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AP_Param: update ArduCopter core for new AP_Param interface

This commit is contained in:
Andrew Tridgell 2012-08-07 11:03:26 +10:00
parent f98b887dbe
commit d8106cf20f
4 changed files with 82 additions and 152 deletions
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6
ArduCopter/ArduCopter.pde
View File

@ -134,6 +134,12 @@ FastSerialPort0(Serial); // FTDI/console
FastSerialPort1(Serial1); // GPS port
FastSerialPort3(Serial3); // Telemetry port
// this sets up the parameter table, and sets the default values. This
// must be the first AP_Param variable declared to ensure its
// constructor runs before the constructors of the other AP_Param
// variables
AP_Param param_loader(var_info, WP_START_BYTE);
Arduino_Mega_ISR_Registry isr_registry;
////////////////////////////////////////////////////////////////////////////////

18
ArduCopter/GCS_Mavlink.pde
View File

@ -696,15 +696,15 @@ void mavlink_send_text(mavlink_channel_t chan, gcs_severity severity, const char
}
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRateRawSensors),
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRateExtendedStatus),
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRateRCChannels),
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRateRawController),
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRatePosition),
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRateExtra1),
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRateExtra2),
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRateExtra3),
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRateParams),
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRateRawSensors, 0),
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRateExtendedStatus, 0),
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRateRCChannels, 0),
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRateRawController, 0),
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRatePosition, 0),
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRateExtra1, 0),
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRateExtra2, 0),
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRateExtra3, 0),
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRateParams, 0),
AP_GROUPEND
};

72
ArduCopter/Parameters.h
View File

@ -335,69 +335,6 @@ public:
// Note: keep initializers here in the same order as they are declared above.
Parameters() :
// variable default
//----------------------------------------
format_version (k_format_version),
software_type (k_software_type),
sysid_this_mav (MAV_SYSTEM_ID),
sysid_my_gcs (255),
serial3_baud (SERIAL3_BAUD/1000),
RTL_altitude (RTL_HOLD_ALT),
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),
rtl_land_enabled (0),
rtl_approach_alt (RTL_APPROACH_ALT),
tilt_comp (54),
axis_enabled (AXIS_LOCK_ENABLED),
copter_leds_mode (9),
waypoint_mode (0),
command_total (0),
command_index (0),
command_nav_index (0),
waypoint_radius (WP_RADIUS_DEFAULT),
loiter_radius (LOITER_RADIUS),
waypoint_speed_max (WAYPOINT_SPEED_MAX),
crosstrack_gain (CROSSTRACK_GAIN),
auto_land_timeout (AUTO_LAND_TIME * 1000),
throttle_min (MINIMUM_THROTTLE),
throttle_max (MAXIMUM_THROTTLE),
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),
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),
log_last_filenumber (0),
toy_yaw_rate (1), // THOR The default Yaw Rate 1 = fast, 2 = med, 3 = slow
esc_calibrate (0),
radio_tuning (0),
radio_tuning_high (1000),
radio_tuning_low (0),
frame_orientation (FRAME_ORIENTATION),
ch7_option (CH7_OPTION),
auto_slew_rate (AUTO_SLEW_RATE),
#if FRAME_CONFIG == HELI_FRAME
heli_servo_1 (CH_1),
@ -420,13 +357,6 @@ public:
rc_11 (CH_11),
#endif
rc_speed(RC_FAST_SPEED),
stabilize_d (STABILIZE_D),
stabilize_d_schedule (STABILIZE_D_SCHEDULE),
acro_p (ACRO_P),
axis_lock_p (AXIS_LOCK_P),
// 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),
@ -457,5 +387,7 @@ public:
}
};
extern const AP_Param::Info var_info[];
#endif // PARAMETERS_H

