mirror of https://github.com/ArduPilot/ardupilot
AP_Param: update ArduCopter core for new AP_Param interface
This commit is contained in:
Andrew Tridgell
parent
12cd6b68ff
commit
c2a4d59132
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@ -134,6 +134,12 @@ FastSerialPort0(Serial); // FTDI/console
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FastSerialPort1(Serial1); // GPS port
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FastSerialPort3(Serial3); // Telemetry port
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// this sets up the parameter table, and sets the default values. This
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// must be the first AP_Param variable declared to ensure its
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// constructor runs before the constructors of the other AP_Param
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// variables
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AP_Param param_loader(var_info, WP_START_BYTE);
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Arduino_Mega_ISR_Registry isr_registry;
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////////////////////////////////////////////////////////////////////////////////
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@ -696,15 +696,15 @@ void mavlink_send_text(mavlink_channel_t chan, gcs_severity severity, const char
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}
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const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
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AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRateRawSensors),
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AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRateExtendedStatus),
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AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRateRCChannels),
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AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRateRawController),
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AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRatePosition),
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AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRateExtra1),
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AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRateExtra2),
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AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRateExtra3),
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AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRateParams),
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AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRateRawSensors, 0),
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AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRateExtendedStatus, 0),
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AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRateRCChannels, 0),
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AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRateRawController, 0),
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AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRatePosition, 0),
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AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRateExtra1, 0),
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AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRateExtra2, 0),
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AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRateExtra3, 0),
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AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRateParams, 0),
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AP_GROUPEND
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};
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@ -335,69 +335,6 @@ public:
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// Note: keep initializers here in the same order as they are declared above.
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Parameters() :
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// variable default
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//----------------------------------------
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format_version (k_format_version),
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software_type (k_software_type),
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sysid_this_mav (MAV_SYSTEM_ID),
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sysid_my_gcs (255),
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serial3_baud (SERIAL3_BAUD/1000),
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RTL_altitude (RTL_HOLD_ALT),
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sonar_enabled (DISABLED),
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sonar_type (AP_RANGEFINDER_MAXSONARXL),
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battery_monitoring (DISABLED),
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volt_div_ratio (VOLT_DIV_RATIO),
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curr_amp_per_volt (CURR_AMP_PER_VOLT),
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input_voltage (INPUT_VOLTAGE),
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pack_capacity (HIGH_DISCHARGE),
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compass_enabled (MAGNETOMETER),
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optflow_enabled (OPTFLOW),
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low_voltage (LOW_VOLTAGE),
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super_simple (SUPER_SIMPLE),
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rtl_land_enabled (0),
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rtl_approach_alt (RTL_APPROACH_ALT),
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tilt_comp (54),
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axis_enabled (AXIS_LOCK_ENABLED),
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copter_leds_mode (9),
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waypoint_mode (0),
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command_total (0),
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command_index (0),
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command_nav_index (0),
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waypoint_radius (WP_RADIUS_DEFAULT),
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loiter_radius (LOITER_RADIUS),
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waypoint_speed_max (WAYPOINT_SPEED_MAX),
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crosstrack_gain (CROSSTRACK_GAIN),
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auto_land_timeout (AUTO_LAND_TIME * 1000),
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throttle_min (MINIMUM_THROTTLE),
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throttle_max (MAXIMUM_THROTTLE),
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throttle_fs_enabled (THROTTLE_FAILSAFE),
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throttle_fs_action (THROTTLE_FAILSAFE_ACTION),
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throttle_fs_value (THROTTLE_FS_VALUE),
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throttle_cruise (THROTTLE_CRUISE),
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flight_mode1 (FLIGHT_MODE_1),
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flight_mode2 (FLIGHT_MODE_2),
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flight_mode3 (FLIGHT_MODE_3),
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flight_mode4 (FLIGHT_MODE_4),
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flight_mode5 (FLIGHT_MODE_5),
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flight_mode6 (FLIGHT_MODE_6),
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simple_modes (0),
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log_bitmask (DEFAULT_LOG_BITMASK),
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log_last_filenumber (0),
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toy_yaw_rate (1), // THOR The default Yaw Rate 1 = fast, 2 = med, 3 = slow
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esc_calibrate (0),
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radio_tuning (0),
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radio_tuning_high (1000),
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radio_tuning_low (0),
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frame_orientation (FRAME_ORIENTATION),
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ch7_option (CH7_OPTION),
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auto_slew_rate (AUTO_SLEW_RATE),
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#if FRAME_CONFIG == HELI_FRAME
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heli_servo_1 (CH_1),
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@ -420,13 +357,6 @@ public:
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rc_11 (CH_11),
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#endif
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rc_speed(RC_FAST_SPEED),
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stabilize_d (STABILIZE_D),
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stabilize_d_schedule (STABILIZE_D_SCHEDULE),
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acro_p (ACRO_P),
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axis_lock_p (AXIS_LOCK_P),
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// PID controller initial P initial I initial D initial imax
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//-----------------------------------------------------------------------------------------------------
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pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100),
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@ -457,5 +387,7 @@ public:
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}
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};
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extern const AP_Param::Info var_info[];
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#endif // PARAMETERS_H
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@ -9,23 +9,23 @@
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version 2.1 of the License, or (at your option) any later version.
