Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Param: update remaining libraries for new constructor syntax

This commit is contained in:
Andrew Tridgell 2012-08-07 11:02:14 +10:00
parent 7be604cffd
commit e9d0ae3e7f
20 changed files with 97 additions and 127 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Airspeed/AP_Airspeed.cpp
View File

@ -20,25 +20,25 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] PROGMEM = {
// @DisplayName: Airspeed enable
// @Description: enable airspeed sensor
// @Values: 0:Disable,1:Enable
AP_GROUPINFO("ENABLE", 0, AP_Airspeed, _enable),
AP_GROUPINFO("ENABLE", 0, AP_Airspeed, _enable, 1),
// @Param: USE
// @DisplayName: Airspeed use
// @Description: use airspeed for flight control
// @Values: 0:Use,1:Don't Use
AP_GROUPINFO("USE", 1, AP_Airspeed, _use),
AP_GROUPINFO("USE", 1, AP_Airspeed, _use, 0),
// @Param: OFFSET
// @DisplayName: Airspeed offset
// @Description: Airspeed calibration offset
// @Increment: 0.1
AP_GROUPINFO("OFFSET", 2, AP_Airspeed, _offset),
AP_GROUPINFO("OFFSET", 2, AP_Airspeed, _offset, 0),
// @Param: RATIO
// @DisplayName: Airspeed ratio
// @Description: Airspeed calibration ratio
// @Increment: 0.1
AP_GROUPINFO("RATIO", 3, AP_Airspeed, _ratio),
AP_GROUPINFO("RATIO", 3, AP_Airspeed, _ratio, 0),
AP_GROUPEND
};

4
libraries/AP_Baro/AP_Baro.cpp
View File

@ -21,13 +21,13 @@ const AP_Param::GroupInfo AP_Baro::var_info[] PROGMEM = {
// @DisplayName: Absolute Pressure
// @Description: calibrated ground pressure
// @Increment: 1
AP_GROUPINFO("ABS_PRESS", 2, AP_Baro, _ground_pressure),
AP_GROUPINFO("ABS_PRESS", 2, AP_Baro, _ground_pressure, 0),
// @Param: ABS_PRESS
// @DisplayName: ground temperature
// @Description: calibrated ground temperature
// @Increment: 1
AP_GROUPINFO("TEMP", 3, AP_Baro, _ground_temperature),
AP_GROUPINFO("TEMP", 3, AP_Baro, _ground_temperature, 0),
AP_GROUPEND
};

2
libraries/AP_Camera/AP_Camera.cpp
View File

@ -17,7 +17,7 @@ const AP_Param::GroupInfo AP_Camera::var_info[] PROGMEM = {
// @Description: how to trigger the camera to take a picture
// @Values: 0:Servo,1:relay,2:throttle_off_time,3:throttle_off_waypoint,4:transistor
// @User: Standard
AP_GROUPINFO("TRIGG_TYPE", 0, AP_Camera, trigger_type),
AP_GROUPINFO("TRIGG_TYPE", 0, AP_Camera, trigger_type, 0),
AP_GROUPEND
};

3
libraries/AP_Camera/AP_Camera.h
View File

@ -22,8 +22,7 @@ public:
wp_distance_min (10),
keep_cam_trigg_active_cycles (0),
thr_pic (0), // timer variable for throttle_pic
camtrig (83), // PK6 chosen as it not near anything so safer for soldering
trigger_type (0)
camtrig (83) // PK6 chosen as it not near anything so safer for soldering
{}
// single entry point to take pictures

