------------------------------------
format_version (k_format_version, k_param_format_version, PSTR("SYSID_SW_MREV")),
software_type (k_software_type, k_param_software_type, PSTR("SYSID_SW_TYPE")),
// variable default
//----------------------------------------
format_version (k_format_version),
software_type (k_software_type),
sysid_this_mav (MAV_SYSTEM_ID, k_param_sysid_this_mav, PSTR("SYSID_THISMAV")),
sysid_my_gcs (255, k_param_sysid_my_gcs, PSTR("SYSID_MYGCS")),
serial3_baud (SERIAL3_BAUD/1000, k_param_serial3_baud, PSTR("SERIAL3_BAUD")),
sysid_this_mav (MAV_SYSTEM_ID),
sysid_my_gcs (255),
serial3_baud (SERIAL3_BAUD/1000),
RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")),
sonar_enabled (DISABLED, k_param_sonar, PSTR("SONAR_ENABLE")),
sonar_type (AP_RANGEFINDER_MAXSONARXL, k_param_sonar_type, PSTR("SONAR_TYPE")),
battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")),
volt_div_ratio (VOLT_DIV_RATIO, k_param_volt_div_ratio, PSTR("VOLT_DIVIDER")),
curr_amp_per_volt (CURR_AMP_PER_VOLT, k_param_curr_amp_per_volt, PSTR("AMP_PER_VOLT")),
input_voltage (INPUT_VOLTAGE, k_param_input_voltage, PSTR("INPUT_VOLTS")),
pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")),
compass_enabled (MAGNETOMETER, k_param_compass_enabled, PSTR("MAG_ENABLE")),
optflow_enabled (OPTFLOW, k_param_optflow_enabled, PSTR("FLOW_ENABLE")),
low_voltage (LOW_VOLTAGE, k_param_low_voltage, PSTR("LOW_VOLT")),
super_simple (SUPER_SIMPLE, k_param_super_simple, PSTR("SUPER_SIMPLE")),
RTL_altitude (ALT_HOLD_HOME * 100),
sonar_enabled (DISABLED),
sonar_type (AP_RANGEFINDER_MAXSONARXL),
battery_monitoring (DISABLED),
volt_div_ratio (VOLT_DIV_RATIO),
curr_amp_per_volt (CURR_AMP_PER_VOLT),
input_voltage (INPUT_VOLTAGE),
pack_capacity (HIGH_DISCHARGE),
compass_enabled (MAGNETOMETER),
optflow_enabled (OPTFLOW),
low_voltage (LOW_VOLTAGE),
super_simple (SUPER_SIMPLE),
waypoint_mode (0, k_param_waypoint_mode, PSTR("WP_MODE")),
command_total (0, k_param_command_total, PSTR("WP_TOTAL")),
command_index (0, k_param_command_index, PSTR("WP_INDEX")),
command_nav_index (0, k_param_command_nav_index, PSTR("WP_MUST_INDEX")),
waypoint_radius (WP_RADIUS_DEFAULT * 100, k_param_waypoint_radius, PSTR("WP_RADIUS")),
loiter_radius (LOITER_RADIUS, k_param_loiter_radius, PSTR("WP_LOITER_RAD")),
waypoint_speed_max (WAYPOINT_SPEED_MAX, k_param_waypoint_speed_max, PSTR("WP_SPEED_MAX")),
crosstrack_gain (CROSSTRACK_GAIN, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SC")),
auto_land_timeout (AUTO_LAND_TIME * 1000, k_param_auto_land_timeout, PSTR("AUTO_LAND")),
waypoint_mode (0),
command_total (0),
command_index (0),
command_nav_index (0),
waypoint_radius (WP_RADIUS_DEFAULT * 100),
loiter_radius (LOITER_RADIUS),
waypoint_speed_max (WAYPOINT_SPEED_MAX),
crosstrack_gain (CROSSTRACK_GAIN),
auto_land_timeout (AUTO_LAND_TIME * 1000),
throttle_min (0, k_param_throttle_min, PSTR("THR_MIN")),
throttle_max (1000, k_param_throttle_max, PSTR("THR_MAX")),
throttle_fs_enabled (THROTTLE_FAILSAFE, k_param_throttle_fs_enabled, PSTR("THR_FAILSAFE")),
throttle_fs_action (THROTTLE_FAILSAFE_ACTION, k_param_throttle_fs_action, PSTR("THR_FS_ACTION")),