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*/
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#define GSCALAR(v, name) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v }
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#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, class::var_info }
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#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, class::var_info }
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#define GSCALAR(v, name, def) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v, {def_value:def} }
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#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, {group_info:class::var_info} }
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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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static const AP_Param::Info var_info[] PROGMEM = {
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GSCALAR(format_version, "SYSID_SW_MREV"),
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GSCALAR(software_type, "SYSID_SW_TYPE"),
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const AP_Param::Info var_info[] PROGMEM = {
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GSCALAR(format_version, "SYSID_SW_MREV", 0),
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GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type),
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GSCALAR(sysid_this_mav, "SYSID_THISMAV"),
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GSCALAR(sysid_my_gcs, "SYSID_MYGCS"),
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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: 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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// @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(serial3_baud, "SERIAL3_BAUD"),
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GSCALAR(serial3_baud, "SERIAL3_BAUD", SERIAL3_BAUD/1000),
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// @Param: ALT_HOLD_RTL
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// @DisplayName: Alt Hold RTL
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@ -34,45 +34,45 @@ static const AP_Param::Info var_info[] PROGMEM = {
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// @Range: 0 400
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// @Increment: 1
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// @User: Standard
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GSCALAR(RTL_altitude, "ALT_HOLD_RTL"),
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GSCALAR(RTL_altitude, "ALT_HOLD_RTL", RTL_HOLD_ALT),
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// @Param: SONAR_ENABLE
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// @DisplayName: Enable Sonar
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// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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GSCALAR(sonar_enabled, "SONAR_ENABLE"),
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GSCALAR(sonar_enabled, "SONAR_ENABLE", DISABLED),
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GSCALAR(sonar_type, "SONAR_TYPE"),
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GSCALAR(battery_monitoring, "BATT_MONITOR"),
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GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL),
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GSCALAR(battery_monitoring, "BATT_MONITOR", DISABLED),
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// @Param: VOLT_DIVIDER
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// @DisplayName: Voltage Divider
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// @Description: TODO
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GSCALAR(volt_div_ratio, "VOLT_DIVIDER"),
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GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO),
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GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT"),
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GSCALAR(input_voltage, "INPUT_VOLTS"),
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GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT),
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GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE),
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// @Param: BATT_CAPACITY
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// @DisplayName: Battery Capacity
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// @Description: Battery capacity in milliamp-hours (mAh)
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// @Units: mAh
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GSCALAR(pack_capacity, "BATT_CAPACITY"),
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GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE),
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// @Param: MAG_ENABLE
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// @DisplayName: Enable Compass
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// @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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GSCALAR(compass_enabled, "MAG_ENABLE"),
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GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER),
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// @Param: FLOW_ENABLE
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// @DisplayName: Enable Optical Flow
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// @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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GSCALAR(optflow_enabled, "FLOW_ENABLE"),
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GSCALAR(optflow_enabled, "FLOW_ENABLE", OPTFLOW),
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// @Param: LOW_VOLT
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// @DisplayName: Low Voltage
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@ -80,14 +80,14 @@ static const AP_Param::Info var_info[] PROGMEM = {
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// @Range: 0 20
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// @Increment: .1
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// @User: Standard
