mirror of https://github.com/ArduPilot/ardupilot
imported new Parameters code to APM
This commit is contained in:
Andrew Tridgell
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81e52e43c1
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/*
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ArduPlane parameter definitions
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This firmware is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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*/
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#define GSCALAR(v, name) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v }
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#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, class::var_info }
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#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, class::var_info }
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static const AP_Param::Info var_info[] PROGMEM = {
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GSCALAR(format_version, "FORMAT_VERSION"),
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GSCALAR(software_type, "SOFTWARE_TYPE"),
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GSCALAR(sysid_this_mav, "SYSID_THIS_MAV"),
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GSCALAR(sysid_my_gcs, "SYSID_MYGCS"),
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GSCALAR(serial3_baud, "SERIAL3_BAUD"),
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GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP"),
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GSCALAR(kff_rudder_mix, "KFF_RDDRMIX"),
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GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR"),
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GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH"),
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GSCALAR(crosstrack_gain, "XTRK_GAIN_SC"),
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GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD"),
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GSCALAR(altitude_mix, "ALT_MIX"),
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GSCALAR(airspeed_ratio, "ARSPD_RATIO"),
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GSCALAR(airspeed_offset, "ARSPD_OFFSET"),
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GSCALAR(command_total, "CMD_TOTAL"),
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GSCALAR(command_index, "CMD_INDEX"),
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GSCALAR(waypoint_radius, "WP_RADIUS"),
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GSCALAR(loiter_radius, "WP_LOITER_RAD"),
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#if GEOFENCE_ENABLED == ENABLED
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GSCALAR(fence_action, "FENCE_ACTION"),
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GSCALAR(fence_total, "FENCE_TOTAL"),
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GSCALAR(fence_channel, "FENCE_CHANNEL"),
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GSCALAR(fence_minalt, "FENCE_MINALT"),
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GSCALAR(fence_maxalt, "FENCE_MAXALT"),
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#endif
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GSCALAR(flybywire_airspeed_min, "ARSPD_FBW_MIN"),
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GSCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX"),
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GSCALAR(throttle_min, "THR_MIN"),
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GSCALAR(throttle_max, "THR_MAX"),
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GSCALAR(throttle_slewrate, "THR_SLEWRATE"),
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GSCALAR(throttle_fs_enabled, "THR_FAILSAFE"),
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GSCALAR(throttle_fs_value, "THR_FS_VALUE"),
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GSCALAR(throttle_cruise, "TRIM_THROTTLE"),
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GSCALAR(short_fs_action, "FS_SHORT_ACTN"),
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GSCALAR(long_fs_action, "FS_LONG_ACTN"),
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GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL"),
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GSCALAR(flight_mode_channel, "FLTMODE_CH"),
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GSCALAR(flight_mode1, "FLTMODE1"),
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GSCALAR(flight_mode2, "FLTMODE2"),
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GSCALAR(flight_mode3, "FLTMODE3"),
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GSCALAR(flight_mode4, "FLTMODE4"),
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GSCALAR(flight_mode5, "FLTMODE5"),
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GSCALAR(flight_mode6, "FLTMODE6"),
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GSCALAR(roll_limit, "LIM_ROLL_CD"),
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GSCALAR(pitch_limit_max, "LIM_PITCH_MAX"),
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GSCALAR(pitch_limit_min, "LIM_PITCH_MIN"),
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GSCALAR(auto_trim, "TRIM_AUTO"),
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GSCALAR(switch_enable, "SWITCH_ENABLE"),
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GSCALAR(mix_mode, "ELEVON_MIXING"),
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GSCALAR(reverse_elevons, "ELEVON_REVERSE"),
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GSCALAR(reverse_ch1_elevon, "ELEVON_CH1_REV"),
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GSCALAR(reverse_ch2_elevon, "ELEVON_CH2_REV"),
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GSCALAR(num_resets, "SYS_NUM_RESETS"),
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GSCALAR(log_bitmask, "LOG_BITMASK"),
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GSCALAR(log_last_filenumber, "LOG_LASTFILE"),
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GSCALAR(reset_switch_chan, "RST_SWITCH_CH"),
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GSCALAR(airspeed_cruise, "TRIM_ARSPD_CM"),
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GSCALAR(min_gndspeed, "MIN_GNDSPD_CM"),
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GSCALAR(pitch_trim, "TRIM_PITCH_CD"),
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GSCALAR(RTL_altitude, "ALT_HOLD_RTL"),
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GSCALAR(FBWB_min_altitude, "ALT_HOLD_FBWCM"),
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GSCALAR(ground_temperature, "GND_TEMP"),
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GSCALAR(ground_pressure, "GND_ABS_PRESS"),
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GSCALAR(compass_enabled, "MAG_ENABLE"),
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GSCALAR(flap_1_percent, "FLAP_1_PERCNT"),
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GSCALAR(flap_1_speed, "FLAP_1_SPEED"),
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GSCALAR(flap_2_percent, "FLAP_2_PERCNT"),
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GSCALAR(flap_2_speed, "FLAP_2_SPEED"),
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GSCALAR(battery_monitoring, "BATT_MONITOR"),
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GSCALAR(volt_div_ratio, "VOLT_DIVIDER"),
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GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT"),
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GSCALAR(input_voltage, "INPUT_VOLTS"),
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GSCALAR(pack_capacity, "BATT_CAPACITY"),
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GSCALAR(inverted_flight_ch, "INVERTEDFLT_CH"),
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GSCALAR(sonar_enabled, "SONAR_ENABLE"),
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GSCALAR(airspeed_enabled, "ARSPD_ENABLE"),
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GGROUP(channel_roll, "RC1_", RC_Channel),
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GGROUP(channel_pitch, "RC2_", RC_Channel),
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GGROUP(channel_throttle, "RC3_", RC_Channel),
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GGROUP(channel_rudder, "RC4_", RC_Channel),
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GGROUP(rc_5, "RC5_", RC_Channel_aux),
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GGROUP(rc_6, "RC6_", RC_Channel_aux),
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GGROUP(rc_7, "RC7_", RC_Channel_aux),
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GGROUP(rc_8, "RC8_", RC_Channel_aux),
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GGROUP(pidNavRoll, "HDNG2RLL_", PID),
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GGROUP(pidServoRoll, "RLL2SRV_", PID),
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GGROUP(pidServoPitch, "PTCH2SRV_", PID),
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GGROUP(pidNavPitchAirspeed, "ARSP2PTCH_", PID),
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GGROUP(pidServoRudder, "YW2SRV_", PID),
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GGROUP(pidTeThrottle, "ENRGY2THR_", PID),
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GGROUP(pidNavPitchAltitude, "ALT2PTCH_", PID),
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// variables not in the g class which contain EEPROM saved variables
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GOBJECT(compass, "COMPASS_", Compass)
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};
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static void load_parameters(void)
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{
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// setup the AP_Var subsystem for storage to EEPROM
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if (!AP_Param::setup(var_info, sizeof(var_info)/sizeof(var_info[0]), WP_START_BYTE)) {
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// this can only happen on startup, and its a definate coding
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// error. Best not to continue so the programmer catches it
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while (1) {
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Serial.println_P(PSTR("ERROR: Failed to setup AP_Param"));
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delay(1000);
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}
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}
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if (!g.format_version.load() ||
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g.format_version != Parameters::k_format_version) {
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// erase all parameters
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Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
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AP_Param::erase_all();
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// save the current format version
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g.format_version.set_and_save(Parameters::k_format_version);
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Serial.println_P(PSTR("done."));
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} else {
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unsigned long before = micros();
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// Load all auto-loaded EEPROM variables
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AP_Param::load_all();
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Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before);
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}
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}
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