diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h index c618b634c1..441ef0049f 100644 --- a/ArduPlane/Parameters.h +++ b/ArduPlane/Parameters.h @@ -26,36 +26,14 @@ public: // static const uint16_t k_software_type = 0; // 0 for APM trunk - // - // Parameter identities. - // - // The enumeration defined here is used to ensure that every parameter - // or parameter group has a unique ID number. This number is used by - // AP_Var to store and locate parameters in EEPROM. - // - // Note that entries without a number are assigned the next number after - // the entry preceding them. When adding new entries, ensure that they - // don't overlap. - // - // Try to group related variables together, and assign them a set - // range in the enumeration. Place these groups in numerical order - // at the end of the enumeration. - // - // WARNING: Care should be taken when editing this enumeration as the - // AP_Var load/save code depends on the values here to identify - // variables saved in EEPROM. - // - // enum { // Layout version number, always key zero. // k_param_format_version = 0, k_param_software_type, - // Misc // - k_param_auto_trim, k_param_switch_enable, k_param_log_bitmask, @@ -125,7 +103,7 @@ public: k_param_channel_roll = 170, k_param_channel_pitch, k_param_channel_throttle, - k_param_channel_yaw, + k_param_channel_rudder, k_param_rc_5, k_param_rc_6, k_param_rc_7, @@ -182,13 +160,13 @@ public: // heading error from command to roll command deviation from trim // (bank to turn strategy) // - k_param_heading_to_roll_PID = 240, + k_param_pidNavRoll = 240, // Roll-to-servo PID: // roll error from command to roll servo deviation from trim // (tracks commanded bank angle) // - k_param_roll_to_servo_PID, + k_param_pidServoRoll, // // Pitch control @@ -197,13 +175,13 @@ public: // pitch error from command to pitch servo deviation from trim // (front-side strategy) // - k_param_pitch_to_servo_PID, + k_param_pidServoPitch, // Airspeed-to-pitch PID: // airspeed error from command to pitch servo deviation from trim // (back-side strategy) // - k_param_airspeed_to_pitch_PID, + k_param_pidNavPitchAirspeed, // // Yaw control @@ -212,7 +190,7 @@ public: // yaw rate error from command to yaw servo deviation from trim // (stabilizes dutch roll) // - k_param_yaw_to_servo_PID, + k_param_pidServoRudder, // // Throttle control @@ -221,13 +199,13 @@ public: // total energy error from command to throttle servo deviation from trim // (throttle back-side strategy alternative) // - k_param_energy_to_throttle_PID, + k_param_pidTeThrottle, // Altitude-to-pitch PID: // altitude error from command to pitch servo deviation from trim // (throttle front-side strategy alternative) // - k_param_altitude_to_pitch_PID, + k_param_pidNavPitchAltitude, // 254,255: reserved }; @@ -363,131 +341,109 @@ public: PID pidTeThrottle; PID pidNavPitchAltitude; - uint8_t junk; - - // Note: keep initializers here in the same order as they are declared above. Parameters() : - // variable default key name - //------------------------------------------------------------------------------------------------------- - format_version (k_format_version, k_param_format_version, PSTR("SYSID_SW_MREV")), - software_type (k_software_type, k_param_software_type, PSTR("SYSID_SW_TYPE")), + format_version (k_format_version), + software_type (k_software_type), - sysid_this_mav (MAV_SYSTEM_ID, k_param_sysid_this_mav, PSTR("SYSID_THISMAV")), - sysid_my_gcs (255, k_param_sysid_my_gcs, PSTR("SYSID_MYGCS")), - serial3_baud (SERIAL3_BAUD/1000, k_param_serial3_baud, PSTR("SERIAL3_BAUD")), + sysid_this_mav (MAV_SYSTEM_ID), + sysid_my_gcs (255), + serial3_baud (SERIAL3_BAUD/1000), - kff_pitch_compensation (PITCH_COMP, k_param_kff_pitch_compensation, PSTR("KFF_PTCHCOMP")), - kff_rudder_mix (RUDDER_MIX, k_param_kff_rudder_mix, PSTR("KFF_RDDRMIX")), - kff_pitch_to_throttle (P_TO_T, k_param_kff_pitch_to_throttle, PSTR("KFF_PTCH2THR")), - kff_throttle_to_pitch (T_TO_P, k_param_kff_throttle_to_pitch, PSTR("KFF_THR2PTCH")), + kff_pitch_compensation (PITCH_COMP), + kff_rudder_mix (RUDDER_MIX), + kff_pitch_to_throttle (P_TO_T), + kff_throttle_to_pitch (T_TO_P), - crosstrack_gain (XTRACK_GAIN_SCALED, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SC")), - crosstrack_entry_angle (XTRACK_ENTRY_ANGLE_CENTIDEGREE,k_param_crosstrack_entry_angle, PSTR("XTRK_ANGLE_CD")), + crosstrack_gain (XTRACK_GAIN_SCALED), + crosstrack_entry_angle (XTRACK_ENTRY_ANGLE_CENTIDEGREE), - altitude_mix (ALTITUDE_MIX, k_param_altitude_mix, PSTR("ALT_MIX")), - airspeed_ratio (AIRSPEED_RATIO, k_param_airspeed_ratio, PSTR("ARSPD_RATIO")), - airspeed_offset (0, k_param_airspeed_offset, PSTR("ARSPD_OFFSET")), + altitude_mix (ALTITUDE_MIX), + airspeed_ratio (AIRSPEED_RATIO), + airspeed_offset (0), /* XXX waypoint_mode missing here */ - command_total (0, k_param_command_total, PSTR("CMD_TOTAL")), - command_index (0, k_param_command_index, PSTR("CMD_INDEX")), - waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")), - loiter_radius (LOITER_RADIUS_DEFAULT, k_param_loiter_radius, PSTR("WP_LOITER_RAD")), + command_total (0), + command_index (0), + waypoint_radius (WP_RADIUS_DEFAULT), + loiter_radius (LOITER_RADIUS_DEFAULT), #if GEOFENCE_ENABLED == ENABLED - fence_action (0, k_param_fence_action, PSTR("FENCE_ACTION")), - fence_total (0, k_param_fence_total, PSTR("FENCE_TOTAL")), - fence_channel (0, k_param_fence_channel, PSTR("FENCE_CHANNEL")), - fence_minalt (0, k_param_fence_minalt, PSTR("FENCE_MINALT")), - fence_maxalt (0, k_param_fence_maxalt, PSTR("FENCE_MAXALT")), + fence_action (0), + fence_total (0), + fence_channel (0), + fence_minalt (0), + fence_maxalt (0), #endif - flybywire_airspeed_min (AIRSPEED_FBW_MIN, k_param_flybywire_airspeed_min, PSTR("ARSPD_FBW_MIN")), - flybywire_airspeed_max (AIRSPEED_FBW_MAX, k_param_flybywire_airspeed_max, PSTR("ARSPD_FBW_MAX")), + flybywire_airspeed_min (AIRSPEED_FBW_MIN), + flybywire_airspeed_max (AIRSPEED_FBW_MAX), - throttle_min (THROTTLE_MIN, k_param_throttle_min, PSTR("THR_MIN")), - throttle_max (THROTTLE_MAX, k_param_throttle_max, PSTR("THR_MAX")), - throttle_slewrate (THROTTLE_SLEW_LIMIT, k_param_throttle_slewrate, PSTR("THR_SLEWRATE")), - throttle_fs_enabled (THROTTLE_FAILSAFE, k_param_throttle_fs_enabled, PSTR("THR_FAILSAFE")), - throttle_fs_value (THROTTLE_FS_VALUE, k_param_throttle_fs_value, PSTR("THR_FS_VALUE")), - throttle_cruise (THROTTLE_CRUISE, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")), + throttle_min (THROTTLE_MIN), + throttle_max (THROTTLE_MAX), + throttle_slewrate (THROTTLE_SLEW_LIMIT), + throttle_fs_enabled (THROTTLE_FAILSAFE), + throttle_fs_value (THROTTLE_FS_VALUE), + throttle_cruise (THROTTLE_CRUISE), - short_fs_action (SHORT_FAILSAFE_ACTION, k_param_short_fs_action, PSTR("FS_SHORT_ACTN")), - long_fs_action (LONG_FAILSAFE_ACTION, k_param_long_fs_action, PSTR("FS_LONG_ACTN")), - gcs_heartbeat_fs_enabled(GCS_HEARTBEAT_FAILSAFE, k_param_gcs_heartbeat_fs_enabled, PSTR("FS_GCS_ENABL")), + short_fs_action (SHORT_FAILSAFE_ACTION), + long_fs_action (LONG_FAILSAFE_ACTION), + gcs_heartbeat_fs_enabled(GCS_HEARTBEAT_FAILSAFE), - flight_mode_channel (FLIGHT_MODE_CHANNEL, k_param_flight_mode_channel, PSTR("FLTMODE_CH")), - flight_mode1 (FLIGHT_MODE_1, k_param_flight_mode1, PSTR("FLTMODE1")), - flight_mode2 (FLIGHT_MODE_2, k_param_flight_mode2, PSTR("FLTMODE2")), - flight_mode3 (FLIGHT_MODE_3, k_param_flight_mode3, PSTR("FLTMODE3")), - flight_mode4 (FLIGHT_MODE_4, k_param_flight_mode4, PSTR("FLTMODE4")), - flight_mode5 (FLIGHT_MODE_5, k_param_flight_mode5, PSTR("FLTMODE5")), - flight_mode6 (FLIGHT_MODE_6, k_param_flight_mode6, PSTR("FLTMODE6")), + flight_mode_channel (FLIGHT_MODE_CHANNEL), + 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), - roll_limit (HEAD_MAX_CENTIDEGREE, k_param_roll_limit, PSTR("LIM_ROLL_CD")), - pitch_limit_max (PITCH_MAX_CENTIDEGREE, k_param_pitch_limit_max, PSTR("LIM_PITCH_MAX")), - pitch_limit_min (PITCH_MIN_CENTIDEGREE, k_param_pitch_limit_min, PSTR("LIM_PITCH_MIN")), + roll_limit (HEAD_MAX_CENTIDEGREE), + pitch_limit_max (PITCH_MAX_CENTIDEGREE), + pitch_limit_min (PITCH_MIN_CENTIDEGREE), - auto_trim (AUTO_TRIM, k_param_auto_trim, PSTR("TRIM_AUTO")), - switch_enable (REVERSE_SWITCH, k_param_switch_enable, PSTR("SWITCH_ENABLE")), - mix_mode (ELEVON_MIXING, k_param_mix_mode, PSTR("ELEVON_MIXING")), - reverse_elevons (ELEVON_REVERSE, k_param_reverse_elevons, PSTR("ELEVON_REVERSE")), - reverse_ch1_elevon (ELEVON_CH1_REVERSE, k_param_reverse_ch1_elevon, PSTR("ELEVON_CH1_REV")), - reverse_ch2_elevon (ELEVON_CH2_REVERSE, k_param_reverse_ch2_elevon, PSTR("ELEVON_CH2_REV")), - num_resets (0, k_param_num_resets, PSTR("SYS_NUM_RESETS")), - log_bitmask (DEFAULT_LOG_BITMASK, k_param_log_bitmask, PSTR("LOG_BITMASK")), - log_last_filenumber (0, k_param_log_last_filenumber, PSTR("LOG_LASTFILE")), - reset_switch_chan (0, k_param_reset_switch_chan, PSTR("RST_SWITCH_CH")), - airspeed_cruise (AIRSPEED_CRUISE_CM, k_param_airspeed_cruise, PSTR("TRIM_ARSPD_CM")), - min_gndspeed (MIN_GNDSPEED_CM, k_param_min_gndspeed, PSTR("MIN_GNDSPD_CM")), - pitch_trim (0, k_param_pitch_trim, PSTR("TRIM_PITCH_CD")), - RTL_altitude (ALT_HOLD_HOME_CM, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")), - FBWB_min_altitude (ALT_HOLD_FBW_CM, k_param_FBWB_min_altitude, PSTR("ALT_HOLD_FBWCM")), - ground_temperature (0, k_param_ground_temperature, PSTR("GND_TEMP")), - ground_pressure (0, k_param_ground_pressure, PSTR("GND_ABS_PRESS")), - compass_enabled (MAGNETOMETER, k_param_compass_enabled, PSTR("MAG_ENABLE")), - flap_1_percent (FLAP_1_PERCENT, k_param_flap_1_percent, PSTR("FLAP_1_PERCNT")), - flap_1_speed (FLAP_1_SPEED, k_param_flap_1_speed, PSTR("FLAP_1_SPEED")), - flap_2_percent (FLAP_2_PERCENT, k_param_flap_2_percent, PSTR("FLAP_2_PERCNT")), - flap_2_speed (FLAP_2_SPEED, k_param_flap_2_speed, PSTR("FLAP_2_SPEED")), + auto_trim (AUTO_TRIM), + switch_enable (REVERSE_SWITCH), + mix_mode (ELEVON_MIXING), + reverse_elevons (ELEVON_REVERSE), + reverse_ch1_elevon (ELEVON_CH1_REVERSE), + reverse_ch2_elevon (ELEVON_CH2_REVERSE), + num_resets (0), + log_bitmask (DEFAULT_LOG_BITMASK), + log_last_filenumber (0), + reset_switch_chan (0), + airspeed_cruise (AIRSPEED_CRUISE_CM), + min_gndspeed (MIN_GNDSPEED_CM), + pitch_trim (0), + RTL_altitude (ALT_HOLD_HOME_CM), + FBWB_min_altitude (ALT_HOLD_FBW_CM), + ground_temperature (0), + ground_pressure (0), + compass_enabled (MAGNETOMETER), + flap_1_percent (FLAP_1_PERCENT), + flap_1_speed (FLAP_1_SPEED), + flap_2_percent (FLAP_2_PERCENT), + flap_2_speed (FLAP_2_SPEED), - battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")), - volt_div_ratio (VOLT_DIV_RATIO, k_param_volt_div_ratio, PSTR("VOLT_DIVIDER")), - curr_amp_per_volt (CURR_AMP_PER_VOLT, k_param_curr_amp_per_volt, PSTR("AMP_PER_VOLT")), - input_voltage (INPUT_VOLTAGE, k_param_input_voltage, PSTR("INPUT_VOLTS")), - pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")), - inverted_flight_ch (0, k_param_inverted_flight_ch, PSTR("INVERTEDFLT_CH")), - sonar_enabled (SONAR_ENABLED, k_param_sonar_enabled, PSTR("SONAR_ENABLE")), - airspeed_enabled (AIRSPEED_SENSOR, k_param_airspeed_enabled, PSTR("ARSPD_ENABLE")), + 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), + inverted_flight_ch (0), + sonar_enabled (SONAR_ENABLED), + airspeed_enabled (AIRSPEED_SENSOR), - // Note - total parameter name length must be less than 14 characters for MAVLink compatibility! - - // RC channel group key name - //---------------------------------------------------------------------- - channel_roll (k_param_channel_roll, PSTR("RC1_")), - channel_pitch (k_param_channel_pitch, PSTR("RC2_")), - channel_throttle (k_param_channel_throttle, PSTR("RC3_")), - channel_rudder (k_param_channel_yaw, PSTR("RC4_")), - rc_5 (k_param_rc_5, PSTR("RC5_")), - rc_6 (k_param_rc_6, PSTR("RC6_")), - rc_7 (k_param_rc_7, PSTR("RC7_")), - rc_8 (k_param_rc_8, PSTR("RC8_")), - - // PID controller group key name initial P initial I initial D initial imax + // PID controller initial P initial I initial D initial imax //--------------------------------------------------------------------------------------------------------------------------------------- - pidNavRoll (k_param_heading_to_roll_PID, PSTR("HDNG2RLL_"), NAV_ROLL_P, NAV_ROLL_I, NAV_ROLL_D, NAV_ROLL_INT_MAX_CENTIDEGREE), - pidServoRoll (k_param_roll_to_servo_PID, PSTR("RLL2SRV_"), SERVO_ROLL_P, SERVO_ROLL_I, SERVO_ROLL_D, SERVO_ROLL_INT_MAX_CENTIDEGREE), - pidServoPitch (k_param_pitch_to_servo_PID, PSTR("PTCH2SRV_"), SERVO_PITCH_P, SERVO_PITCH_I, SERVO_PITCH_D, SERVO_PITCH_INT_MAX_CENTIDEGREE), - pidNavPitchAirspeed (k_param_airspeed_to_pitch_PID, PSTR("ARSP2PTCH_"), NAV_PITCH_ASP_P, NAV_PITCH_ASP_I, NAV_PITCH_ASP_D, NAV_PITCH_ASP_INT_MAX_CMSEC), - pidServoRudder (k_param_yaw_to_servo_PID, PSTR("YW2SRV_"), SERVO_YAW_P, SERVO_YAW_I, SERVO_YAW_D, SERVO_YAW_INT_MAX), - pidTeThrottle (k_param_energy_to_throttle_PID, PSTR("ENRGY2THR_"), THROTTLE_TE_P, THROTTLE_TE_I, THROTTLE_TE_D, THROTTLE_TE_INT_MAX), - pidNavPitchAltitude (k_param_altitude_to_pitch_PID, PSTR("ALT2PTCH_"), NAV_PITCH_ALT_P, NAV_PITCH_ALT_I, NAV_PITCH_ALT_D, NAV_PITCH_ALT_INT_MAX_CM), - - - junk(0) // XXX just so that we can add things without worrying about the trailing comma - { - } + pidNavRoll (NAV_ROLL_P, NAV_ROLL_I, NAV_ROLL_D, NAV_ROLL_INT_MAX_CENTIDEGREE), + pidServoRoll (SERVO_ROLL_P, SERVO_ROLL_I, SERVO_ROLL_D, SERVO_ROLL_INT_MAX_CENTIDEGREE), + pidServoPitch (SERVO_PITCH_P, SERVO_PITCH_I, SERVO_PITCH_D, SERVO_PITCH_INT_MAX_CENTIDEGREE), + pidNavPitchAirspeed (NAV_PITCH_ASP_P, NAV_PITCH_ASP_I, NAV_PITCH_ASP_D, NAV_PITCH_ASP_INT_MAX_CMSEC), + pidServoRudder (SERVO_YAW_P, SERVO_YAW_I, SERVO_YAW_D, SERVO_YAW_INT_MAX), + pidTeThrottle (THROTTLE_TE_P, THROTTLE_TE_I, THROTTLE_TE_D, THROTTLE_TE_INT_MAX), + pidNavPitchAltitude (NAV_PITCH_ALT_P, NAV_PITCH_ALT_I, NAV_PITCH_ALT_D, NAV_PITCH_ALT_INT_MAX_CM) + {} }; #endif // PARAMETERS_H