From ce04d6281547025e7565aa5947463cfc80789ed5 Mon Sep 17 00:00:00 2001 From: uncrustify Date: Tue, 21 Aug 2012 19:19:50 -0700 Subject: [PATCH] uncrustify ArduPlane/Parameters.pde --- ArduPlane/Parameters.pde | 874 +++++++++++++++++++-------------------- 1 file changed, 437 insertions(+), 437 deletions(-) diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde index ad1e54973f..18efa11a7c 100644 --- a/ArduPlane/Parameters.pde +++ b/ArduPlane/Parameters.pde @@ -1,614 +1,614 @@ /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- /* - ArduPlane parameter definitions + * ArduPlane 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. + */ - 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, def) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v, {def_value:def} } -#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, {group_info:class::var_info} } -#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info:class::var_info} } +#define GSCALAR(v, name, def) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v, {def_value : def} } +#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, {group_info : class::var_info} } +#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info : class::var_info} } const AP_Param::Info var_info[] PROGMEM = { - GSCALAR(format_version, "FORMAT_VERSION", 0), - GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type), - GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID), - GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255), + GSCALAR(format_version, "FORMAT_VERSION", 0), + GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type), + GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID), + GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255), // @Param: SERIAL3_BAUD - // @DisplayName: Telemetry Baud Rate - // @Description: The baud rate used on the telemetry port + // @DisplayName: Telemetry Baud Rate + // @Description: The baud rate used on the telemetry port // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200 - // @User: Standard - GSCALAR(serial3_baud, "SERIAL3_BAUD", SERIAL3_BAUD/1000), + // @User: Standard + GSCALAR(serial3_baud, "SERIAL3_BAUD", SERIAL3_BAUD/1000), // @Param: KFF_PTCHCOMP - // @DisplayName: Pitch Compensation - // @Description: Adds pitch input to compensate for the loss of lift due to roll control. 0 = 0 %, 1 = 100% - // @Range: 0 1 - // @Increment: 0.01 - // @User: Advanced - GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP", PITCH_COMP), + // @DisplayName: Pitch Compensation + // @Description: Adds pitch input to compensate for the loss of lift due to roll control. 0 = 0 %, 1 = 100% + // @Range: 0 1 + // @Increment: 0.01 + // @User: Advanced + GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP", PITCH_COMP), // @Param: KFF_RDDRMIX - // @DisplayName: Rudder Mix - // @Description: The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100% - // @Range: 0 1 - // @Increment: 0.01 - // @User: Standard - GSCALAR(kff_rudder_mix, "KFF_RDDRMIX", RUDDER_MIX), + // @DisplayName: Rudder Mix + // @Description: The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100% + // @Range: 0 1 + // @Increment: 0.01 + // @User: Standard + GSCALAR(kff_rudder_mix, "KFF_RDDRMIX", RUDDER_MIX), // @Param: KFF_PTCH2THR - // @DisplayName: Pitch to Throttle Mix - // @Description: Pitch to throttle feed-forward gain. - // @Range: 0 5 - // @Increment: 0.01 - // @User: Advanced - GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR", P_TO_T), + // @DisplayName: Pitch to Throttle Mix + // @Description: Pitch to throttle feed-forward gain. + // @Range: 0 5 + // @Increment: 0.01 + // @User: Advanced + GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR", P_TO_T), // @Param: KFF_THR2PTCH - // @DisplayName: Throttle to Pitch Mix - // @Description: Throttle to pitch feed-forward gain. - // @Range: 0 5 - // @Increment: 0.01 - // @User: Advanced - GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH", T_TO_P), + // @DisplayName: Throttle to Pitch Mix + // @Description: Throttle to pitch feed-forward gain. + // @Range: 0 5 + // @Increment: 0.01 + // @User: Advanced + GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH", T_TO_P), // @Param: MANUAL_LEVEL - // @DisplayName: Manual Level - // @Description: Setting this to Disabled(0) will enable autolevel on every boot. Setting it to Enabled(1) will do a calibration only when you tell it to - // @Values: 0:Disabled,1:Enabled - // @User: Advanced - GSCALAR(manual_level, "MANUAL_LEVEL", MANUAL_LEVEL), + // @DisplayName: Manual Level + // @Description: Setting this to Disabled(0) will enable autolevel on every boot. Setting it to Enabled(1) will do a calibration only when you tell it to + // @Values: 0:Disabled,1:Enabled + // @User: Advanced + GSCALAR(manual_level, "MANUAL_LEVEL", MANUAL_LEVEL), // @Param: STICK_MIXING - // @DisplayName: Stick Mixing - // @Description: When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes - // @Values: 0:Disabled,1:Enabled - // @User: Advanced - GSCALAR(stick_mixing, "STICK_MIXING", 1), + // @DisplayName: Stick Mixing + // @Description: When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes + // @Values: 0:Disabled,1:Enabled + // @User: Advanced + GSCALAR(stick_mixing, "STICK_MIXING", 1), - // @Param: land_pitch_cd - // @DisplayName: Landing Pitch - // @Description: Used in autoland for planes without airspeed sensors in hundredths of a degree - // @Units: centi-Degrees - // @User: Advanced - GSCALAR(land_pitch_cd, "LAND_PITCH_CD", 0), + // @Param: land_pitch_cd + // @DisplayName: Landing Pitch + // @Description: Used in autoland for planes without airspeed sensors in hundredths of a degree + // @Units: centi-Degrees + // @User: Advanced + GSCALAR(land_pitch_cd, "LAND_PITCH_CD", 0), - // @Param: land_flare_alt - // @DisplayName: Landing flare altitude - // @Description: Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch - // @Units: meters - // @Increment: 0.1 - // @User: Advanced - GSCALAR(land_flare_alt, "LAND_FLARE_ALT", 3.0), + // @Param: land_flare_alt + // @DisplayName: Landing flare altitude + // @Description: Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch + // @Units: meters + // @Increment: 0.1 + // @User: Advanced + GSCALAR(land_flare_alt, "LAND_FLARE_ALT", 3.0), - // @Param: land_flare_sec - // @DisplayName: Landing flare time - // @Description: Time before landing point at which to lock heading and flare to the LAND_PITCH_CD pitch - // @Units: seconds - // @Increment: 0.1 - // @User: Advanced - GSCALAR(land_flare_sec, "LAND_FLARE_SEC", 2.0), + // @Param: land_flare_sec + // @DisplayName: Landing flare time + // @Description: Time before landing point at which to lock heading and flare to the LAND_PITCH_CD pitch + // @Units: seconds + // @Increment: 0.1 + // @User: Advanced + GSCALAR(land_flare_sec, "LAND_FLARE_SEC", 2.0), // @Param: XTRK_GAIN_SC - // @DisplayName: Crosstrack Gain - // @Description: The scale between distance off the line and angle to meet the line (in Degrees * 100) - // @Range: 0 2000 - // @Increment: 1 - // @User: Standard - GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", XTRACK_GAIN_SCALED), + // @DisplayName: Crosstrack Gain + // @Description: The scale between distance off the line and angle to meet the line (in Degrees * 100) + // @Range: 0 2000 + // @Increment: 1 + // @User: Standard + GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", XTRACK_GAIN_SCALED), // @Param: XTRK_ANGLE_CD - // @DisplayName: Crosstrack Entry Angle - // @Description: Maximum angle used to correct for track following. - // @Units: centi-Degrees - // @Range: 0 9000 - // @Increment: 1 - // @User: Standard - GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD", XTRACK_ENTRY_ANGLE_CENTIDEGREE), + // @DisplayName: Crosstrack Entry Angle + // @Description: Maximum angle used to correct for track following. + // @Units: centi-Degrees + // @Range: 0 9000 + // @Increment: 1 + // @User: Standard + GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD", XTRACK_ENTRY_ANGLE_CENTIDEGREE), // @Param: ALT_MIX - // @DisplayName: Gps to Baro Mix - // @Description: The percent of mixing between gps altitude and baro altitude. 0 = 100% gps, 1 = 100% baro - // @Units: Percent - // @Range: 0 1 - // @Increment: 0.1 - // @User: Advanced - GSCALAR(altitude_mix, "ALT_MIX", ALTITUDE_MIX), + // @DisplayName: Gps to Baro Mix + // @Description: The percent of mixing between gps altitude and baro altitude. 0 = 100% gps, 1 = 100% baro + // @Units: Percent + // @Range: 0 1 + // @Increment: 0.1 + // @User: Advanced + GSCALAR(altitude_mix, "ALT_MIX", ALTITUDE_MIX), - GSCALAR(command_total, "CMD_TOTAL", 0), - GSCALAR(command_index, "CMD_INDEX", 0), + GSCALAR(command_total, "CMD_TOTAL", 0), + GSCALAR(command_index, "CMD_INDEX", 0), // @Param: WP_RADIUS - // @DisplayName: Waypoint Radius - // @Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit. - // @Units: Meters - // @Range: 1 127 - // @Increment: 1 - // @User: Standard - GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT), + // @DisplayName: Waypoint Radius + // @Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit. + // @Units: Meters + // @Range: 1 127 + // @Increment: 1 + // @User: Standard + GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT), // @Param: WP_LOITER_RAD - // @DisplayName: Waypoint Loiter Radius - // @Description: Defines the distance from the waypoint center, the plane will maintain during a loiter - // @Units: Meters - // @Range: 1 127 - // @Increment: 1 - // @User: Standard - GSCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS_DEFAULT), + // @DisplayName: Waypoint Loiter Radius + // @Description: Defines the distance from the waypoint center, the plane will maintain during a loiter + // @Units: Meters + // @Range: 1 127 + // @Increment: 1 + // @User: Standard + GSCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS_DEFAULT), #if GEOFENCE_ENABLED == ENABLED // @Param: FENCE_ACTION - // @DisplayName: Action on geofence breach - // @Description: What to do on fence breach + // @DisplayName: Action on geofence breach + // @Description: What to do on fence breach // @Values: 0:None,1:GuidedMode,2:ReportOnly - // @User: Standard - GSCALAR(fence_action, "FENCE_ACTION", 0), + // @User: Standard + GSCALAR(fence_action, "FENCE_ACTION", 0), // @Param: FENCE_TOTAL - // @DisplayName: Fence Total - // @Description: Number of geofence points currently loaded - // @User: Standard - GSCALAR(fence_total, "FENCE_TOTAL", 0), + // @DisplayName: Fence Total + // @Description: Number of geofence points currently loaded + // @User: Standard + GSCALAR(fence_total, "FENCE_TOTAL", 0), // @Param: FENCE_CHANNEL - // @DisplayName: Fence Channel - // @Description: RC Channel to use to enable geofence. PWM input above 1750 enables the geofence - // @User: Standard - GSCALAR(fence_channel, "FENCE_CHANNEL", 0), + // @DisplayName: Fence Channel + // @Description: RC Channel to use to enable geofence. PWM input above 1750 enables the geofence + // @User: Standard + GSCALAR(fence_channel, "FENCE_CHANNEL", 0), // @Param: FENCE_MINALT - // @DisplayName: Fence Minimum Altitude - // @Description: Minimum altitude allowed before geofence triggers - // @Units: meters - // @Range: 0 32767 - // @Increment: 1 - // @User: Standard - GSCALAR(fence_minalt, "FENCE_MINALT", 0), + // @DisplayName: Fence Minimum Altitude + // @Description: Minimum altitude allowed before geofence triggers + // @Units: meters + // @Range: 0 32767 + // @Increment: 1 + // @User: Standard + GSCALAR(fence_minalt, "FENCE_MINALT", 0), // @Param: FENCE_MAXALT - // @DisplayName: Fence Maximum Altitude - // @Description: Maximum altitude allowed before geofence triggers - // @Units: meters - // @Range: 0 32767 - // @Increment: 1 - // @User: Standard - GSCALAR(fence_maxalt, "FENCE_MAXALT", 0), + // @DisplayName: Fence Maximum Altitude + // @Description: Maximum altitude allowed before geofence triggers + // @Units: meters + // @Range: 0 32767 + // @Increment: 1 + // @User: Standard + GSCALAR(fence_maxalt, "FENCE_MAXALT", 0), #endif // @Param: ARSPD_FBW_MIN - // @DisplayName: Fly By Wire Minimum Airspeed - // @Description: Airspeed corresponding to minimum throttle in Fly By Wire B mode. - // @Units: m/s - // @Range: 5 50 - // @Increment: 1 - // @User: Standard - GSCALAR(flybywire_airspeed_min, "ARSPD_FBW_MIN", AIRSPEED_FBW_MIN), + // @DisplayName: Fly By Wire Minimum Airspeed + // @Description: Airspeed corresponding to minimum throttle in Fly By Wire B mode. + // @Units: m/s + // @Range: 5 50 + // @Increment: 1 + // @User: Standard + GSCALAR(flybywire_airspeed_min, "ARSPD_FBW_MIN", AIRSPEED_FBW_MIN), // @Param: ARSPD_FBW_MAX - // @DisplayName: Fly By Wire Maximum Airspeed - // @Description: Airspeed corresponding to maximum throttle in Fly By Wire B mode. - // @Units: m/s - // @Range: 5 50 - // @Increment: 1 - // @User: Standard - GSCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX", AIRSPEED_FBW_MAX), + // @DisplayName: Fly By Wire Maximum Airspeed + // @Description: Airspeed corresponding to maximum throttle in Fly By Wire B mode. + // @Units: m/s + // @Range: 5 50 + // @Increment: 1 + // @User: Standard + GSCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX", AIRSPEED_FBW_MAX), // @Param: FBWB_ELEV_REV - // @DisplayName: Fly By Wire elevator reverse - // @Description: Reverse sense of elevator in FBWB. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude. - // @Values: 0:Disabled,1:Enabled - // @User: Standard - GSCALAR(flybywire_elev_reverse, "FBWB_ELEV_REV", 0), + // @DisplayName: Fly By Wire elevator reverse + // @Description: Reverse sense of elevator in FBWB. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude. + // @Values: 0:Disabled,1:Enabled + // @User: Standard + GSCALAR(flybywire_elev_reverse, "FBWB_ELEV_REV", 0), // @Param: THR_MIN - // @DisplayName: Minimum Throttle - // @Description: The minimum throttle setting to which the autopilot will apply. - // @Units: Percent - // @Range: 0 100 - // @Increment: 1 - // @User: Standard - GSCALAR(throttle_min, "THR_MIN", THROTTLE_MIN), + // @DisplayName: Minimum Throttle + // @Description: The minimum throttle setting to which the autopilot will apply. + // @Units: Percent + // @Range: 0 100 + // @Increment: 1 + // @User: Standard + GSCALAR(throttle_min, "THR_MIN", THROTTLE_MIN), // @Param: THR_MAX - // @DisplayName: Maximum Throttle - // @Description: The maximum throttle setting to which the autopilot will apply. - // @Units: Percent - // @Range: 0 100 - // @Increment: 1 - // @User: Standard - GSCALAR(throttle_max, "THR_MAX", THROTTLE_MAX), + // @DisplayName: Maximum Throttle + // @Description: The maximum throttle setting to which the autopilot will apply. + // @Units: Percent + // @Range: 0 100 + // @Increment: 1 + // @User: Standard + GSCALAR(throttle_max, "THR_MAX", THROTTLE_MAX), - // @Param: THR_SLEWRATE - // @DisplayName: Throttlw slew rate - // @Description: maximum percentage change in throttle per second - // @Units: Percent - // @Range: 0 100 - // @Increment: 1 - // @User: Standard - GSCALAR(throttle_slewrate, "THR_SLEWRATE", THROTTLE_SLEW_LIMIT), + // @Param: THR_SLEWRATE + // @DisplayName: Throttlw slew rate + // @Description: maximum percentage change in throttle per second + // @Units: Percent + // @Range: 0 100 + // @Increment: 1 + // @User: Standard + GSCALAR(throttle_slewrate, "THR_SLEWRATE", THROTTLE_SLEW_LIMIT), // @Param: THR_FAILSAFE - // @DisplayName: Throttle Failsafe Enable - // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel - // @Values: 0:Disabled,1:Enabled - // @User: Standard - GSCALAR(throttle_fs_enabled, "THR_FAILSAFE", THROTTLE_FAILSAFE), + // @DisplayName: Throttle Failsafe Enable + // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel + // @Values: 0:Disabled,1:Enabled + // @User: Standard + GSCALAR(throttle_fs_enabled, "THR_FAILSAFE", THROTTLE_FAILSAFE), // @Param: THR_FS_VALUE - // @DisplayName: Throttle Failsafe Value - // @Description: The PWM level on channel 3 below which throttle sailsafe triggers - // @User: Standard - GSCALAR(throttle_fs_value, "THR_FS_VALUE", THROTTLE_FS_VALUE), + // @DisplayName: Throttle Failsafe Value + // @Description: The PWM level on channel 3 below which throttle sailsafe triggers + // @User: Standard + GSCALAR(throttle_fs_value, "THR_FS_VALUE", THROTTLE_FS_VALUE), // @Param: TRIM_THROTTLE - // @DisplayName: Throttle cruise percentage - // @Description: The target percentage of throttle to apply for normal flight - // @Units: Percent - // @Range: 0 100 - // @Increment: 1 - // @User: Standard - GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE), + // @DisplayName: Throttle cruise percentage + // @Description: The target percentage of throttle to apply for normal flight + // @Units: Percent + // @Range: 0 100 + // @Increment: 1 + // @User: Standard + GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE), // @Param: FS_SHORT_ACTN - // @DisplayName: Short failsafe action - // @Description: The action to take on a short (1 second) failsafe event - // @Values: 0:None,1:ReturnToLaunch - // @User: Standard - GSCALAR(short_fs_action, "FS_SHORT_ACTN", SHORT_FAILSAFE_ACTION), + // @DisplayName: Short failsafe action + // @Description: The action to take on a short (1 second) failsafe event + // @Values: 0:None,1:ReturnToLaunch + // @User: Standard + GSCALAR(short_fs_action, "FS_SHORT_ACTN", SHORT_FAILSAFE_ACTION), // @Param: FS_LONG_ACTN - // @DisplayName: Long failsafe action - // @Description: The action to take on a long (20 second) failsafe event - // @Values: 0:None,1:ReturnToLaunch - // @User: Standard - GSCALAR(long_fs_action, "FS_LONG_ACTN", LONG_FAILSAFE_ACTION), + // @DisplayName: Long failsafe action + // @Description: The action to take on a long (20 second) failsafe event + // @Values: 0:None,1:ReturnToLaunch + // @User: Standard + GSCALAR(long_fs_action, "FS_LONG_ACTN", LONG_FAILSAFE_ACTION), // @Param: FS_GCS_ENABL - // @DisplayName: GCS failsafe enable - // @Description: Enable ground control station telemetry failsafe. Failsafe will trigger after 20 seconds of no MAVLink heartbeat messages - // @Values: 0:Disabled,1:Enabled - // @User: Standard - GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL", GCS_HEARTBEAT_FAILSAFE), + // @DisplayName: GCS failsafe enable + // @Description: Enable ground control station telemetry failsafe. Failsafe will trigger after 20 seconds of no MAVLink heartbeat messages + // @Values: 0:Disabled,1:Enabled + // @User: Standard + GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL", GCS_HEARTBEAT_FAILSAFE), // @Param: FLTMODE_CH - // @DisplayName: Flightmode channel - // @Description: RC Channel to use for flight mode control - // @User: Advanced - GSCALAR(flight_mode_channel, "FLTMODE_CH", FLIGHT_MODE_CHANNEL), + // @DisplayName: Flightmode channel + // @Description: RC Channel to use for flight mode control + // @User: Advanced + GSCALAR(flight_mode_channel, "FLTMODE_CH", FLIGHT_MODE_CHANNEL), // @Param: FLTMODE1 - // @DisplayName: FlightMode1 - // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided - // @User: Standard - // @Description: Flight mode for switch position 1 (910 to 1230 and above 