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ArduCopter: added descriptions for most parameters that did not have them 

Renamed loiter_radius to circle_radius to better reflect it's purpose.
Removed some unused parameters including WP_MODE, WP_MUST_INDEX, LOG_LASTFILE, AXIS_P
This commit is contained in:
rmackay9 2012-12-10 21:45:57 +09:00
parent a38db6744f
commit dadad8677e
4 changed files with 153 additions and 65 deletions
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20
ArduCopter/Parameters.h
View File

@ -199,19 +199,17 @@ public:
k_param_waypoint_mode = 210, // remove
k_param_command_total,
k_param_command_index,
k_param_command_nav_index,
k_param_command_nav_index, // remove
k_param_waypoint_radius,
k_param_loiter_radius,
k_param_circle_radius,
k_param_waypoint_speed_max,
k_param_land_speed, // 217
//
// 220: PI/D Controllers
//
//k_param_stabilize_d_schedule = 219,
//k_param_stabilize_d = 220,
k_param_acro_p = 221,
k_param_axis_lock_p,
k_param_axis_lock_p, // remove
k_param_pid_rate_roll,
k_param_pid_rate_pitch,
k_param_pid_rate_yaw,
@ -276,12 +274,10 @@ public:
// Waypoints
//
AP_Int8 waypoint_mode;
AP_Int8 command_total;
AP_Int8 command_index;
AP_Int8 command_nav_index;
AP_Int16 waypoint_radius;
AP_Int16 loiter_radius;
AP_Int16 circle_radius;
AP_Int16 waypoint_speed_max;
AP_Float crosstrack_gain;
AP_Int16 crosstrack_min_distance;
@ -311,9 +307,7 @@ public:
// Misc
//
AP_Int16 log_bitmask;
AP_Int16 log_last_filenumber; // *** Deprecated - remove
// with next eeprom number
// change
AP_Int8 toy_yaw_rate; // THOR The
// Yaw Rate 1
// = fast, 2 =
@ -356,12 +350,8 @@ public:
#endif
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
//AP_Float stabilize_d;
//AP_Float stabilize_d_schedule;
// Acro parameters
AP_Float acro_p;
AP_Float axis_lock_p;
AP_Int16 acro_balance_roll;
AP_Int16 acro_balance_pitch;