14
libraries/AP_Compass/Compass.cpp
View File

@ -3,11 +3,11 @@
const AP_Param::GroupInfo Compass::var_info[] PROGMEM = {
// index 0 was used for the old orientation matrix
AP_GROUPINFO("OFS", 1, Compass, _offset),
AP_GROUPINFO("DEC", 2, Compass, _declination),
AP_GROUPINFO("LEARN", 3, Compass, _learn), // true if learning calibration
AP_GROUPINFO("USE", 4, Compass, _use_for_yaw), // true if used for DCM yaw
AP_GROUPINFO("AUTODEC",5, Compass, _auto_declination),
AP_GROUPINFO("OFS", 1, Compass, _offset, 0),
AP_GROUPINFO("DEC", 2, Compass, _declination, 0),
AP_GROUPINFO("LEARN", 3, Compass, _learn, 1), // true if learning calibration
AP_GROUPINFO("USE", 4, Compass, _use_for_yaw, 1), // true if used for DCM yaw
AP_GROUPINFO("AUTODEC",5, Compass, _auto_declination, 1),
AP_GROUPEND
};
@ -18,10 +18,6 @@ const AP_Param::GroupInfo Compass::var_info[] PROGMEM = {
Compass::Compass(void) :
product_id(AP_COMPASS_TYPE_UNKNOWN),
_orientation(ROTATION_NONE),
_declination (0.0),
_learn(1),
_use_for_yaw(1),
_auto_declination(1),
_null_init_done(false)
{
}

4
libraries/AP_IMU/IMU.cpp
View File

@ -3,8 +3,8 @@
// this allows the sensor calibration to be saved to EEPROM
const AP_Param::GroupInfo IMU::var_info[] PROGMEM = {
AP_GROUPINFO("CAL", 0, IMU, _sensor_cal),
AP_GROUPINFO("PRODUCT_ID", 1, IMU, _product_id),
AP_GROUPINFO("CAL", 0, IMU, _sensor_cal, 0),
AP_GROUPINFO("PRODUCT_ID", 1, IMU, _product_id, 0),
AP_GROUPEND
};

18
libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
View File

@ -39,12 +39,12 @@ const float AP_InertialSensor_Oilpan::_gyro_gain_z = ToRad(0.41);
const AP_Param::GroupInfo AP_InertialSensor_Oilpan::var_info[] PROGMEM = {
// index 0 was used for the old orientation matrix
AP_GROUPINFO("XH", 0, AP_InertialSensor_Oilpan, _x_high),
AP_GROUPINFO("XL", 1, AP_InertialSensor_Oilpan, _x_low),
AP_GROUPINFO("YH", 2, AP_InertialSensor_Oilpan, _y_high),
AP_GROUPINFO("YL", 3, AP_InertialSensor_Oilpan, _y_low),
AP_GROUPINFO("ZH", 4, AP_InertialSensor_Oilpan, _z_high),
AP_GROUPINFO("ZL", 5, AP_InertialSensor_Oilpan, _z_low),
AP_GROUPINFO("XH", 0, AP_InertialSensor_Oilpan, _x_high, 2465),
AP_GROUPINFO("XL", 1, AP_InertialSensor_Oilpan, _x_low, 1617),
AP_GROUPINFO("YH", 2, AP_InertialSensor_Oilpan, _y_high, 2465),
AP_GROUPINFO("YL", 3, AP_InertialSensor_Oilpan, _y_low, 1617),
AP_GROUPINFO("ZH", 4, AP_InertialSensor_Oilpan, _z_high, 2465),
AP_GROUPINFO("ZL", 5, AP_InertialSensor_Oilpan, _z_low, 1617),
AP_GROUPEND
};
@ -52,12 +52,6 @@ const AP_Param::GroupInfo AP_InertialSensor_Oilpan::var_info[] PROGMEM = {
/* ------ Public functions -------------------------------------------*/
AP_InertialSensor_Oilpan::AP_InertialSensor_Oilpan( AP_ADC * adc ) :
_x_high(2465),
_x_low(1617),
_y_high(2465),
_y_low(1617),
_z_high(2465),
_z_low(1617),
_adc(adc)
{
_gyro.x = 0;