throttle_fs_value (THROTTLE_FS_VALUE, k_param_throttle_fs_value, PSTR("THR_FS_VALUE")),
throttle_cruise (THROTTLE_CRUISE, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")),
throttle_min (0),
throttle_max (1000),
throttle_fs_enabled (THROTTLE_FAILSAFE),
throttle_fs_action (THROTTLE_FAILSAFE_ACTION),
throttle_fs_value (THROTTLE_FS_VALUE),
throttle_cruise (THROTTLE_CRUISE),
flight_mode1 (FLIGHT_MODE_1, k_param_flight_mode1, PSTR("FLTMODE1")),
flight_mode2 (FLIGHT_MODE_2, k_param_flight_mode2, PSTR("FLTMODE2")),
flight_mode3 (FLIGHT_MODE_3, k_param_flight_mode3, PSTR("FLTMODE3")),
flight_mode4 (FLIGHT_MODE_4, k_param_flight_mode4, PSTR("FLTMODE4")),
flight_mode5 (FLIGHT_MODE_5, k_param_flight_mode5, PSTR("FLTMODE5")),
flight_mode6 (FLIGHT_MODE_6, k_param_flight_mode6, PSTR("FLTMODE6")),
simple_modes (0, k_param_simple_modes, PSTR("SIMPLE")),
flight_mode1 (FLIGHT_MODE_1),
flight_mode2 (FLIGHT_MODE_2),
flight_mode3 (FLIGHT_MODE_3),
flight_mode4 (FLIGHT_MODE_4),
flight_mode5 (FLIGHT_MODE_5),
flight_mode6 (FLIGHT_MODE_6),
simple_modes (0),
log_bitmask (DEFAULT_LOG_BITMASK, k_param_log_bitmask, PSTR("LOG_BITMASK")),
log_last_filenumber (0, k_param_log_last_filenumber, PSTR("LOG_LASTFILE")),
esc_calibrate (0, k_param_esc_calibrate, PSTR("ESC")),
radio_tuning (0, k_param_radio_tuning, PSTR("TUNE")),
frame_orientation (FRAME_ORIENTATION, k_param_frame_orientation, PSTR("FRAME")),
top_bottom_ratio (TOP_BOTTOM_RATIO, k_param_top_bottom_ratio, PSTR("TB_RATIO")),
ch7_option (CH7_OPTION, k_param_ch7_option, PSTR("CH7_OPT")),
log_bitmask (DEFAULT_LOG_BITMASK),
log_last_filenumber (0),
esc_calibrate (0),
radio_tuning (0),
frame_orientation (FRAME_ORIENTATION),
top_bottom_ratio (TOP_BOTTOM_RATIO),
ch7_option (CH7_OPTION),
#if FRAME_CONFIG == HELI_FRAME
heli_servo_1 (k_param_heli_servo_1, PSTR("HS1_")),
heli_servo_2 (k_param_heli_servo_2, PSTR("HS2_")),
heli_servo_3 (k_param_heli_servo_3, PSTR("HS3_")),
heli_servo_4 (k_param_heli_servo_4, PSTR("HS4_")),
heli_servo1_pos (-60, k_param_heli_servo1_pos, PSTR("SV1_POS_")),
heli_servo2_pos (60, k_param_heli_servo2_pos, PSTR("SV2_POS_")),
heli_servo3_pos (180, k_param_heli_servo3_pos, PSTR("SV3_POS_")),
heli_roll_max (4500, k_param_heli_roll_max, PSTR("ROL_MAX_")),
heli_pitch_max (4500, k_param_heli_pitch_max, PSTR("PIT_MAX_")),
heli_coll_min (1250, k_param_heli_collective_min, PSTR("COL_MIN_")),
heli_coll_max (1750, k_param_heli_collective_max, PSTR("COL_MAX_")),
heli_coll_mid (1500, k_param_heli_collective_mid, PSTR("COL_MID_")),
heli_ext_gyro_enabled (0, k_param_heli_ext_gyro_enabled, PSTR("GYR_ENABLE_")),
heli_ext_gyro_gain (1350, k_param_heli_ext_gyro_gain, PSTR("GYR_GAIN_")),
heli_servo_averaging (0, k_param_heli_servo_averaging, PSTR("SV_AVG")),
heli_servo_manual (0, k_param_heli_servo_manual, PSTR("HSV_MAN")),
heli_phase_angle (0, k_param_heli_phase_angle, PSTR("H_PHANG")),
heli_coll_yaw_effect (0, k_param_heli_coll_yaw_effect, PSTR("H_COLYAW")),
heli_servo_1 (k_param_heli_servo_1),
heli_servo_2 (k_param_heli_servo_2),
heli_servo_3 (k_param_heli_servo_3),
heli_servo_4 (k_param_heli_servo_4),
heli_servo1_pos (-60),
heli_servo2_pos (60),
heli_servo3_pos (180),