175
ArduCopter/Parameters.pde
View File

@ -14,9 +14,22 @@
#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 = {
// @Param: SYSID_SW_MREV
// @DisplayName: Eeprom format version number
// @Description: This value is incremented when changes are made to the eeprom format
// @User: Advanced
GSCALAR(format_version, "SYSID_SW_MREV", 0),
// @Param: SYSID_SW_TYPE
// @DisplayName: Software Type
// @Description: This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)
// @User: Advanced
GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type),
// @Param: SYSID_THISMAV
// @DisplayName: Mavlink version
// @Description: Allows reconising the mavlink version
// @User: Advanced
GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
@ -39,7 +52,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: ALT_RTL
// @DisplayName: RTL Altitude
// @Description: The minimum altitude the model will move to before Returning to Launch. Set to zero to return at current altitude.
// @Units: centimeters
// @Units: Centimeters
// @Range: 0 4000
// @Increment: 1
// @User: Standard
@ -52,8 +65,18 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(sonar_enabled, "SONAR_ENABLE", DISABLED),
// @Param: SONAR_TYPE
// @DisplayName: Sonar type
// @Description: Used to adjust scaling to match the sonar used (only Maxbotix sonars are supported at this time)
// @Values: 0:XL-EZ0,1:LV-EZ0,2:XLL-EZ0,3:HRLV
// @User: Standard
GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL),
// @Param: BATT_MONITOR
// @DisplayName: Battery monitoring
// @Description: Controls enabling monitoring of the battery's voltage and current
// @Values: 0:Disabled,3:Voltage Only,4:Voltage and Current
// @User: Standard
GSCALAR(battery_monitoring, "BATT_MONITOR", DISABLED),
// @Param: BATT_FAILSAFE
@ -65,10 +88,20 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: VOLT_DIVIDER
// @DisplayName: Voltage Divider
// @Description: TODO
// @Description: Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin voltage * INPUT_VOLTS/1024 * VOLT_DIVIDER)
// @User: Advanced
GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO),
// @Param: AMP_PER_VOLT
// @DisplayName: Current Amps per volt
// @Description: Used to convert the voltage on the current sensing pin (BATT_CURR_PIN) to the actual current being consumed in amps (curr pin voltage * INPUT_VOLTS/1024 * AMP_PER_VOLT )
// @User: Advanced
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT),
// @Param: INPUT_VOLTS
// @DisplayName: Max internal voltage of the battery voltage and current sensing pins
// @Description: Used to convert the voltage read in on the voltage and current pins for battery monitoring. Normally 5 meaning 5 volts.
// @User: Advanced
GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE),
// @Param: BATT_CAPACITY
@ -109,7 +142,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: RTL_ALT_FINAL
// @DisplayName: RTL Final Altitude
// @Description: This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to -1 to disable, zero to land.
// @Units: centimeters
// @Units: Centimeters
// @Range: -1 1000
// @Increment: 1
// @User: Standard
@ -158,10 +191,17 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(yaw_override_behaviour, "YAW_OVR_BEHAVE", YAW_OVERRIDE_BEHAVIOUR_AT_NEXT_WAYPOINT),
GSCALAR(waypoint_mode, "WP_MODE", 0),
// @Param: WP_TOTAL
// @DisplayName: Waypoint Total
// @Description: Total number of commands in the mission stored in the eeprom. Do not update this parameter directly!
// @User: Advanced
GSCALAR(command_total, "WP_TOTAL", 0),
// @Param: WP_INDEX
// @DisplayName: Waypoint Index
// @Description: The index number of the command that is currently being executed. Do not update this parameter directly!
// @User: Advanced
GSCALAR(command_index, "WP_INDEX", 0),
GSCALAR(command_nav_index, "WP_MUST_INDEX",0),
// @Param: WP_RADIUS
// @DisplayName: Waypoint Radius
@ -172,14 +212,14 @@ const AP_Param::Info var_info[] PROGMEM = {
// @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 vehicle will maintain during a loiter
// @Param: CIRCLE_RADIUS
// @DisplayName: Circle radius
// @Description: Defines the radius of the circle the vehicle will fly when in Circle flight mode
// @Units: Meters
// @Range: 1 127
// @Increment: 1
// @User: Standard
GSCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS),
GSCALAR(circle_radius, "CIRCLE_RADIUS", CIRCLE_RADIUS),
// @Param: WP_SPEED_MAX
// @DisplayName: Waypoint Max Speed Target
@ -217,7 +257,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: LAND_SPEED
// @DisplayName: Land speed
// @Description: The descent speed for the final stage of landing in cm/s
// @Units: cm/s
// @Units: Centimeters/Second
// @Range: 10 200
// @Increment: 10
// @User: Standard
@ -225,7 +265,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: THR_MIN
// @DisplayName: Minimum Throttle
// @Description: The minimum throttle which the autopilot will apply.
// @Description: The minimum throttle that will be sent to the motors to keep them spinning
// @Units: ms
// @Range: 0 1000
// @Increment: 1
@ -234,7 +274,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: THR_MAX
// @DisplayName: Maximum Throttle
// @Description: The maximum throttle which the autopilot will apply.
// @Description: The maximum throttle that will be sent to the motors
// @Units: ms
// @Range: 0 1000
// @Increment: 1
@ -256,35 +296,105 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(throttle_fs_value, "THR_FS_VALUE", THROTTLE_FS_VALUE),
// @Param: TRIM_THROTTLE
// @DisplayName: Throttle Trim
// @Description: The PWM level on channel 3 below which throttle sailsafe triggers