8
libraries/AP_Limits/AP_Limit_Altitude.cpp
View File

@ -15,14 +15,14 @@ const AP_Param::GroupInfo AP_Limit_Altitude::var_info[] PROGMEM = {
// @Description: Setting this to Enabled(1) will enable the altitude. Setting this to Disabled(0) will disable the altitude
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("ALT_ON", 0, AP_Limit_Altitude, _enabled),
AP_GROUPINFO("ALT_ON", 0, AP_Limit_Altitude, _enabled, 0),
// @Param: ALT_REQD
// @DisplayName: Require altitude
// @Description: Setting this to Enabled(1) will make being inside the altitude a required check before arming the vehicle.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("ALT_REQ", 1, AP_Limit_Altitude, _required),
AP_GROUPINFO("ALT_REQ", 1, AP_Limit_Altitude, _required, 0),
// @Param: ALT_MIN
// @DisplayName: Minimum Altitude
@ -31,7 +31,7 @@ const AP_Param::GroupInfo AP_Limit_Altitude::var_info[] PROGMEM = {
// @Range: 0 250000
// @Increment: 1
// @User: Standard
AP_GROUPINFO("ALT_MIN", 2, AP_Limit_Altitude, _min_alt),
AP_GROUPINFO("ALT_MIN", 2, AP_Limit_Altitude, _min_alt, 0),
// @Param: ALT_MAX
// @DisplayName: Maximum Altitude
@ -40,7 +40,7 @@ const AP_Param::GroupInfo AP_Limit_Altitude::var_info[] PROGMEM = {
// @Range: 0 250000
// @Increment: 1
// @User: Standard
AP_GROUPINFO("ALT_MAX", 3, AP_Limit_Altitude, _max_alt),
AP_GROUPINFO("ALT_MAX", 3, AP_Limit_Altitude, _max_alt, 0),
AP_GROUPEND
};

4
libraries/AP_Limits/AP_Limit_GPSLock.cpp
View File

@ -15,14 +15,14 @@ const AP_Param::GroupInfo AP_Limit_GPSLock::var_info[] PROGMEM = {
// @Description: Setting this to Enabled(1) will enable the gpslock. Setting this to Disabled(0) will disable the gpslock
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("GPSLCK_ON", 0, AP_Limit_GPSLock, _enabled),
AP_GROUPINFO("GPSLCK_ON", 0, AP_Limit_GPSLock, _enabled, 0),
// @Param: GPSLCK_REQ
// @DisplayName: Require gpslock
// @Description: Setting this to Enabled(1) will make being inside the gpslock a required check before arming the vehicle.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("GPSLCK_REQ", 1, AP_Limit_GPSLock, _required),
AP_GROUPINFO("GPSLCK_REQ", 1, AP_Limit_GPSLock, _required, 0),
AP_GROUPEND
};

10
libraries/AP_Limits/AP_Limit_Geofence.cpp
View File

@ -14,21 +14,21 @@ const AP_Param::GroupInfo AP_Limit_Geofence::var_info[] PROGMEM = {
// @Description: Setting this to Enabled(1) will enable the geofence. Setting this to Disabled(0) will disable the geofence
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("FNC_ON", 0, AP_Limit_Geofence, _enabled),
AP_GROUPINFO("FNC_ON", 0, AP_Limit_Geofence, _enabled, 0),
// @Param: FNC_REQ
// @DisplayName: Require Geofence
// @Description: Setting this to Enabled(1) will make being inside the geofence a required check before arming the vehicle.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("FNC_REQ", 1, AP_Limit_Geofence, _required),
AP_GROUPINFO("FNC_REQ", 1, AP_Limit_Geofence, _required, 0),
// @Param: FNC_SMPL
// @DisplayName: Require Geofence
// @Description: "Simple" geofence (enabled - 1) is based on a radius from the home position, "Complex" (disabled - 0) define a complex fence by lat/long positions
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("FNC_SMPL", 2, AP_Limit_Geofence, _simple),
AP_GROUPINFO("FNC_SMPL", 2, AP_Limit_Geofence, _simple, 0),
// @Param: FNC_RAD
// @DisplayName: Require Geofence
@ -37,9 +37,9 @@ const AP_Param::GroupInfo AP_Limit_Geofence::var_info[] PROGMEM = {
// @Range: 0 32767
// @Increment: 1
// @User: Standard
AP_GROUPINFO("FNC_RAD", 3, AP_Limit_Geofence, _radius),
AP_GROUPINFO("FNC_RAD", 3, AP_Limit_Geofence, _radius, 0),
AP_GROUPINFO("FNC_TOT", 4, AP_Limit_Geofence, _fence_total),
AP_GROUPINFO("FNC_TOT", 4, AP_Limit_Geofence, _fence_total, 0),
AP_GROUPEND