2049) - GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1), + // @DisplayName: FlightMode1 + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard + // @Description: Flight mode for switch position 1 (910 to 1230 and above 2049) + GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1), // @Param: FLTMODE2 - // @DisplayName: FlightMode2 - // @Description: Flight mode for switch position 2 (1231 to 1360) - // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided - // @User: Standard - GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2), + // @DisplayName: FlightMode2 + // @Description: Flight mode for switch position 2 (1231 to 1360) + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard + GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2), // @Param: FLTMODE3 - // @DisplayName: FlightMode3 - // @Description: Flight mode for switch position 3 (1361 to 1490) - // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided - // @User: Standard - GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3), + // @DisplayName: FlightMode3 + // @Description: Flight mode for switch position 3 (1361 to 1490) + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard + GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3), // @Param: FLTMODE4 - // @DisplayName: FlightMode4 - // @Description: Flight mode for switch position 4 (1491 to 1620) - // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided - // @User: Standard - GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4), + // @DisplayName: FlightMode4 + // @Description: Flight mode for switch position 4 (1491 to 1620) + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard + GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4), // @Param: FLTMODE5 - // @DisplayName: FlightMode5 - // @Description: Flight mode for switch position 5 (1621 to 1749) - // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided - // @User: Standard - GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5), + // @DisplayName: FlightMode5 + // @Description: Flight mode for switch position 5 (1621 to 1749) + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard + GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5), // @Param: FLTMODE6 - // @DisplayName: FlightMode6 - // @Description: Flight mode for switch position 6 (1750 to 2049) - // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided - // @User: Standard - GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6), + // @DisplayName: FlightMode6 + // @Description: Flight mode for switch position 6 (1750 to 2049) + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard + GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6), // @Param: LIM_ROLL_CD - // @DisplayName: Maximum Bank Angle - // @Description: The maximum commanded bank angle in either direction - // @Units: centi-Degrees - // @Range: 0 9000 - // @Increment: 1 - // @User: Standard - GSCALAR(roll_limit_cd, "LIM_ROLL_CD", HEAD_MAX_CENTIDEGREE), + // @DisplayName: Maximum Bank Angle + // @Description: The maximum commanded bank angle in either direction + // @Units: centi-Degrees + // @Range: 0 9000 + // @Increment: 1 + // @User: Standard + GSCALAR(roll_limit_cd, "LIM_ROLL_CD", HEAD_MAX_CENTIDEGREE), // @Param: LIM_PITCH_MAX - // @DisplayName: Maximum Pitch Angle - // @Description: The maximum commanded pitch up angle - // @Units: centi-Degrees - // @Range: 0 9000 - // @Increment: 1 - // @User: Standard - GSCALAR(pitch_limit_max_cd, "LIM_PITCH_MAX", PITCH_MAX_CENTIDEGREE), + // @DisplayName: Maximum Pitch Angle + // @Description: The maximum commanded pitch up angle + // @Units: centi-Degrees + // @Range: 0 9000 + // @Increment: 1 + // @User: Standard + GSCALAR(pitch_limit_max_cd, "LIM_PITCH_MAX", PITCH_MAX_CENTIDEGREE), // @Param: LIM_PITCH_MIN - // @DisplayName: Minimum Pitch Angle - // @Description: The minimum commanded pitch down angle - // @Units: centi-Degrees - // @Range: 0 9000 - // @Increment: 1 - // @User: Standard - GSCALAR(pitch_limit_min_cd, "LIM_PITCH_MIN", PITCH_MIN_CENTIDEGREE), + // @DisplayName: Minimum Pitch Angle + // @Description: The minimum commanded pitch down angle + // @Units: centi-Degrees + // @Range: 0 9000 + // @Increment: 1 + // @User: Standard + GSCALAR(pitch_limit_min_cd, "LIM_PITCH_MIN", PITCH_MIN_CENTIDEGREE), // @Param: AUTO_TRIM - // @DisplayName: Auto trim - // @Description: Set RC trim PWM levels to current levels when switching away from manual mode - // @Values: 0:Disabled,1:Enabled - // @User: Standard - GSCALAR(auto_trim, "TRIM_AUTO", AUTO_TRIM), + // @DisplayName: Auto trim + // @Description: Set RC trim PWM levels to current levels when switching away from manual mode + // @Values: 0:Disabled,1:Enabled + // @User: Standard + GSCALAR(auto_trim, "TRIM_AUTO", AUTO_TRIM), // @Param: MIX_MODE - // @DisplayName: Elevon mixing - // @Description: Enable elevon mixing - // @Values: 0:Disabled,1:Enabled - // @User: User - GSCALAR(mix_mode, "ELEVON_MIXING", ELEVON_MIXING), + // @DisplayName: Elevon mixing + // @Description: Enable elevon mixing + // @Values: 0:Disabled,1:Enabled + // @User: User + GSCALAR(mix_mode, "ELEVON_MIXING", ELEVON_MIXING), // @Param: ELEVON_REVERSE - // @DisplayName: Elevon reverse - // @Description: Reverse elevon mixing - // @Values: 0:Disabled,1:Enabled - // @User: User - GSCALAR(reverse_elevons, "ELEVON_REVERSE", ELEVON_REVERSE), + // @DisplayName: Elevon reverse + // @Description: Reverse elevon mixing + // @Values: 0:Disabled,1:Enabled + // @User: User + GSCALAR(reverse_elevons, "ELEVON_REVERSE", ELEVON_REVERSE), // @Param: ELEVON_CH1_REV - // @DisplayName: Elevon reverse - // @Description: Reverse elevon channel 1 - // @Values: -1:Disabled,1:Enabled - // @User: User - GSCALAR(reverse_ch1_elevon, "ELEVON_CH1_REV", ELEVON_CH1_REVERSE), + // @DisplayName: Elevon reverse + // @Description: Reverse elevon channel 1 + // @Values: -1:Disabled,1:Enabled + // @User: User + GSCALAR(reverse_ch1_elevon, "ELEVON_CH1_REV", ELEVON_CH1_REVERSE), // @Param: ELEVON_CH2_REV - // @DisplayName: Elevon reverse - // @Description: Reverse elevon channel 2 - // @Values: -1:Disabled,1:Enabled - // @User: User - GSCALAR(reverse_ch2_elevon, "ELEVON_CH2_REV", ELEVON_CH2_REVERSE), + // @DisplayName: Elevon reverse + // @Description: Reverse elevon channel 2 + // @Values: -1:Disabled,1:Enabled + // @User: User + GSCALAR(reverse_ch2_elevon, "ELEVON_CH2_REV", ELEVON_CH2_REVERSE), // @Param: SYS_NUM_RESETS - // @DisplayName: Num Resets - // @Description: Number of APM board resets - // @User: Advanced - GSCALAR(num_resets, "SYS_NUM_RESETS", 0), + // @DisplayName: Num Resets + // @Description: Number of APM board resets + // @User: Advanced + GSCALAR(num_resets, "SYS_NUM_RESETS", 0), // @Param: LOG_BITMASK - // @DisplayName: Log bitmask - // @Description: bitmap of log fields to enable - // @User: Advanced - GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK), + // @DisplayName: Log bitmask + // @Description: bitmap of log fields to enable + // @User: Advanced + GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK), // @Param: RST_SWITCH_CH - // @DisplayName: Reset Switch Channel - // @Description: RC channel to use to reset to last flight mode after geofence takeover. - // @User: Advanced - GSCALAR(reset_switch_chan, "RST_SWITCH_CH", 0), + // @DisplayName: Reset Switch Channel + // @Description: RC channel to use to reset to last flight mode after geofence takeover. + // @User: Advanced + GSCALAR(reset_switch_chan, "RST_SWITCH_CH", 0), // @Param: RST_MISSION_CH - // @DisplayName: Reset Mission Channel - // @Description: RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable. - // @User: Advanced - GSCALAR(reset_mission_chan, "RST_MISSION_CH", 0), + // @DisplayName: Reset Mission Channel + // @Description: RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable. + // @User: Advanced + GSCALAR(reset_mission_chan, "RST_MISSION_CH", 0), // @Param: TRIM_ARSPD_CM - // @DisplayName: Target airspeed - // @Description: Airspeed in cm/s to aim for when airspeed is enabled in auto mode - // @Units: cm/s - // @User: User - GSCALAR(airspeed_cruise_cm, "TRIM_ARSPD_CM", AIRSPEED_CRUISE_CM), + // @DisplayName: Target airspeed + // @Description: Airspeed in cm/s to aim for when airspeed is enabled in auto mode + // @Units: cm/s + // @User: User + GSCALAR(airspeed_cruise_cm, "TRIM_ARSPD_CM", AIRSPEED_CRUISE_CM), // @Param: SCALING_SPEED - // @DisplayName: speed used for speed scaling calculations - // @Description: Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values - // @Units: m/s - // @User: Advanced - GSCALAR(scaling_speed, "SCALING_SPEED", SCALING_SPEED), + // @DisplayName: speed used for speed scaling calculations + // @Description: Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values + // @Units: m/s + // @User: Advanced + GSCALAR(scaling_speed, "SCALING_SPEED", SCALING_SPEED), // @Param: MIN_GNDSPD_CM - // @DisplayName: Minimum ground speed - // @Description: Minimum ground speed in cm/s when under airspeed control - // @Units: cm/s - // @User: Advanced - GSCALAR(min_gndspeed_cm, "MIN_GNDSPD_CM", MIN_GNDSPEED_CM), + // @DisplayName: Minimum ground speed + // @Description: Minimum ground speed in cm/s when under airspeed control + // @Units: cm/s + // @User: Advanced + GSCALAR(min_gndspeed_cm, "MIN_GNDSPD_CM", MIN_GNDSPEED_CM), // @Param: TRIM_PITCH_CD - // @DisplayName: Pitch angle offset - // @Description: offset to add to pitch - used for trimming tail draggers - // @Units: centi-Degrees - // @User: Advanced - GSCALAR(pitch_trim_cd, "TRIM_PITCH_CD", 0), + // @DisplayName: Pitch angle