// @User: Standard
GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE),
// @Param: FLTMODE1
// @DisplayName: Flight Mode 1
// @Description: Flight mode when Channel 5 pwm is <= 1230
// @User: Standard
GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1),
// @Param: FLTMODE2
// @DisplayName: Flight Mode 2
// @Description: Flight mode when Channel 5 pwm is >1230, <= 1360
// @User: Standard
GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2),
// @Param: FLTMODE3
// @DisplayName: Flight Mode 3
// @Description: Flight mode when Channel 5 pwm is >1360, <= 1490
// @User: Standard
GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3),
// @Param: FLTMODE4
// @DisplayName: Flight Mode 4
// @Description: Flight mode when Channel 5 pwm is >1490, <= 1620
// @User: Standard
GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4),
// @Param: FLTMODE5
// @DisplayName: Flight Mode 5
// @Description: Flight mode when Channel 5 pwm is >1620, <= 1749
// @User: Standard
GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5),
// @Param: FLTMODE6
// @DisplayName: Flight Mode 6
// @Description: Flight mode when Channel 5 pwm is >=1750
// @User: Standard
GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6),
// @Param: SIMPLE
// @DisplayName: Simple mode bitmask
// @Description: Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)
// @User: Advanced
GSCALAR(simple_modes, "SIMPLE", 0),
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: bitmap of log fields to enable
// @Description: 2 byte bitmap of log types to enable
// @User: Advanced
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
// @Param: TOY_RATE
// @DisplayName: Toy Yaw Rate
// @Description: Controls yaw rate in Toy mode. Higher values will cause a slower yaw rate. Do not set to zero!
// @User: Advanced
// @Range: 1 10
GSCALAR(toy_yaw_rate, "TOY_RATE", 1),
// @Param: ESC
// @DisplayName: ESC Calibration
// @Description: Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.
// @User: Advanced
// @Values: 0:Normal Start-up,1:Start-up in ESC Calibration mode
GSCALAR(esc_calibrate, "ESC", 0),
// @Param: TUNE
// @DisplayName: Channel 6 Tuning
// @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
// @User: Standard
// @Values: 0:CH6_NONE,1:CH6_STABILIZE_KP,2:CH6_STABILIZE_KI,3:CH6_YAW_KP,4:CH6_RATE_KP,5:CH6_RATE_KI,6:CH6_YAW_RATE_KP,7:CH6_THROTTLE_KP,8:CH6_TOP_BOTTOM_RATIO,9:CH6_RELAY,10:CH6_TRAVERSE_SPEED,11:CH6_NAV_KP,12:CH6_LOITER_KP,13:CH6_HELI_EXTERNAL_GYRO,14:CH6_THR_HOLD_KP,17:CH6_OPTFLOW_KP,18:CH6_OPTFLOW_KI,19:CH6_OPTFLOW_KD,20:CH6_NAV_KI,21:CH6_RATE_KD,22:CH6_LOITER_RATE_KP,23:CH6_LOITER_RATE_KD,24:CH6_YAW_KI,25:CH6_ACRO_KP,26:CH6_YAW_RATE_KD,27:CH6_LOITER_KI,28:CH6_LOITER_RATE_KI,29:CH6_STABILIZE_KD,30:CH6_AHRS_YAW_KP,31:CH6_AHRS_KP,32:CH6_INAV_TC,33:CH6_THROTTLE_KI,34:CH6_THR_ACCEL_KP,35:CH6_THR_ACCEL_KI,36:CH6_THR_ACCEL_KD
GSCALAR(radio_tuning, "TUNE", 0),
// @Param: TUNE_LOW
// @DisplayName: Tuning minimum
// @Description: The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob
// @User: Standard
// @Range: 0 32767
GSCALAR(radio_tuning_low, "TUNE_LOW", 0),
// @Param: TUNE_HIGH
// @DisplayName: Tuning maximum
// @Description: The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob
// @User: Standard
// @Range: 0 32767
GSCALAR(radio_tuning_high, "TUNE_HIGH", 1000),
// @Param: FRAME
// @DisplayName: Frame Orientation
// @Description: Congrols motor mixing The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob
// @User: Standard
// @Range: 0 32767
GSCALAR(frame_orientation, "FRAME", FRAME_ORIENTATION),
// @Param: CH7_OPT
// @DisplayName: Channel 7 option
// @Description: Select which function if performed when CH7 is high
// @Description: Select which function if performed when CH7 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger
// @User: Standard
GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION),
@ -359,22 +469,20 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(rc_speed, "RC_SPEED", RC_FAST_SPEED),
// variable
//---------
//GSCALAR(stabilize_d, "STAB_D", STABILIZE_D),
// @Param: STAB_D_S
// @DisplayName: Stabilize D Schedule
// @Description: This value is a percentage of scheduling applied to the Stabilize D term.
// @Range: 0 1
// @Increment: .01
// @User: Advanced
//GSCALAR(stabilize_d_schedule, "STAB_D_S", STABILIZE_D_SCHEDULE),
// Acro parameters
// @Param: ACRO_P
// @DisplayName: Acro P gain
// @Description: Used to convert pilot roll, pitch and yaw input into a dssired rate of rotation in ACRO mode. Higher values mean faster rate of rotation.
// @Range: 1 10
// @User: Standard
GSCALAR(acro_p, "ACRO_P", ACRO_P),
GSCALAR(axis_lock_p, "AXIS_P", AXIS_LOCK_P),
// @Param: AXIS_ENABLE
// @DisplayName: Acro Axis
// @Description: Used to control whether acro mode actively maintains the current angle when control sticks are released (Enabled = maintains current angle)
// @Values: 0:Disabled, 1:Enabled
// @User: Standard
GSCALAR(axis_enabled, "AXIS_ENABLE", AXIS_LOCK_ENABLED),
// @Param: ACRO_BAL_ROLL
// @DisplayName: Acro Balance Roll
// @Description: rate at which roll angle returns to level in acro mode
@ -391,6 +499,11 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(acro_balance_pitch, "ACRO_BAL_PITCH", ACRO_BALANCE_PITCH),
// @Param: LED_MODE
// @DisplayName: Copter LED Mode
// @Description: bitmap to control the copter led mode
// @Values: 0:Disabled,1:Enable,2:GPS On,4:Aux,8:Buzzer,16:Oscillate,32:Nav Blink,64:GPS Nav Blink
// @User: Standard
GSCALAR(copter_leds_mode, "LED_MODE", 9),
// PID controller