heli_roll_max (4500),
heli_pitch_max (4500),
heli_coll_min (1250),
heli_coll_max (1750),
heli_coll_mid (1500),
heli_ext_gyro_enabled (0),
heli_ext_gyro_gain (1350),
heli_servo_averaging (0),
heli_servo_manual (0),
heli_phase_angle (0),
heli_coll_yaw_effect (0),
#endif
// RC channel group key name
camera_pitch_gain (CAM_PITCH_GAIN),
camera_roll_gain (CAM_ROLL_GAIN),
stabilize_d (STABILIZE_D),
// PID controller initial P initial I initial D initial imax
//--------------------------------------------------------------------------------------
pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100),
pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100),
pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100),
pid_nav_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
pid_nav_lon (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX),
pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100),
pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D,OPTFLOW_IMAX * 100),
// PI controller initial P initial I initial imax
//----------------------------------------------------------------------
rc_1 (k_param_rc_1, PSTR("RC1_")),
rc_2 (k_param_rc_2, PSTR("RC2_")),
rc_3 (k_param_rc_3, PSTR("RC3_")),
rc_4 (k_param_rc_4, PSTR("RC4_")),
rc_5 (k_param_rc_5, PSTR("RC5_")),
rc_6 (k_param_rc_6, PSTR("RC6_")),
rc_7 (k_param_rc_7, PSTR("RC7_")),
rc_8 (k_param_rc_8, PSTR("RC8_")),
rc_camera_pitch (k_param_rc_9, PSTR("CAM_P_")),
rc_camera_roll (k_param_rc_10, PSTR("CAM_R_")),
pi_stabilize_roll (STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100),
pi_stabilize_pitch (STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100),
pi_stabilize_yaw (STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100),
// variable default key name
//-------------------------------------------------------------------------------------------------------------------
camera_pitch_gain (CAM_PITCH_GAIN, k_param_camera_pitch_gain, PSTR("CAM_P_G")),
camera_roll_gain (CAM_ROLL_GAIN, k_param_camera_roll_gain, PSTR("CAM_R_G")),
stablize_d (STABILIZE_D, k_param_stabilize_d, PSTR("STAB_D")),
// PID controller group key name initial P initial I initial D initial imax
//--------------------------------------------------------------------------------------------------------------------------------------------------------------------
pid_rate_roll (k_param_pid_rate_roll, PSTR("RATE_RLL_"), RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100),
pid_rate_pitch (k_param_pid_rate_pitch, PSTR("RATE_PIT_"), RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100),
pid_rate_yaw (k_param_pid_rate_yaw, PSTR("RATE_YAW_"), RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100),
pid_nav_lat (k_param_pid_nav_lat, PSTR("NAV_LAT_"), NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
pid_nav_lon (k_param_pid_nav_lon, PSTR("NAV_LON_"), NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
pid_throttle (k_param_pid_throttle, PSTR("THR_RATE_"), THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX),
pid_optflow_roll (k_param_pid_optflow_roll, PSTR("OF_RLL_"), OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100),
pid_optflow_pitch (k_param_pid_optflow_pitch, PSTR("OF_PIT_"), OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D,OPTFLOW_IMAX * 100),
// PI controller group key name initial P initial I initial imax
//--------------------------------------------------------------------------------------------------------------------------------------------------------------------
pi_stabilize_roll (k_param_pi_stabilize_roll, PSTR("STB_RLL_"), STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100),
pi_stabilize_pitch (k_param_pi_stabilize_pitch, PSTR("STB_PIT_"), STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100),
pi_stabilize_yaw (k_param_pi_stabilize_yaw, PSTR("STB_YAW_"), STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100),
pi_alt_hold (k_param_pi_alt_hold, PSTR("THR_ALT_"), ALT_HOLD_P, ALT_HOLD_I, ALT_HOLD_IMAX),
pi_loiter_lat (k_param_pi_loiter_lat, PSTR("HLD_LAT_"), LOITER_P, LOITER_I, LOITER_IMAX * 100),
pi_loiter_lon (k_param_pi_loiter_lon, PSTR("HLD_LON_"), LOITER_P, LOITER_I, LOITER_IMAX * 100),
junk(0) // XXX just so that we can add things without worrying about the trailing comma
pi_alt_hold (ALT_HOLD_P, ALT_HOLD_I, ALT_HOLD_IMAX),
pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX * 100),
pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX * 100)
{
}
};

169
ArduCopter/Parameters.pde Normal file
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@ -0,0 +1,169 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/*
ArduCopter parameter definitions
This firmware is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#define GSCALAR(v, name) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, class::var_info }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, class::var_info }
static const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(format_version, "SYSID_SW_MREV"),
GSCALAR(software_type, "SYSID_SW_TYPE"),
GSCALAR(sysid_this_mav, "SYSID_THISMAV"),
GSCALAR(sysid_my_gcs, "SYSID_MYGCS"),
GSCALAR(serial3_baud, "SERIAL3_BAUD"),
GSCALAR(RTL_altitude, "ALT_HOLD_RTL"),
GSCALAR(sonar_enabled, "SONAR_ENABLE"),
GSCALAR(sonar_type, "SONAR_TYPE"),
GSCALAR(battery_monitoring, "BATT_MONITOR"),
GSCALAR(volt_div_ratio, "VOLT_DIVIDER"),
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT"),
GSCALAR(input_voltage, "INPUT_VOLTS"),
GSCALAR(pack_capacity, "BATT_CAPACITY"),
GSCALAR(compass_enabled, "MAG_ENABLE"),
GSCALAR(optflow_enabled, "FLOW_ENABLE"),
GSCALAR(low_voltage, "LOW_VOLT"),
GSCALAR(super_simple, "SUPER_SIMPLE"),
GSCALAR(waypoint_mode, "WP_MODE"),
GSCALAR(command_total, "WP_TOTAL"),
GSCALAR(command_index, "WP_INDEX"),
GSCALAR(command_nav_index, "WP_MUST_INDEX"),
GSCALAR(waypoint_radius, "WP_RADIUS"),
GSCALAR(loiter_radius, "WP_LOITER_RAD"),
GSCALAR(waypoint_speed_max, "WP_SPEED_MAX"),
GSCALAR(crosstrack_gain, "XTRK_GAIN_SC"),
GSCALAR(auto_land_timeout, "AUTO_LAND"),
GSCALAR(throttle_min, "THR_MIN"),
GSCALAR(throttle_max, "THR_MAX"),
GSCALAR(throttle_fs_enabled, "THR_FAILSAFE"),
GSCALAR(throttle_fs_action, "THR_FS_ACTION"),
GSCALAR(throttle_fs_value, "THR_FS_VALUE"),
GSCALAR(throttle_cruise, "TRIM_THROTTLE"),
GSCALAR(flight_mode1, "FLTMODE1"),
GSCALAR(flight_mode2, "FLTMODE2"),
GSCALAR(flight_mode3, "FLTMODE3"),
GSCALAR(flight_mode4, "FLTMODE4"),
GSCALAR(flight_mode5, "FLTMODE5"),
GSCALAR(flight_mode6, "FLTMODE6"),
GSCALAR(simple_modes, "SIMPLE"),
GSCALAR(log_bitmask, "LOG_BITMASK"),
GSCALAR(log_last_filenumber, "LOG_LASTFILE"),
GSCALAR(esc_calibrate, "ESC"),
GSCALAR(radio_tuning, "TUNE"),
GSCALAR(frame_orientation, "FRAME"),
GSCALAR(top_bottom_ratio, "TB_RATIO"),
GSCALAR(ch7_option, "CH7_OPT"),
#if FRAME_CONFIG == HELI_FRAME
GSCALAR(heli_servo_1, "HS1_"),
GSCALAR(heli_servo_2, "HS2_"),
GSCALAR(heli_servo_3, "HS3_"),
GSCALAR(heli_servo_4, "HS4_"),
GSCALAR(heli_servo1_pos, "SV1_POS_"),
GSCALAR(heli_servo2_pos, "SV2_POS_"),
GSCALAR(heli_servo3_pos, "SV3_POS_"),
GSCALAR(heli_roll_max, "ROL_MAX_"),
GSCALAR(heli_pitch_max, "PIT_MAX_"),
GSCALAR(heli_coll_min, "COL_MIN_"),
GSCALAR(heli_coll_max, "COL_MAX_"),
GSCALAR(heli_coll_mid, "COL_MID_"),
GSCALAR(heli_ext_gyro_enabled, "GYR_ENABLE_"),
GSCALAR(heli_ext_gyro_gain, "GYR_GAIN_"),
GSCALAR(heli_servo_averaging, "SV_AVG"),
GSCALAR(heli_servo_manual, "HSV_MAN"),
GSCALAR(heli_phase_angle, "H_PHANG"),
GSCALAR(heli_coll_yaw_effect, "H_COLYAW"),
#endif
// RC channel
//-----------
GGROUP(rc_1, "RC1_", RC_Channel),
GGROUP(rc_2, "RC2_", RC_Channel),
GGROUP(rc_3, "RC3_", RC_Channel),
GGROUP(rc_4, "RC4_", RC_Channel),
GGROUP(rc_5, "RC5_", RC_Channel),
GGROUP(rc_6, "RC6_", RC_Channel),
GGROUP(rc_7, "RC7_", RC_Channel),
GGROUP(rc_8, "RC8_", RC_Channel),
GGROUP(rc_camera_pitch, "CAM_P_", RC_Channel),
GGROUP(rc_camera_roll, "CAM_R_", RC_Channel),
// variable
//---------
GSCALAR(camera_pitch_gain, "CAM_P_G"),
GSCALAR(camera_roll_gain, "CAM_R_G"),
GSCALAR(stabilize_d, "STAB_D"),
// PID controller
//---------------
GGROUP(pid_rate_roll, "RATE_RLL_", AC_PID),
GGROUP(pid_rate_pitch, "RATE_PIT_", AC_PID),
GGROUP(pid_rate_yaw, "RATE_YAW_", AC_PID),
GGROUP(pid_nav_lat, "NAV_LAT_", AC_PID),
GGROUP(pid_nav_lon, "NAV_LON_", AC_PID),
GGROUP(pid_throttle, "THR_RATE_", AC_PID),
GGROUP(pid_optflow_roll, "OF_RLL_", AC_PID),
GGROUP(pid_optflow_pitch, "OF_PIT_", AC_PID),
// PI controller
//--------------
GGROUP(pi_stabilize_roll, "STB_RLL_", APM_PI),
GGROUP(pi_stabilize_pitch, "STB_PIT_", APM_PI),
GGROUP(pi_stabilize_yaw, "STB_YAW_", APM_PI),
GGROUP(pi_alt_hold, "THR_ALT_", APM_PI),
GGROUP(pi_loiter_lat, "HLD_LAT_", APM_PI),
GGROUP(pi_loiter_lon, "HLD_LON_", APM_PI),
// variables not in the g class which contain EEPROM saved variables
GOBJECT(compass, "COMPASS_", Compass),
GOBJECT(gcs0, "SR0_", GCS_MAVLINK),
GOBJECT(gcs3, "SR3_", GCS_MAVLINK)
};
static void load_parameters(void)
{
// setup the AP_Var subsystem for storage to EEPROM
if (!AP_Param::setup(var_info, sizeof(var_info)/sizeof(var_info[0]), WP_START_BYTE)) {
// this can only happen on startup, and its a definate coding
// error. Best not to continue so the programmer catches it
while (1) {
Serial.println_P(PSTR("ERROR: Failed to setup AP_Param"));
delay(1000);
}
}
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
default_dead_zones();
Serial.println_P(PSTR("done."));
} else {
unsigned long before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before);
}
}