offset + // @Description: offset to add to pitch - used for trimming tail draggers + // @Units: centi-Degrees + // @User: Advanced + GSCALAR(pitch_trim_cd, "TRIM_PITCH_CD", 0), // @Param: ALT_HOLD_RTL - // @DisplayName: RTL altitude - // @Description: Return to launch target altitude - // @Units: centimeters - // @User: User - GSCALAR(RTL_altitude_cm, "ALT_HOLD_RTL", ALT_HOLD_HOME_CM), + // @DisplayName: RTL altitude + // @Description: Return to launch target altitude + // @Units: centimeters + // @User: User + GSCALAR(RTL_altitude_cm, "ALT_HOLD_RTL", ALT_HOLD_HOME_CM), - GSCALAR(FBWB_min_altitude_cm, "ALT_HOLD_FBWCM", ALT_HOLD_FBW_CM), + GSCALAR(FBWB_min_altitude_cm, "ALT_HOLD_FBWCM", ALT_HOLD_FBW_CM), // @Param: MAG_ENABLE - // @DisplayName: Enable Compass - // @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass - // @Values: 0:Disabled,1:Enabled - // @User: Standard - GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER), + // @DisplayName: Enable Compass + // @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass + // @Values: 0:Disabled,1:Enabled + // @User: Standard + GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER), - GSCALAR(flap_1_percent, "FLAP_1_PERCNT", FLAP_1_PERCENT), - GSCALAR(flap_1_speed, "FLAP_1_SPEED", FLAP_1_SPEED), - GSCALAR(flap_2_percent, "FLAP_2_PERCNT", FLAP_2_PERCENT), - GSCALAR(flap_2_speed, "FLAP_2_SPEED", FLAP_2_SPEED), + GSCALAR(flap_1_percent, "FLAP_1_PERCNT", FLAP_1_PERCENT), + GSCALAR(flap_1_speed, "FLAP_1_SPEED", FLAP_1_SPEED), + GSCALAR(flap_2_percent, "FLAP_2_PERCNT", FLAP_2_PERCENT), + GSCALAR(flap_2_speed, "FLAP_2_SPEED", FLAP_2_SPEED), - GSCALAR(battery_monitoring, "BATT_MONITOR", 0), - GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO), - GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT), - GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE), - GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE), - GSCALAR(inverted_flight_ch, "INVERTEDFLT_CH", 0), + GSCALAR(battery_monitoring, "BATT_MONITOR", 0), + GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO), + GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT), + GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE), + GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE), + GSCALAR(inverted_flight_ch, "INVERTEDFLT_CH", 0), // @Param: SONAR_ENABLE - // @DisplayName: Enable Sonar - // @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar - // @Values: 0:Disabled,1:Enabled - // @User: Standard - GSCALAR(sonar_enabled, "SONAR_ENABLE", SONAR_ENABLED), + // @DisplayName: Enable Sonar + // @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar + // @Values: 0:Disabled,1:Enabled + // @User: Standard + GSCALAR(sonar_enabled, "SONAR_ENABLE", SONAR_ENABLED), - // barometer ground calibration. The GND_ prefix is chosen for - // compatibility with previous releases of ArduPlane - GOBJECT(barometer, "GND_", AP_Baro), + // barometer ground calibration. The GND_ prefix is chosen for + // compatibility with previous releases of ArduPlane + GOBJECT(barometer, "GND_", AP_Baro), #if CAMERA == ENABLED - // @Group: CAM_ - // @Path: ../libraries/AP_Camera/AP_Camera.cpp - GGROUP(camera, "CAM_", AP_Camera), + // @Group: CAM_ + // @Path: ../libraries/AP_Camera/AP_Camera.cpp + GGROUP(camera, "CAM_", AP_Camera), #endif - // RC channel - //----------- - // @Group: RC1_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(channel_roll, "RC1_", RC_Channel), - // @Group: RC2_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(channel_pitch, "RC2_", RC_Channel), - // @Group: RC3_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(channel_throttle, "RC3_", RC_Channel), - // @Group: RC4_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(channel_rudder, "RC4_", RC_Channel), + // RC channel + //----------- + // @Group: RC1_ + // @Path: ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(channel_roll, "RC1_", RC_Channel), + // @Group: RC2_ + // @Path: ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(channel_pitch, "RC2_", RC_Channel), + // @Group: RC3_ + // @Path: ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(channel_throttle, "RC3_", RC_Channel), + // @Group: RC4_ + // @Path: ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(channel_rudder, "RC4_", RC_Channel), - // @Group: RC5_ - // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(rc_5, "RC5_", RC_Channel_aux), + // @Group: RC5_ + // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(rc_5, "RC5_", RC_Channel_aux), - // @Group: RC6_ - // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(rc_6, "RC6_", RC_Channel_aux), + // @Group: RC6_ + // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(rc_6, "RC6_", RC_Channel_aux), - // @Group: RC7_ - // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(rc_7, "RC7_", RC_Channel_aux), + // @Group: RC7_ + // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(rc_7, "RC7_", RC_Channel_aux), - // @Group: RC8_ - // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(rc_8, "RC8_", RC_Channel_aux), + // @Group: RC8_ + // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(rc_8, "RC8_", RC_Channel_aux), #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 - // @Group: RC9_ - // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(rc_9, "RC9_", RC_Channel_aux), + // @Group: RC9_ + // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(rc_9, "RC9_", RC_Channel_aux), - // @Group: RC10_ - // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(rc_10, "RC10_", RC_Channel_aux), + // @Group: RC10_ + // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(rc_10, "RC10_", RC_Channel_aux), - // @Group: RC11_ - // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(rc_11, "RC11_", RC_Channel_aux), + // @Group: RC11_ + // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp + GGROUP(rc_11, "RC11_", RC_Channel_aux), #endif - GGROUP(pidNavRoll, "HDNG2RLL_", PID), - GGROUP(pidServoRoll, "RLL2SRV_", PID), - GGROUP(pidServoPitch, "PTCH2SRV_", PID), - GGROUP(pidNavPitchAirspeed, "ARSP2PTCH_", PID), - GGROUP(pidServoRudder, "YW2SRV_", PID), - GGROUP(pidTeThrottle, "ENRGY2THR_", PID), - GGROUP(pidNavPitchAltitude, "ALT2PTCH_", PID), - GGROUP(pidWheelSteer, "WHEELSTEER_",PID), + GGROUP(pidNavRoll, "HDNG2RLL_", PID), + GGROUP(pidServoRoll, "RLL2SRV_", PID), + GGROUP(pidServoPitch, "PTCH2SRV_", PID), + GGROUP(pidNavPitchAirspeed, "ARSP2PTCH_", PID), + GGROUP(pidServoRudder, "YW2SRV_", PID), + GGROUP(pidTeThrottle, "ENRGY2THR_", PID), + GGROUP(pidNavPitchAltitude, "ALT2PTCH_", PID), + GGROUP(pidWheelSteer, "WHEELSTEER_",PID), - // variables not in the g class which contain EEPROM saved variables + // variables not in the g class which contain EEPROM saved variables - // @Group: COMPASS_ - // @Path: ../libraries/AP_Compass/Compass.cpp - GOBJECT(compass, "COMPASS_", Compass), - GOBJECT(gcs0, "SR0_", GCS_MAVLINK), - GOBJECT(gcs3, "SR3_", GCS_MAVLINK), + // @Group: COMPASS_ + // @Path: ../libraries/AP_Compass/Compass.cpp + GOBJECT(compass, "COMPASS_", Compass), + GOBJECT(gcs0, "SR0_", GCS_MAVLINK), + GOBJECT(gcs3, "SR3_", GCS_MAVLINK), #if HIL_MODE == HIL_MODE_DISABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 - // @Group: INS_ - // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp - GOBJECT(ins, "INS_", AP_InertialSensor_Oilpan), + // @Group: INS_ + // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp + GOBJECT(ins, "INS_", AP_InertialSensor_Oilpan), #endif - // @Group: IMU_ - // @Path: ../libraries/AP_IMU/IMU.cpp - GOBJECT(imu, "IMU_", IMU), + // @Group: IMU_ + // @Path: ../libraries/AP_IMU/IMU.cpp + GOBJECT(imu, "IMU_", IMU), - // @Group: AHRS_ - // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp - GOBJECT(ahrs, "AHRS_", AP_AHRS), + // @Group: AHRS_ + // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp + GOBJECT(ahrs, "AHRS_", AP_AHRS), // @Group: ARSPD_ - // @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp - GOBJECT(airspeed, "ARSPD_", AP_Airspeed), + // @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp + GOBJECT(airspeed, "ARSPD_", AP_Airspeed), #if MOUNT == ENABLED - // @Group: MNT_ - // @Path: ../libraries/AP_Mount/AP_Mount.cpp - GOBJECT(camera_mount, "MNT_", AP_Mount), + // @Group: MNT_ + // @Path: ../libraries/AP_Mount/AP_Mount.cpp + GOBJECT(camera_mount, "MNT_", AP_Mount), #endif #if MOUNT2 == ENABLED - // @Group: MNT2_ - // @Path: ../libraries/AP_Mount/AP_Mount.cpp - GOBJECT(camera_mount2, "MNT2_", AP_Mount), + // @Group: MNT2_ + // @Path: ../libraries/AP_Mount/AP_Mount.cpp + GOBJECT(camera_mount2, "MNT2_", AP_Mount), #endif #ifdef DESKTOP_BUILD - // @Group: SIM_ + // @Group: SIM_ // @Path: ../libraries/SITL/SITL.cpp - GOBJECT(sitl, "SIM_", SITL), + GOBJECT(sitl, "SIM_", SITL), #endif #if OBC_FAILSAFE == ENABLED - GOBJECT(obc, "FS_", APM_OBC), + GOBJECT(obc, "FS_", APM_OBC), #endif - AP_VAREND + AP_VAREND }; static void load_parameters(void) { - if (!g.format_version.load() || - g.format_version != Parameters::k_format_version) { + 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(); + // 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); - Serial.println_P(PSTR("done.")); + // save the current format version + g.format_version.set_and_save(Parameters::k_format_version); + Serial.println_P(PSTR("done.")); } else { - uint32_t before = micros(); - // Load all auto-loaded EEPROM variables - AP_Param::load_all(); + uint32_t before = micros(); + // Load all auto-loaded EEPROM variables + AP_Param::load_all(); - Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before); - } + Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before); + } }