19
ArduCopter/config.h
View File

@ -667,16 +667,10 @@
# define ACRO_P 4.5
#endif
#ifndef AXIS_LOCK_ENABLED
# define AXIS_LOCK_ENABLED ENABLED
#endif
#ifndef AXIS_LOCK_P
# define AXIS_LOCK_P .02
#endif
// Good for smaller payload motors.
#ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.5
@ -763,15 +757,6 @@
#endif
#ifndef STABILIZE_D
# define STABILIZE_D 0.00
#endif
#ifndef STABILIZE_D_SCHEDULE
# define STABILIZE_D_SCHEDULE 0.5
#endif
//////////////////////////////////////////////////////////////////////////////
// Rate controlled stabilized variables
//
@ -1052,8 +1037,8 @@
# define WP_RADIUS_DEFAULT 2
#endif
#ifndef LOITER_RADIUS
# define LOITER_RADIUS 10 // meters for circle mode
#ifndef CIRCLE_RADIUS
# define CIRCLE_RADIUS 10 // meters for circle mode
#endif
#ifndef USE_CURRENT_ALT

4
ArduCopter/navigation.pde
View File

@ -298,8 +298,8 @@ static void update_nav_wp()
if (circle_angle > 6.28318531)
circle_angle -= 6.28318531;
next_WP.lng = circle_WP.lng + (g.loiter_radius * 100 * cos(1.57 - circle_angle) * scaleLongUp);
next_WP.lat = circle_WP.lat + (g.loiter_radius * 100 * sin(1.57 - circle_angle));
next_WP.lng = circle_WP.lng + (g.circle_radius * 100 * cos(1.57 - circle_angle) * scaleLongUp);
next_WP.lat = circle_WP.lat + (g.circle_radius * 100 * sin(1.57 - circle_angle));
// use error as the desired rate towards the target
// nav_lon, nav_lat is calculated