12
libraries/AP_Limits/AP_Limits.cpp
View File

@ -15,42 +15,42 @@ const AP_Param::GroupInfo AP_Limits::var_info[] PROGMEM = {
// @Description: Setting this to Enabled(1) will enable the limits system
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("ENABLED", 0, AP_Limits, _enabled),
AP_GROUPINFO("ENABLED", 0, AP_Limits, _enabled, 0),
// @Param: REQUIRED
// @DisplayName: Limits Library Required
// @Description: Setting this to 1 will enable the limits pre-arm checklist
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("REQUIRED", 1, AP_Limits, _required),
AP_GROUPINFO("REQUIRED", 1, AP_Limits, _required, 0),
// @Param: DEBUG
// @DisplayName: Enable Limits Debug
// @Description: Setting this to 1 will turn on debugging messages on the console and via MAVLink STATUSTEXT messages
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("DEBUG", 2, AP_Limits, _debug),
AP_GROUPINFO("DEBUG", 2, AP_Limits, _debug, 0),
// @Param: SAFETIME
// @DisplayName: Limits Safetime
// @Description: Automatic return of controls to pilot. Set to 0 to disable (full RTL) or a number of seconds after complete recovery to return the controls to the pilot in STABILIZE
// @Values: 0:Disabled,1-255:Seconds before returning control
// @User: Standard
AP_GROUPINFO("SAFETIME", 3, AP_Limits, _safetime),
AP_GROUPINFO("SAFETIME", 3, AP_Limits, _safetime, 0),
// @Param: CHANNEL
// @DisplayName: Limits Channel
// @Description: Channel for Limits on/off control. If channel exceeds LIMITS_ENABLE_PWM, it turns limits on, and vice-versa.
// @Range: 1-8
// @User: Standard
AP_GROUPINFO("CHANNEL", 4, AP_Limits, _channel),
AP_GROUPINFO("CHANNEL", 4, AP_Limits, _channel, 0),
// @Param: RECMODE
// @DisplayName: Limits Recovery Mode
// @Description: Select how Limits should "recover". Set to 0 for RTL-like mode, where the vehicle navigates back to home until it is "safe". Set to 1, for bounce-mode, where the vehicle will hold position when it hits a limit. RTL mode is better for large fenced areas, Bounce mode for smaller spaces. Note: RTL mode will cause the vehicle to yaw 180 degrees (turn around) to navigate towards home when it hits a limit.
// @Values: 0:RTL mode, 1: Bounce mode
// @User: Standard
AP_GROUPINFO("RECMODE", 5, AP_Limits, _recmode),
AP_GROUPINFO("RECMODE", 5, AP_Limits, _recmode, 0),
AP_GROUPEND
};

5
libraries/AP_Motors/AP_Motors.cpp
View File

@ -12,13 +12,12 @@
// parameters for the motor class
const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
AP_GROUPINFO("TB_RATIO", 0, AP_Motors, top_bottom_ratio), // not used
AP_GROUPINFO("TB_RATIO", 0, AP_Motors, top_bottom_ratio, AP_MOTORS_TOP_BOTTOM_RATIO), // not used
AP_GROUPEND
};
// Constructor
AP_Motors::AP_Motors( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz ) :
top_bottom_ratio(AP_MOTORS_TOP_BOTTOM_RATIO),
_rc(rc_out),
_rc_roll(rc_roll),
_rc_pitch(rc_pitch),
@ -32,6 +31,8 @@ AP_Motors::AP_Motors( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_
_max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE)
{
uint8_t i;
top_bottom_ratio = AP_MOTORS_TOP_BOTTOM_RATIO;
// initialise motor map
if( APM_version == AP_MOTORS_APM1 ) {

