diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde new file mode 100644 index 0000000000..e7f9d77805 --- /dev/null +++ b/ArduPlane/Parameters.pde @@ -0,0 +1,157 @@ +/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- + +/* + 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. +*/ + +#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 } + +static const AP_Param::Info var_info[] PROGMEM = { + GSCALAR(format_version, "FORMAT_VERSION"), + GSCALAR(software_type, "SOFTWARE_TYPE"), + GSCALAR(sysid_this_mav, "SYSID_THIS_MAV"), + GSCALAR(sysid_my_gcs, "SYSID_MYGCS"), + GSCALAR(serial3_baud, "SERIAL3_BAUD"), + GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP"), + GSCALAR(kff_rudder_mix, "KFF_RDDRMIX"), + GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR"), + GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH"), + + GSCALAR(crosstrack_gain, "XTRK_GAIN_SC"), + GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD"), + + GSCALAR(altitude_mix, "ALT_MIX"), + GSCALAR(airspeed_ratio, "ARSPD_RATIO"), + GSCALAR(airspeed_offset, "ARSPD_OFFSET"), + + GSCALAR(command_total, "CMD_TOTAL"), + GSCALAR(command_index, "CMD_INDEX"), + GSCALAR(waypoint_radius, "WP_RADIUS"), + GSCALAR(loiter_radius, "WP_LOITER_RAD"), + +#if GEOFENCE_ENABLED == ENABLED + GSCALAR(fence_action, "FENCE_ACTION"), + GSCALAR(fence_total, "FENCE_TOTAL"), + GSCALAR(fence_channel, "FENCE_CHANNEL"), + GSCALAR(fence_minalt, "FENCE_MINALT"), + GSCALAR(fence_maxalt, "FENCE_MAXALT"), +#endif + + GSCALAR(flybywire_airspeed_min, "ARSPD_FBW_MIN"), + GSCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX"), + + GSCALAR(throttle_min, "THR_MIN"), + GSCALAR(throttle_max, "THR_MAX"), + GSCALAR(throttle_slewrate, "THR_SLEWRATE"), + GSCALAR(throttle_fs_enabled, "THR_FAILSAFE"), + GSCALAR(throttle_fs_value, "THR_FS_VALUE"), + GSCALAR(throttle_cruise, "TRIM_THROTTLE"), + + GSCALAR(short_fs_action, "FS_SHORT_ACTN"), + GSCALAR(long_fs_action, "FS_LONG_ACTN"), + GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL"), + + GSCALAR(flight_mode_channel, "FLTMODE_CH"), + 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(roll_limit, "LIM_ROLL_CD"), + GSCALAR(pitch_limit_max, "LIM_PITCH_MAX"), + GSCALAR(pitch_limit_min, "LIM_PITCH_MIN"), + + GSCALAR(auto_trim, "TRIM_AUTO"), + GSCALAR(switch_enable, "SWITCH_ENABLE"), + GSCALAR(mix_mode, "ELEVON_MIXING"), + GSCALAR(reverse_elevons, "ELEVON_REVERSE"), + GSCALAR(reverse_ch1_elevon, "ELEVON_CH1_REV"), + GSCALAR(reverse_ch2_elevon, "ELEVON_CH2_REV"), + GSCALAR(num_resets, "SYS_NUM_RESETS"), + GSCALAR(log_bitmask, "LOG_BITMASK"), + GSCALAR(log_last_filenumber, "LOG_LASTFILE"), + GSCALAR(reset_switch_chan, "RST_SWITCH_CH"), + GSCALAR(airspeed_cruise, "TRIM_ARSPD_CM"), + GSCALAR(min_gndspeed, "MIN_GNDSPD_CM"), + GSCALAR(pitch_trim, "TRIM_PITCH_CD"), + GSCALAR(RTL_altitude, "ALT_HOLD_RTL"), + GSCALAR(FBWB_min_altitude, "ALT_HOLD_FBWCM"), + GSCALAR(ground_temperature, "GND_TEMP"), + GSCALAR(ground_pressure, "GND_ABS_PRESS"), + GSCALAR(compass_enabled, "MAG_ENABLE"), + GSCALAR(flap_1_percent, "FLAP_1_PERCNT"), + GSCALAR(flap_1_speed, "FLAP_1_SPEED"), + GSCALAR(flap_2_percent, "FLAP_2_PERCNT"), + GSCALAR(flap_2_speed, "FLAP_2_SPEED"), + + + GSCALAR(battery_monitoring, "BATT_MONITOR"), + GSCALAR(volt_div_ratio, "VOLT_DIVIDER"), + GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT"), + GSCALAR(input_voltage, "INPUT_VOLTS"), + GSCALAR(pack_capacity, "BATT_CAPACITY"), + GSCALAR(inverted_flight_ch, "INVERTEDFLT_CH"), + GSCALAR(sonar_enabled, "SONAR_ENABLE"), + GSCALAR(airspeed_enabled, "ARSPD_ENABLE"), + + GGROUP(channel_roll, "RC1_", RC_Channel), + GGROUP(channel_pitch, "RC2_", RC_Channel), + GGROUP(channel_throttle, "RC3_", RC_Channel), + GGROUP(channel_rudder, "RC4_", RC_Channel), + GGROUP(rc_5, "RC5_", RC_Channel_aux), + GGROUP(rc_6, "RC6_", RC_Channel_aux), + GGROUP(rc_7, "RC7_", RC_Channel_aux), + GGROUP(rc_8, "RC8_", RC_Channel_aux), + + 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), + + // variables not in the g class which contain EEPROM saved variables + GOBJECT(compass, "COMPASS_", Compass) +}; + + +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); + } + } + + 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(); + + // save the current format version + g.format_version.set_and_save(Parameters::k_format_version); + Serial.println_P(PSTR("done.")); + } else { + unsigned long before = micros(); + // Load all auto-loaded EEPROM variables + AP_Param::load_all(); + + Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before); + } +}