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GSCALAR(low_voltage, "LOW_VOLT"),
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GSCALAR(low_voltage, "LOW_VOLT", LOW_VOLTAGE),
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// @Param: SUPER_SIMPLE
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// @DisplayName: Enable Super Simple Mode
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// @Description: Setting this to Enabled(1) will enable Super Simple Mode. Setting this to Disabled(0) will disable Super Simple Mode
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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GSCALAR(super_simple, "SUPER_SIMPLE"),
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GSCALAR(super_simple, "SUPER_SIMPLE", SUPER_SIMPLE),
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// @Param: RTL_LAND
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// @DisplayName: RTL Land
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@ -95,7 +95,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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// @ DEPRICATED
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GSCALAR(rtl_land_enabled, "RTL_LAND"),
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GSCALAR(rtl_land_enabled, "RTL_LAND", 0),
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// @Param: APPROACH_ALT
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// @DisplayName: Alt Hold RTL
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@ -104,14 +104,14 @@ static const AP_Param::Info var_info[] PROGMEM = {
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// @Range: 1 10
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// @Increment: .1
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// @User: Standard
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GSCALAR(rtl_approach_alt, "APPROACH_ALT"),
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GSCALAR(rtl_approach_alt, "APPROACH_ALT", RTL_APPROACH_ALT),
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GSCALAR(tilt_comp, "TILT"),
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GSCALAR(tilt_comp, "TILT", 54),
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GSCALAR(waypoint_mode, "WP_MODE"),
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GSCALAR(command_total, "WP_TOTAL"),
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GSCALAR(command_index, "WP_INDEX"),
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GSCALAR(command_nav_index, "WP_MUST_INDEX"),
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GSCALAR(waypoint_mode, "WP_MODE", 0),
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GSCALAR(command_total, "WP_TOTAL", 0),
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GSCALAR(command_index, "WP_INDEX", 0),
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GSCALAR(command_nav_index, "WP_MUST_INDEX",0),
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// @Param: WP_RADIUS
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// @DisplayName: Waypoint Radius
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@ -120,7 +120,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
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// @Range: 1 127
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// @Increment: 1
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// @User: Standard
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GSCALAR(waypoint_radius, "WP_RADIUS"),
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GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT),
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// @Param: WP_LOITER_RAD
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// @DisplayName: Waypoint Loiter Radius
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@ -129,10 +129,10 @@ static const AP_Param::Info var_info[] PROGMEM = {
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// @Range: 1 127
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// @Increment: 1
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// @User: Standard
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GSCALAR(loiter_radius, "WP_LOITER_RAD"),
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GSCALAR(waypoint_speed_max, "WP_SPEED_MAX"),
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GSCALAR(crosstrack_gain, "XTRK_GAIN_SC"),
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GSCALAR(auto_land_timeout, "AUTO_LAND"),
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GSCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS),
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GSCALAR(waypoint_speed_max, "WP_SPEED_MAX", WAYPOINT_SPEED_MAX),
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GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", CROSSTRACK_GAIN),
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GSCALAR(auto_land_timeout, "AUTO_LAND", AUTO_LAND_TIME*1000),
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// @Param: THR_MIN
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// @DisplayName: Minimum Throttle
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@ -141,7 +141,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
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// @Range: 0 100
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// @Increment: 1
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// @User: Standard
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GSCALAR(throttle_min, "THR_MIN"),
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GSCALAR(throttle_min, "THR_MIN", MINIMUM_THROTTLE),
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// @Param: THR_MAX
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// @DisplayName: Maximum Throttle
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@ -150,50 +150,50 @@ static const AP_Param::Info var_info[] PROGMEM = {
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// @Range: 0 100
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// @Increment: 1
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// @User: Standard
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GSCALAR(throttle_max, "THR_MAX"),
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GSCALAR(throttle_max, "THR_MAX", MAXIMUM_THROTTLE),
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// @Param: THR_FAILSAFE
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// @DisplayName: Throttle Failsafe Enable