138
ArduCopter/Parameters.pde
View File

@ -9,23 +9,23 @@
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 }
#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} }
static const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(format_version, "SYSID_SW_MREV"),
GSCALAR(software_type, "SYSID_SW_TYPE"),
const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(format_version, "SYSID_SW_MREV", 0),
GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type),
GSCALAR(sysid_this_mav, "SYSID_THISMAV"),
GSCALAR(sysid_my_gcs, "SYSID_MYGCS"),
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
// @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"),
GSCALAR(serial3_baud, "SERIAL3_BAUD", SERIAL3_BAUD/1000),
// @Param: ALT_HOLD_RTL
// @DisplayName: Alt Hold RTL
@ -34,45 +34,45 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 400
// @Increment: 1
// @User: Standard
GSCALAR(RTL_altitude, "ALT_HOLD_RTL"),
GSCALAR(RTL_altitude, "ALT_HOLD_RTL", RTL_HOLD_ALT),
// @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"),
GSCALAR(sonar_enabled, "SONAR_ENABLE", DISABLED),
GSCALAR(sonar_type, "SONAR_TYPE"),
GSCALAR(battery_monitoring, "BATT_MONITOR"),
GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL),
GSCALAR(battery_monitoring, "BATT_MONITOR", DISABLED),
// @Param: VOLT_DIVIDER
// @DisplayName: Voltage Divider
// @Description: TODO
GSCALAR(volt_div_ratio, "VOLT_DIVIDER"),
GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO),
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT"),
GSCALAR(input_voltage, "INPUT_VOLTS"),
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT),
GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE),
// @Param: BATT_CAPACITY
// @DisplayName: Battery Capacity
// @Description: Battery capacity in milliamp-hours (mAh)
// @Units: mAh
GSCALAR(pack_capacity, "BATT_CAPACITY"),
GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE),
// @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"),
GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER),
// @Param: FLOW_ENABLE
// @DisplayName: Enable Optical Flow
// @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(optflow_enabled, "FLOW_ENABLE"),
GSCALAR(optflow_enabled, "FLOW_ENABLE", OPTFLOW),
// @Param: LOW_VOLT
// @DisplayName: Low Voltage
@ -80,14 +80,14 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 20
// @Increment: .1
// @User: Standard
GSCALAR(low_voltage, "LOW_VOLT"),
GSCALAR(low_voltage, "LOW_VOLT", LOW_VOLTAGE),
// @Param: SUPER_SIMPLE
// @DisplayName: Enable Super Simple Mode
// @Description: Setting this to Enabled(1) will enable Super Simple Mode. Setting this to Disabled(0) will disable Super Simple Mode
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(super_simple, "SUPER_SIMPLE"),
GSCALAR(super_simple, "SUPER_SIMPLE", SUPER_SIMPLE),
// @Param: RTL_LAND
// @DisplayName: RTL Land
@ -95,7 +95,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Values: 0:Disabled,1:Enabled
// @User: Standard
// @ DEPRICATED
GSCALAR(rtl_land_enabled, "RTL_LAND"),
GSCALAR(rtl_land_enabled, "RTL_LAND", 0),
// @Param: APPROACH_ALT
// @DisplayName: Alt Hold RTL
@ -104,14 +104,14 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 1 10
// @Increment: .1
// @User: Standard
GSCALAR(rtl_approach_alt, "APPROACH_ALT"),
GSCALAR(rtl_approach_alt, "APPROACH_ALT", RTL_APPROACH_ALT),
GSCALAR(tilt_comp, "TILT"),
GSCALAR(tilt_comp, "TILT", 54),
GSCALAR(waypoint_mode, "WP_MODE"),
GSCALAR(command_total, "WP_TOTAL"),
GSCALAR(command_index, "WP_INDEX"),
GSCALAR(command_nav_index, "WP_MUST_INDEX"),
GSCALAR(waypoint_mode, "WP_MODE", 0),
GSCALAR(command_total, "WP_TOTAL", 0),
GSCALAR(command_index, "WP_INDEX", 0),
GSCALAR(command_nav_index, "WP_MUST_INDEX",0),
// @Param: WP_RADIUS
// @DisplayName: Waypoint Radius
@ -120,7 +120,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 1 127
// @Increment: 1
// @User: Standard
GSCALAR(waypoint_radius, "WP_RADIUS"),
GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT),
// @Param: WP_LOITER_RAD
// @DisplayName: Waypoint Loiter Radius
@ -129,10 +129,10 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 1 127
// @Increment: 1
// @User: Standard
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(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS),
GSCALAR(waypoint_speed_max, "WP_SPEED_MAX", WAYPOINT_SPEED_MAX),
GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", CROSSTRACK_GAIN),
GSCALAR(auto_land_timeout, "AUTO_LAND", AUTO_LAND_TIME*1000),
// @Param: THR_MIN
// @DisplayName: Minimum Throttle
@ -141,7 +141,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_min, "THR_MIN"),
GSCALAR(throttle_min, "THR_MIN", MINIMUM_THROTTLE),
// @Param: THR_MAX
// @DisplayName: Maximum Throttle
@ -150,50 +150,50 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_max, "THR_MAX"),
GSCALAR(throttle_max, "THR_MAX", MAXIMUM_THROTTLE),
// @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"),
GSCALAR(throttle_fs_enabled, "THR_FAILSAFE", THROTTLE_FAILSAFE),
GSCALAR(throttle_fs_action, "THR_FS_ACTION"),
GSCALAR(throttle_fs_action, "THR_FS_ACTION", THROTTLE_FAILSAFE_ACTION),
// @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"),
GSCALAR(throttle_fs_value, "THR_FS_VALUE", THROTTLE_FS_VALUE),
GSCALAR(throttle_cruise, "TRIM_THROTTLE"),
GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE),
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(flight_mode1, "FLTMODE1", FLIGHT_MODE_1),
GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2),
GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3),
GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4),
GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5),
GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6),
GSCALAR(simple_modes, "SIMPLE", 0),
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: bitmap of log fields to enable
// @User: Advanced
GSCALAR(log_bitmask, "LOG_BITMASK"),
GSCALAR(log_last_filenumber, "LOG_LASTFILE"),
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
GSCALAR(log_last_filenumber, "LOG_LASTFILE", 0),
// THOR
// Added to allow change of Rate in the Mission planner
GSCALAR(toy_yaw_rate, "TOY_RATE"),
GSCALAR(toy_yaw_rate, "TOY_RATE", 1),
GSCALAR(esc_calibrate, "ESC"),
GSCALAR(radio_tuning, "TUNE"),
GSCALAR(radio_tuning_low, "TUNE_LOW"),
GSCALAR(radio_tuning_high, "TUNE_HIGH"),
GSCALAR(frame_orientation, "FRAME"),
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);