32
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -20,7 +20,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Units: Degrees
// @User: Standard
// @Increment: 1
AP_GROUPINFO("SV1_POS", 1, AP_MotorsHeli, servo1_pos),
AP_GROUPINFO("SV1_POS", 1, AP_MotorsHeli, servo1_pos, -60),
// @Param: SV2_POS
// @DisplayName: Servo 2 Position
@ -29,7 +29,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Units: Degrees
// @User: Standard
// @Increment: 1
AP_GROUPINFO("SV2_POS", 2, AP_MotorsHeli, servo2_pos),
AP_GROUPINFO("SV2_POS", 2, AP_MotorsHeli, servo2_pos, 60),
// @Param: SV3_POS
// @DisplayName: Servo 3 Position
@ -38,7 +38,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Units: Degrees
// @User: Standard
// @Increment: 1
AP_GROUPINFO("SV3_POS", 3, AP_MotorsHeli, servo3_pos),
AP_GROUPINFO("SV3_POS", 3, AP_MotorsHeli, servo3_pos, 180),
// @Param: ROL_MAX
// @DisplayName: Maximum Roll Angle
@ -47,7 +47,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Units: Degrees
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("ROL_MAX", 4, AP_MotorsHeli, roll_max),
AP_GROUPINFO("ROL_MAX", 4, AP_MotorsHeli, roll_max, 4500),
// @Param: PIT_MAX
// @DisplayName: Maximum Pitch Angle
@ -56,7 +56,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Units: Degrees
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("PIT_MAX", 5, AP_MotorsHeli, pitch_max),
AP_GROUPINFO("PIT_MAX", 5, AP_MotorsHeli, pitch_max, 4500),
// @Param: COL_MIN
// @DisplayName: Collective Pitch Minimum
@ -65,7 +65,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("COL_MIN", 6, AP_MotorsHeli, collective_min),
AP_GROUPINFO("COL_MIN", 6, AP_MotorsHeli, collective_min, 1250),
// @Param: COL_MAX
// @DisplayName: Collective Pitch Maximum
@ -74,7 +74,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("COL_MAX", 7, AP_MotorsHeli, collective_max),
AP_GROUPINFO("COL_MAX", 7, AP_MotorsHeli, collective_max, 1750),
// @Param: COL_MID
// @DisplayName: Collective Pitch Mid-Point
@ -83,20 +83,20 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("COL_MID", 8, AP_MotorsHeli, collective_mid),
AP_GROUPINFO("COL_MID", 8, AP_MotorsHeli, collective_mid, 1500),
// @Param: GYR_ENABLE
// @DisplayName: External Gyro Enabled
// @Description: Setting this to Enabled(1) will enable an external rudder gyro control which means outputting a gain on channel 7 and using a simpler heading control algorithm. Setting this to Disabled(0) will disable the external gyro gain on channel 7 and revert to a more complex yaw control algorithm.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("GYR_ENABLE", 9, AP_MotorsHeli, ext_gyro_enabled),
AP_GROUPINFO("GYR_ENABLE", 9, AP_MotorsHeli, ext_gyro_enabled, 0),
// @Param: SWASH_TYPE
// @DisplayName: Swash Plate Type
// @Description: Setting this to 0 will configure for a 3-servo CCPM. Setting this to 1 will configure for mechanically mixed "H1".
// @User: Standard
AP_GROUPINFO("SWASH_TYPE", 10, AP_MotorsHeli, swash_type),
AP_GROUPINFO("SWASH_TYPE", 10, AP_MotorsHeli, swash_type, AP_MOTORS_HELI_SWASH_CCPM),
// @Param: GYR_GAIN
// @DisplayName: External Gyro Gain
@ -105,14 +105,14 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("GYR_GAIN", 11, AP_MotorsHeli, ext_gyro_gain),
AP_GROUPINFO("GYR_GAIN", 11, AP_MotorsHeli, ext_gyro_gain, 1350),
// @Param: SV_MAN
// @DisplayName: Manual Servo Mode
// @Description: Setting this to Enabled(1) will pass radio inputs directly to servos. Setting this to Disabled(0) will enable Arducopter control of servos. This is only meant to be used by the Mission Planner using swash plate set-up.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("SV_MAN", 12, AP_MotorsHeli, servo_manual),
AP_GROUPINFO("SV_MAN", 12, AP_MotorsHeli, servo_manual, 0),
// @Param: PHANG
// @DisplayName: Swashplate Phase Angle Compensation
@ -121,13 +121,13 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Units: Degrees
// @User: Advanced
// @Increment: 1
AP_GROUPINFO("PHANG", 13, AP_MotorsHeli, phase_angle),
AP_GROUPINFO("PHANG", 13, AP_MotorsHeli, phase_angle, 0),
// @Param: COLYAW
// @DisplayName: Collective-Yaw Mixing
// @Description: This is a feed-forward compensation to automatically add rudder input when collective pitch is increased.
// @Range: 0 5
AP_GROUPINFO("COLYAW", 14, AP_MotorsHeli, collective_yaw_effect),
AP_GROUPINFO("COLYAW", 14, AP_MotorsHeli, collective_yaw_effect, 0),
// @Param: GOV_SETPOINT
// @DisplayName: External Motor Governor Setpoint
@ -136,7 +136,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Units: PWM
// @Increment: 10
// @User: Standard
AP_GROUPINFO("GOV_SETPOINT", 15, AP_MotorsHeli, ext_gov_setpoint),
AP_GROUPINFO("GOV_SETPOINT", 15, AP_MotorsHeli, ext_gov_setpoint, 1500),
AP_GROUPEND
};
@ -549,4 +549,4 @@ void AP_MotorsHeli::ext_esc_control()
default:
break;
}
};
};

32
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -67,28 +67,14 @@ public:
_servo_2(swash_servo_2),
_servo_3(swash_servo_3),
_servo_4(yaw_servo),
_rc_8(rc_8),
swash_type(AP_MOTORS_HELI_SWASH_CCPM),
servo1_pos (-60),
servo2_pos (60),
servo3_pos (180),
collective_min (1250),
collective_max (1750),
collective_mid (1500),
ext_gyro_enabled (0),
ext_gyro_gain (1350),
roll_max (4500),
pitch_max (4500),
phase_angle (0),
collective_yaw_effect (0),
servo_manual (0),
ext_gov_setpoint (1500),
throttle_mid (0),
_roll_scaler (1),
_pitch_scaler (1),
_collective_scalar (1),
_swash_initialised(false)
{};
_rc_8(rc_8)
{
throttle_mid = 0;
_roll_scaler = 1;
_pitch_scaler = 1;
_collective_scalar = 1;
_swash_initialised = false;
};
RC_Channel *_servo_1;
RC_Channel *_servo_2;
@ -171,4 +157,4 @@ protected:
};
#endif // AP_MOTORSHELI
#endif // AP_MOTORSHELI

32
libraries/AP_Mount/AP_Mount.cpp
View File

@ -11,7 +11,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Description: Camera or antenna mount operation mode
// @Values: 0:retract,1:neutral,2:MavLink_targeting,3:RC_targeting,4:GPS_point
// @User: Standard
AP_GROUPINFO("MODE", 0, AP_Mount, _mount_mode), // see MAV_MOUNT_MODE at ardupilotmega.h
AP_GROUPINFO("MODE", 0, AP_Mount, _mount_mode, 0), // see MAV_MOUNT_MODE at ardupilotmega.h
// @Param: RETRACT
// @DisplayName: Mount retract angles
@ -20,7 +20,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Range: -18000 17999
// @Increment: 1
// @User: Standard
AP_GROUPINFO("RETRACT", 1, AP_Mount, _retract_angles),
AP_GROUPINFO("RETRACT", 1, AP_Mount, _retract_angles, 0),
// @Param: NEUTRAL
// @DisplayName: Mount neutral angles
@ -29,7 +29,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Range: -18000 17999
// @Increment: 1
// @User: Standard
AP_GROUPINFO("NEUTRAL", 2, AP_Mount, _neutral_angles),
AP_GROUPINFO("NEUTRAL", 2, AP_Mount, _neutral_angles, 0),
// @Param: CONTROL
// @DisplayName: Mount control angles
@ -38,35 +38,35 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Range: -18000 17999
// @Increment: 1
// @User: Standard
AP_GROUPINFO("CONTROL", 3, AP_Mount, _control_angles),
AP_GROUPINFO("CONTROL", 3, AP_Mount, _control_angles, 0),
// @Param: STAB_ROLL
// @DisplayName: Stabilize mount roll
// @Description:enable roll stabilisation relative to Earth
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("STAB_ROLL", 4, AP_Mount, _stab_roll),
AP_GROUPINFO("STAB_ROLL", 4, AP_Mount, _stab_roll, 0),
// @Param: STAB_TILT
// @DisplayName: Stabilize mount tilt
// @Description: enable tilt (pitch) stabilisation relative to Earth
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("STAB_TILT", 5, AP_Mount, _stab_tilt),
AP_GROUPINFO("STAB_TILT", 5, AP_Mount, _stab_tilt, 0),
// @Param: STAB_PAN
// @DisplayName: Stabilize mount pan
// @Description: enable pan (yaw) stabilisation relative to Earth
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("STAB_PAN", 6, AP_Mount, _stab_pan),
AP_GROUPINFO("STAB_PAN", 6, AP_Mount, _stab_pan, 0),
// @Param: ROLL_RC_IN
// @DisplayName: roll RC input channel
// @Description: 0 for none, any other for the RC channel to be used to control roll movements
// @Values: 0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8
// @User: Standard
AP_GROUPINFO("ROLL_RC_IN", 7, AP_Mount, _roll_rc_in),
AP_GROUPINFO("ROLL_RC_IN", 7, AP_Mount, _roll_rc_in, 0),
// @Param: ROLL_ANGLE_MIN
// @DisplayName: Minimum roll angle
@ -75,7 +75,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Range: -18000 17999
// @Increment: 1
// @User: Standard
AP_GROUPINFO("ROLL_ANGMIN", 8, AP_Mount, _roll_angle_min),
AP_GROUPINFO("ROLL_ANGMIN", 8, AP_Mount, _roll_angle_min, 0),
// @Param: ROLL_ANGLE_MAX
// @DisplayName: Maximum roll angle
@ -84,14 +84,14 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Range: -18000 17999
// @Increment: 1
// @User: Standard
AP_GROUPINFO("ROLL_ANGMAX", 9, AP_Mount, _roll_angle_max),
AP_GROUPINFO("ROLL_ANGMAX", 9, AP_Mount, _roll_angle_max, 0),
// @Param: TILT_RC_IN
// @DisplayName: tilt (pitch) RC input channel
// @Description: 0 for none, any other for the RC channel to be used to control tilt (pitch) movements
// @Values: 0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8
// @User: Standard
AP_GROUPINFO("TILT_RC_IN", 10, AP_Mount, _tilt_rc_in),
AP_GROUPINFO("TILT_RC_IN", 10, AP_Mount, _tilt_rc_in, 0),
// @Param: TILT_ANGLE_MIN
// @DisplayName: Minimum tilt angle
@ -100,7 +100,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Range: -18000 17999
// @Increment: 1
// @User: Standard
AP_GROUPINFO("TILT_ANGMIN", 11, AP_Mount, _tilt_angle_min),
AP_GROUPINFO("TILT_ANGMIN", 11, AP_Mount, _tilt_angle_min, 0),
// @Param: TILT_ANGLE_MAX
// @DisplayName: Maximum tilt angle
@ -109,14 +109,14 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Range: -18000 17999
// @Increment: 1
// @User: Standard
AP_GROUPINFO("TILT_ANGMAX", 12, AP_Mount, _tilt_angle_max),
AP_GROUPINFO("TILT_ANGMAX", 12, AP_Mount, _tilt_angle_max, 0),
// @Param: PAN_RC_IN
// @DisplayName: pan (yaw) RC input channel
// @Description: 0 for none, any other for the RC channel to be used to control pan (yaw) movements
// @Values: 0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8
// @User: Standard
AP_GROUPINFO("PAN_RC_IN", 13, AP_Mount, _pan_rc_in),
AP_GROUPINFO("PAN_RC_IN", 13, AP_Mount, _pan_rc_in, 0),
// @Param: PAN_ANGLE_MIN
// @DisplayName: Minimum pan angle
@ -125,7 +125,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Range: -18000 17999
// @Increment: 1
// @User: Standard
AP_GROUPINFO("PAN_ANGMIN", 14, AP_Mount, _pan_angle_min),
AP_GROUPINFO("PAN_ANGMIN", 14, AP_Mount, _pan_angle_min, 0),
// @Param: PAN_ANGLE_MAX
// @DisplayName: Maximum pan angle
@ -134,7 +134,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Range: -18000 17999
// @Increment: 1
// @User: Standard
AP_GROUPINFO("PAN_ANGMAX", 15, AP_Mount, _pan_angle_max),
AP_GROUPINFO("PAN_ANGMAX", 15, AP_Mount, _pan_angle_max, 0),
/*
Must be commented out because the framework does not support more than 16 parameters
// @Param: JOYSTICK_SPEED

10
libraries/RC_Channel/RC_Channel.cpp
View File

@ -36,7 +36,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = {
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("MIN", 0, RC_Channel, radio_min),
AP_GROUPINFO("MIN", 0, RC_Channel, radio_min, 1100),
// @Param: TRIM
// @DisplayName: RC trim PWM
@ -45,7 +45,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = {
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("TRIM", 1, RC_Channel, radio_trim),
AP_GROUPINFO("TRIM", 1, RC_Channel, radio_trim, 1500),
// @Param: MAX
// @DisplayName: RC max PWM
@ -54,20 +54,20 @@ const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = {
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("MAX", 2, RC_Channel, radio_max),
AP_GROUPINFO("MAX", 2, RC_Channel, radio_max, 1900),
// @Param: REV
// @DisplayName: RC reverse
// @Description: Reverse servo operation. Ignored on APM1 unless dip-switches are disabled.
// @Values: -1:Reversed,1:Normal
// @User: Advanced
AP_GROUPINFO("REV", 3, RC_Channel, _reverse),
AP_GROUPINFO("REV", 3, RC_Channel, _reverse, 1),
// @Param: DZ
// @DisplayName: RC dead-zone
// @Description: dead zone around trim.
// @User: Advanced
AP_GROUPINFO("DZ", 4, RC_Channel, _dead_zone),
AP_GROUPINFO("DZ", 4, RC_Channel, _dead_zone, 0),
AP_GROUPEND
};

5
libraries/RC_Channel/RC_Channel.h
View File

@ -19,13 +19,8 @@ class RC_Channel{
/// @param name Optional name for the group.
///
RC_Channel(uint8_t ch_out) :
radio_min (1100),
radio_trim(1500),
radio_max (1900),
scale_output(1.0),
_filter(false),
_reverse(1),
_dead_zone(0),
_high(1),
_ch_out(ch_out) {}

2
libraries/RC_Channel/RC_Channel_aux.cpp
View File

@ -11,7 +11,7 @@ const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = {
// @Description: Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function
// @Values: 0:Disabled,1:Manual,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release
// @User: Standard
AP_GROUPINFO("FUNCTION", 1, RC_Channel_aux, function),
AP_GROUPINFO("FUNCTION", 1, RC_Channel_aux, function, 0),
AP_GROUPEND
};

3
libraries/RC_Channel/RC_Channel_aux.h
View File

@ -23,8 +23,7 @@ public:
/// @param name Optional name for the group.
///
RC_Channel_aux(uint8_t ch_out) :
RC_Channel(ch_out),
function (0)
RC_Channel(ch_out)
{}
typedef enum

16
libraries/SITL/SITL.cpp
View File

@ -15,14 +15,14 @@
// table of user settable parameters
const AP_Param::GroupInfo SITL::var_info[] PROGMEM = {
AP_GROUPINFO("BARO_RND", 0, SITL, baro_noise),
AP_GROUPINFO("GYR_RND", 1, SITL, gyro_noise),
AP_GROUPINFO("ACC_RND", 2, SITL, accel_noise),
AP_GROUPINFO("MAG_RND", 3, SITL, mag_noise),
AP_GROUPINFO("GPS_DISABLE",4, SITL, gps_disable),
AP_GROUPINFO("DRIFT_SPEED",5, SITL, drift_speed),
AP_GROUPINFO("DRIFT_TIME", 6, SITL, drift_time),
AP_GROUPINFO("GPS_DELAY", 7, SITL, gps_delay),
AP_GROUPINFO("BARO_RND", 0, SITL, baro_noise, 3),
AP_GROUPINFO("GYR_RND", 1, SITL, gyro_noise, 30),
AP_GROUPINFO("ACC_RND", 2, SITL, accel_noise, 3),
AP_GROUPINFO("MAG_RND", 3, SITL, mag_noise, 10),
AP_GROUPINFO("GPS_DISABLE",4, SITL, gps_disable, 0),
AP_GROUPINFO("DRIFT_SPEED",5, SITL, drift_speed, 0.2),
AP_GROUPINFO("DRIFT_TIME", 6, SITL, drift_time, 5),
AP_GROUPINFO("GPS_DELAY", 7, SITL, gps_delay, 4),
AP_GROUPEND
};