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// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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GSCALAR(throttle_fs_enabled, "THR_FAILSAFE"),
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GSCALAR(throttle_fs_enabled, "THR_FAILSAFE", THROTTLE_FAILSAFE),
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GSCALAR(throttle_fs_action, "THR_FS_ACTION"),
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GSCALAR(throttle_fs_action, "THR_FS_ACTION", THROTTLE_FAILSAFE_ACTION),
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// @Param: THR_FS_VALUE
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// @DisplayName: Throttle Failsafe Value
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// @Description: The PWM level on channel 3 below which throttle sailsafe triggers
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// @User: Standard
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GSCALAR(throttle_fs_value, "THR_FS_VALUE"),
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GSCALAR(throttle_fs_value, "THR_FS_VALUE", THROTTLE_FS_VALUE),
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GSCALAR(throttle_cruise, "TRIM_THROTTLE"),
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GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE),
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GSCALAR(flight_mode1, "FLTMODE1"),
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GSCALAR(flight_mode2, "FLTMODE2"),
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GSCALAR(flight_mode3, "FLTMODE3"),
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GSCALAR(flight_mode4, "FLTMODE4"),
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GSCALAR(flight_mode5, "FLTMODE5"),
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GSCALAR(flight_mode6, "FLTMODE6"),
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GSCALAR(simple_modes, "SIMPLE"),
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GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1),
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GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2),
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GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3),
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GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4),
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GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5),
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GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6),
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GSCALAR(simple_modes, "SIMPLE", 0),
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// @Param: LOG_BITMASK
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// @DisplayName: Log bitmask
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// @Description: bitmap of log fields to enable
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// @User: Advanced
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GSCALAR(log_bitmask, "LOG_BITMASK"),
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GSCALAR(log_last_filenumber, "LOG_LASTFILE"),
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GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
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GSCALAR(log_last_filenumber, "LOG_LASTFILE", 0),
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// THOR
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// Added to allow change of Rate in the Mission planner
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GSCALAR(toy_yaw_rate, "TOY_RATE"),
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GSCALAR(toy_yaw_rate, "TOY_RATE", 1),
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GSCALAR(esc_calibrate, "ESC"),
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GSCALAR(radio_tuning, "TUNE"),
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GSCALAR(radio_tuning_low, "TUNE_LOW"),
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GSCALAR(radio_tuning_high, "TUNE_HIGH"),
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GSCALAR(frame_orientation, "FRAME"),
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GSCALAR(ch7_option, "CH7_OPT"),
|
||||
GSCALAR(auto_slew_rate, "AUTO_SLEW"),
|
||||
GSCALAR(esc_calibrate, "ESC", 0),
|
||||
GSCALAR(radio_tuning, "TUNE", 0),
|
||||
GSCALAR(radio_tuning_low, "TUNE_LOW", 0),
|
||||
GSCALAR(radio_tuning_high, "TUNE_HIGH", 1000),
|
||||
GSCALAR(frame_orientation, "FRAME", FRAME_ORIENTATION),
|
||||
GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION),
|
||||
GSCALAR(auto_slew_rate, "AUTO_SLEW", AUTO_SLEW_RATE),
|
||||
|
||||
#if FRAME_CONFIG == HELI_FRAME
|
||||
GGROUP(heli_servo_1, "HS1_", RC_Channel),
|
||||
|
|
@ -255,11 +255,11 @@ static const AP_Param::Info var_info[] PROGMEM = {
|
|||
// @Units: Hertz (Hz)
|
||||
// @Values: 125,400,490
|
||||
// @User: Advanced
|
||||
GSCALAR(rc_speed, "RC_SPEED"),
|
||||
GSCALAR(rc_speed, "RC_SPEED", RC_FAST_SPEED),
|
||||
|
||||
// variable
|
||||
//---------
|
||||
GSCALAR(stabilize_d, "STAB_D"),
|
||||
GSCALAR(stabilize_d, "STAB_D", STABILIZE_D),
|
||||
|
||||
// @Param: STAB_D_S
|
||||
// @DisplayName: Stabilize D Schedule
|
||||
|
|
@ -267,12 +267,12 @@ static const AP_Param::Info var_info[] PROGMEM = {
|
|||
// @Range: 0 1
|
||||
// @Increment: .01
|
||||
// @User: Advanced
|
||||
GSCALAR(stabilize_d_schedule, "STAB_D_S"),
|
||||
GSCALAR(stabilize_d_schedule, "STAB_D_S", STABILIZE_D_SCHEDULE),
|
||||
|
||||
GSCALAR(acro_p, "ACRO_P"),
|
||||
GSCALAR(axis_lock_p, "AXIS_P"),
|
||||
GSCALAR(axis_enabled, "AXIS_ENABLE"),
|
||||
GSCALAR(copter_leds_mode, "LED_MODE"),
|
||||
GSCALAR(acro_p, "ACRO_P", ACRO_P),
|
||||
GSCALAR(axis_lock_p, "AXIS_P", AXIS_LOCK_P),
|
||||
GSCALAR(axis_enabled, "AXIS_ENABLE", AXIS_LOCK_ENABLED),
|
||||
GSCALAR(copter_leds_mode, "LED_MODE", 9),
|
||||
|
||||
// PID controller
|
||||
//---------------
|
||||
|
|
@ -350,21 +350,13 @@ static const AP_Param::Info var_info[] PROGMEM = {
|
|||
#else
|
||||
GOBJECT(motors, "MOT_", AP_Motors),
|
||||
#endif
|
||||
|
||||
AP_VAREND
|
||||
};
|
||||
|
||||
|
||||
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);
|
||||
}
|
||||
}
|
||||
|
||||
// change the default for the AHRS_GPS_GAIN for ArduCopter
|
||||
ahrs.gps_gain.set(0.0);
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue