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AP_Param: update ArduPlane core for new AP_Param interface

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This commit is contained in:
Andrew Tridgell 2012-08-07 11:03:08 +10:00
parent de50fff5ad
commit f98b887dbe
4 changed files with 96 additions and 185 deletions
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7
ArduPlane/ArduPlane.pde
View File

@ -83,6 +83,13 @@ FastSerialPort1(Serial1); // GPS port
FastSerialPort3(Serial3); // Telemetry port for APM1
#endif
// this sets up the parameter table, and sets the default values. This
// must be the first AP_Param variable declared to ensure its
// constructor runs before the constructors of the other AP_Param
// variables
AP_Param param_loader(var_info, WP_START_BYTE);
////////////////////////////////////////////////////////////////////////////////
// ISR Registry
////////////////////////////////////////////////////////////////////////////////

18
ArduPlane/GCS_Mavlink.pde
View File

@ -693,15 +693,15 @@ void mavlink_send_text(mavlink_channel_t chan, gcs_severity severity, const char
}
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRateRawSensors),
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRateExtendedStatus),
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRateRCChannels),
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRateRawController),
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRatePosition),
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRateExtra1),
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRateExtra2),
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRateExtra3),
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRateParams),
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRateRawSensors, 0),
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRateExtendedStatus, 0),
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRateRCChannels, 0),
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRateRawController, 0),
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRatePosition, 0),
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRateExtra1, 0),
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRateExtra2, 0),
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRateExtra3, 0),
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRateParams, 0),
AP_GROUPEND
};

92
ArduPlane/Parameters.h
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@ -395,96 +395,6 @@ public:
Parameters() :
// variable default
//----------------------------------------
format_version (k_format_version),
software_type (k_software_type),
sysid_this_mav (MAV_SYSTEM_ID),
sysid_my_gcs (255),
serial3_baud (SERIAL3_BAUD/1000),
kff_pitch_compensation (PITCH_COMP),
kff_rudder_mix (RUDDER_MIX),
kff_pitch_to_throttle (P_TO_T),
kff_throttle_to_pitch (T_TO_P),
scaling_speed (SCALING_SPEED),
crosstrack_gain (XTRACK_GAIN_SCALED),
crosstrack_entry_angle (XTRACK_ENTRY_ANGLE_CENTIDEGREE),
altitude_mix (ALTITUDE_MIX),
/* XXX waypoint_mode missing here */
command_total (0),
command_index (0),
waypoint_radius (WP_RADIUS_DEFAULT),
loiter_radius (LOITER_RADIUS_DEFAULT),
#if GEOFENCE_ENABLED == ENABLED
fence_action (0),
fence_total (0),
fence_channel (0),
fence_minalt (0),
fence_maxalt (0),
#endif
flybywire_airspeed_min (AIRSPEED_FBW_MIN),
flybywire_airspeed_max (AIRSPEED_FBW_MAX),
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),
long_fs_action (LONG_FAILSAFE_ACTION),
gcs_heartbeat_fs_enabled(GCS_HEARTBEAT_FAILSAFE),
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),
pitch_limit_max (PITCH_MAX_CENTIDEGREE),
pitch_limit_min (PITCH_MIN_CENTIDEGREE),
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),
manual_level (MANUAL_LEVEL),
airspeed_cruise_cm (AIRSPEED_CRUISE_CM),
RTL_altitude (ALT_HOLD_HOME_CM),
land_pitch_cd (0),
min_gndspeed (MIN_GNDSPEED_CM),
pitch_trim (0),
FBWB_min_altitude (ALT_HOLD_FBW_CM),
compass_enabled (MAGNETOMETER),
battery_monitoring (DISABLED),
flap_1_percent (FLAP_1_PERCENT),
flap_1_speed (FLAP_1_SPEED),
flap_2_percent (FLAP_2_PERCENT),
flap_2_speed (FLAP_2_SPEED),
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),
channel_roll (CH_1),
channel_pitch (CH_2),
channel_throttle (CH_3),
@ -511,4 +421,6 @@ public:
{}
};
extern const AP_Param::Info var_info[];
#endif // PARAMETERS_H

164
ArduPlane/Parameters.pde
View File

@ -9,22 +9,22 @@
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 }
#define GSCALAR(v, name, def) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v, {def_value:def} }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, {group_info:class::var_info} }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info:class::var_info} }
static const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(format_version, "FORMAT_VERSION"),
GSCALAR(software_type, "SYSID_SW_TYPE"),
GSCALAR(sysid_this_mav, "SYSID_THISMAV"),
GSCALAR(sysid_my_gcs, "SYSID_MYGCS"),
const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(format_version, "FORMAT_VERSION", 0),
GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type),
GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
// @Param: SERIAL3_BAUD
// @DisplayName: Telemetry Baud Rate
// @Description: The baud rate used on the telemetry port
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
// @User: Standard
GSCALAR(serial3_baud, "SERIAL3_BAUD"),
GSCALAR(serial3_baud, "SERIAL3_BAUD", SERIAL3_BAUD/1000),
// @Param: KFF_PTCHCOMP
// @DisplayName: Pitch Compensation
@ -32,7 +32,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 1
// @Increment: 0.01
// @User: Advanced
GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP"),
GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP", PITCH_COMP),
// @Param: KFF_RDDRMIX
// @DisplayName: Rudder Mix
@ -40,7 +40,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 1
// @Increment: 0.01
// @User: Standard
GSCALAR(kff_rudder_mix, "KFF_RDDRMIX"),
GSCALAR(kff_rudder_mix, "KFF_RDDRMIX", RUDDER_MIX),
// @Param: KFF_PTCH2THR
// @DisplayName: Pitch to Throttle Mix
@ -48,7 +48,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 5
// @Increment: 0.01
// @User: Advanced
GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR"),
GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR", P_TO_T),
// @Param: KFF_THR2PTCH
// @DisplayName: Throttle to Pitch Mix
@ -56,21 +56,21 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 5
// @Increment: 0.01
// @User: Advanced
GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH"),
GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH", T_TO_P),
// @Param: MANUAL_LEVEL
// @DisplayName: Manual Level
// @Description: Setting this to Disabled(0) will enable autolevel on every boot. Setting it to Enabled(1) will do a calibration only when you tell it to
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
GSCALAR(manual_level, "MANUAL_LEVEL"),
GSCALAR(manual_level, "MANUAL_LEVEL", MANUAL_LEVEL),
// @Param: land_pitch_cd
// @DisplayName: Landing Pitch
// @Description: Used in autoland for planes without airspeed sensors in hundredths of a degree
// @Units: centi-Degrees
// @User: Advanced
GSCALAR(land_pitch_cd, "LAND_PITCH_CD"),
GSCALAR(land_pitch_cd, "LAND_PITCH_CD", 0),
// @Param: XTRK_GAIN_SC
// @DisplayName: Crosstrack Gain
@ -78,7 +78,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 2000
// @Increment: 1
// @User: Standard
GSCALAR(crosstrack_gain, "XTRK_GAIN_SC"),
GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", XTRACK_GAIN_SCALED),
// @Param: XTRK_ANGLE_CD
// @DisplayName: Crosstrack Entry Angle
@ -87,7 +87,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 9000
// @Increment: 1
// @User: Standard
GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD"),
GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD", XTRACK_ENTRY_ANGLE_CENTIDEGREE),
// @Param: ALT_MIX
// @DisplayName: Gps to Baro Mix
@ -96,10 +96,10 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 1
// @Increment: 0.1
// @User: Advanced
GSCALAR(altitude_mix, "ALT_MIX"),
GSCALAR(altitude_mix, "ALT_MIX", ALTITUDE_MIX),
GSCALAR(command_total, "CMD_TOTAL"),
GSCALAR(command_index, "CMD_INDEX"),
GSCALAR(command_total, "CMD_TOTAL", 0),
GSCALAR(command_index, "CMD_INDEX", 0),
// @Param: WP_RADIUS
// @DisplayName: Waypoint Radius
@ -108,7 +108,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 1 127
// @Increment: 1
// @User: Standard
GSCALAR(waypoint_radius, "WP_RADIUS"),
GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT),
// @Param: WP_LOITER_RAD
// @DisplayName: Waypoint Loiter Radius
@ -117,7 +117,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 1 127
// @Increment: 1
// @User: Standard
GSCALAR(loiter_radius, "WP_LOITER_RAD"),
GSCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS_DEFAULT),
#if GEOFENCE_ENABLED == ENABLED
// @Param: FENCE_ACTION
@ -125,19 +125,19 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Description: Defines the distance from the waypoint center, the plane will maintain during a loiter
// @Values: 0:None,1:GuidedMode
// @User: Standard
GSCALAR(fence_action, "FENCE_ACTION"),
GSCALAR(fence_action, "FENCE_ACTION", 0),
// @Param: FENCE_TOTAL
// @DisplayName: Fence Total
// @Description: Number of geofence points currently loaded
// @User: Standard
GSCALAR(fence_total, "FENCE_TOTAL"),
GSCALAR(fence_total, "FENCE_TOTAL", 0),
// @Param: FENCE_CHANNEL
// @DisplayName: Fence Channel
// @Description: RC Channel to use to enable geofence. PWM input above 1750 enables the geofence
// @User: Standard
GSCALAR(fence_channel, "FENCE_CHANNEL"),
GSCALAR(fence_channel, "FENCE_CHANNEL", 0),
// @Param: FENCE_MINALT
// @DisplayName: Fence Minimum Altitude
@ -146,7 +146,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 32767
// @Increment: 1
// @User: Standard
GSCALAR(fence_minalt, "FENCE_MINALT"),
GSCALAR(fence_minalt, "FENCE_MINALT", 0),
// @Param: FENCE_MAXALT
// @DisplayName: Fence Maximum Altitude
@ -155,7 +155,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 32767
// @Increment: 1
// @User: Standard
GSCALAR(fence_maxalt, "FENCE_MAXALT"),
GSCALAR(fence_maxalt, "FENCE_MAXALT", 0),
#endif
// @Param: ARSPD_FBW_MIN
@ -165,7 +165,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 5 50
// @Increment: 1
// @User: Standard
GSCALAR(flybywire_airspeed_min, "ARSPD_FBW_MIN"),
GSCALAR(flybywire_airspeed_min, "ARSPD_FBW_MIN", AIRSPEED_FBW_MIN),
// @Param: ARSPD_FBW_MAX
// @DisplayName: Fly By Wire Maximum Airspeed
@ -174,7 +174,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 5 50
// @Increment: 1
// @User: Standard
GSCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX"),
GSCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX", AIRSPEED_FBW_MAX),
// @Param: THR_MIN
// @DisplayName: Minimum Throttle
@ -183,7 +183,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_min, "THR_MIN"),
GSCALAR(throttle_min, "THR_MIN", THROTTLE_MIN),
// @Param: THR_MAX
// @DisplayName: Maximum Throttle
@ -192,7 +192,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_max, "THR_MAX"),
GSCALAR(throttle_max, "THR_MAX", THROTTLE_MAX),
// @Param: THR_SLEWRATE
// @DisplayName: Throttlw slew rate
@ -201,21 +201,21 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_slewrate, "THR_SLEWRATE"),
GSCALAR(throttle_slewrate, "THR_SLEWRATE", THROTTLE_SLEW_LIMIT),
// @Param: THR_FAILSAFE
// @DisplayName: Throttle Failsafe Enable
// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(throttle_fs_enabled, "THR_FAILSAFE"),
GSCALAR(throttle_fs_enabled, "THR_FAILSAFE", THROTTLE_FAILSAFE),
// @Param: THR_FS_VALUE
// @DisplayName: Throttle Failsafe Value
// @Description: The PWM level on channel 3 below which throttle sailsafe triggers
// @User: Standard
GSCALAR(throttle_fs_value, "THR_FS_VALUE"),
GSCALAR(throttle_fs_value, "THR_FS_VALUE", THROTTLE_FS_VALUE),
// @Param: TRIM_THROTTLE
// @DisplayName: Throttle cruise percentage
@ -224,76 +224,76 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_cruise, "TRIM_THROTTLE"),
GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE),
// @Param: FS_SHORT_ACTN
// @DisplayName: Short failsafe action
// @Description: The action to take on a short (1 second) failsafe event
// @Values: 0:None,1:ReturnToLaunch
// @User: Standard
GSCALAR(short_fs_action, "FS_SHORT_ACTN"),
GSCALAR(short_fs_action, "FS_SHORT_ACTN", SHORT_FAILSAFE_ACTION),
// @Param: FS_LONG_ACTN
// @DisplayName: Long failsafe action
// @Description: The action to take on a long (20 second) failsafe event
// @Values: 0:None,1:ReturnToLaunch
// @User: Standard
GSCALAR(long_fs_action, "FS_LONG_ACTN"),
GSCALAR(long_fs_action, "FS_LONG_ACTN", LONG_FAILSAFE_ACTION),
// @Param: FS_GCS_ENABL
// @DisplayName: GCS failsafe enable
// @Description: Enable ground control station telemetry failsafe. Failsafe will trigger after 20 seconds of no MAVLink heartbeat messages
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL"),
GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL", GCS_HEARTBEAT_FAILSAFE),
// @Param: FLTMODE_CH
// @DisplayName: Flightmode channel
// @Description: RC Channel to use for flight mode control
// @User: Advanced
GSCALAR(flight_mode_channel, "FLTMODE_CH"),
GSCALAR(flight_mode_channel, "FLTMODE_CH", FLIGHT_MODE_CHANNEL),
// @Param: FLTMODE1
// @DisplayName: FlightMode1
// @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
// @User: Standard
// @Description: Flight mode for switch position 1 (910 to 1230 and above 2049)
GSCALAR(flight_mode1, "FLTMODE1"),
GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1),
// @Param: FLTMODE2
// @DisplayName: FlightMode2
// @Description: Flight mode for switch position 2 (1231 to 1360)
// @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
// @User: Standard
GSCALAR(flight_mode2, "FLTMODE2"),
GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2),
// @Param: FLTMODE3
// @DisplayName: FlightMode3
// @Description: Flight mode for switch position 3 (1361 to 1490)
// @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
// @User: Standard
GSCALAR(flight_mode3, "FLTMODE3"),
GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3),
// @Param: FLTMODE4
// @DisplayName: FlightMode4
// @Description: Flight mode for switch position 4 (1491 to 1620)
// @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
// @User: Standard
GSCALAR(flight_mode4, "FLTMODE4"),
GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4),
// @Param: FLTMODE5
// @DisplayName: FlightMode5
// @Description: Flight mode for switch position 5 (1621 to 1749)
// @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
// @User: Standard
GSCALAR(flight_mode5, "FLTMODE5"),
GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5),
// @Param: FLTMODE6
// @DisplayName: FlightMode6
// @Description: Flight mode for switch position 6 (1750 to 2049)
// @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
// @User: Standard
GSCALAR(flight_mode6, "FLTMODE6"),
GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6),
// @Param: LIM_ROLL_CD
// @DisplayName: Maximum Bank Angle
@ -302,7 +302,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 9000
// @Increment: 1
// @User: Standard
GSCALAR(roll_limit, "LIM_ROLL_CD"),
GSCALAR(roll_limit, "LIM_ROLL_CD", HEAD_MAX_CENTIDEGREE),
// @Param: LIM_PITCH_MAX
// @DisplayName: Maximum Pitch Angle
@ -311,7 +311,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 9000
// @Increment: 1
// @User: Standard
GSCALAR(pitch_limit_max, "LIM_PITCH_MAX"),
GSCALAR(pitch_limit_max, "LIM_PITCH_MAX", PITCH_MAX_CENTIDEGREE),
// @Param: LIM_PITCH_MIN
// @DisplayName: Minimum Pitch Angle
@ -320,35 +320,35 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 9000
// @Increment: 1
// @User: Standard
GSCALAR(pitch_limit_min, "LIM_PITCH_MIN"),
GSCALAR(pitch_limit_min, "LIM_PITCH_MIN", PITCH_MIN_CENTIDEGREE),
// @Param: AUTO_TRIM
// @DisplayName: Auto trim
// @Description: Set RC trim PWM levels to current levels when switching away from manual mode
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(auto_trim, "TRIM_AUTO"),
GSCALAR(auto_trim, "TRIM_AUTO", AUTO_TRIM),
// @Param: SWITCH_ENABLE
// @DisplayName: Switch enable
// @Description: Enable dip switches on APM1
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
GSCALAR(switch_enable, "SWITCH_ENABLE"),
GSCALAR(switch_enable, "SWITCH_ENABLE", REVERSE_SWITCH),
// @Param: MIX_MODE
// @DisplayName: Elevon mixing
// @Description: Enable elevon mixing
// @Values: 0:Disabled,1:Enabled
// @User: User
GSCALAR(mix_mode, "ELEVON_MIXING"),
GSCALAR(mix_mode, "ELEVON_MIXING", ELEVON_MIXING),
// @Param: ELEVON_REVERSE
// @DisplayName: Elevon reverse
// @Description: Reverse elevon mixing
// @Values: 0:Disabled,1:Enabled
// @User: User
GSCALAR(reverse_elevons, "ELEVON_REVERSE"),
GSCALAR(reverse_elevons, "ELEVON_REVERSE", ELEVON_REVERSE),
// @Param: ELEVON_CH1_REV
@ -356,98 +356,98 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Description: Reverse elevon channel 1
// @Values: -1:Disabled,1:Enabled
// @User: User
GSCALAR(reverse_ch1_elevon, "ELEVON_CH1_REV"),
GSCALAR(reverse_ch1_elevon, "ELEVON_CH1_REV", ELEVON_CH1_REVERSE),
// @Param: ELEVON_CH2_REV
// @DisplayName: Elevon reverse
// @Description: Reverse elevon channel 2
// @Values: -1:Disabled,1:Enabled
// @User: User
GSCALAR(reverse_ch2_elevon, "ELEVON_CH2_REV"),
GSCALAR(reverse_ch2_elevon, "ELEVON_CH2_REV", ELEVON_CH2_REVERSE),
// @Param: SYS_NUM_RESETS
// @DisplayName: Num Resets
// @Description: Number of APM board resets
// @User: Advanced
GSCALAR(num_resets, "SYS_NUM_RESETS"),
GSCALAR(num_resets, "SYS_NUM_RESETS", 0),
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: bitmap of log fields to enable
// @User: Advanced
GSCALAR(log_bitmask, "LOG_BITMASK"),
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
GSCALAR(log_last_filenumber, "LOG_LASTFILE"),
GSCALAR(log_last_filenumber, "LOG_LASTFILE", 0),
// @Param: RST_SWITCH_CH
// @DisplayName: Reset Switch Channel
// @Description: RC channel to use to reset to last flight mode after geofence takeover
// @User: Advanced
GSCALAR(reset_switch_chan, "RST_SWITCH_CH"),
GSCALAR(reset_switch_chan, "RST_SWITCH_CH", 0),
// @Param: TRIM_ARSPD_CM
// @DisplayName: Target airspeed
// @Description: Airspeed in cm/s to aim for when airspeed is enabled in auto mode
// @Units: cm/s
// @User: User
GSCALAR(airspeed_cruise_cm, "TRIM_ARSPD_CM"),
GSCALAR(airspeed_cruise_cm, "TRIM_ARSPD_CM", AIRSPEED_CRUISE_CM),
// @Param: SCALING_SPEED
// @DisplayName: speed used for speed scaling calculations
// @Description: Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values
// @Units: m/s
// @User: Advanced
GSCALAR(scaling_speed, "SCALING_SPEED"),
GSCALAR(scaling_speed, "SCALING_SPEED", SCALING_SPEED),
// @Param: MIN_GNDSPD_CM
// @DisplayName: Minimum ground speed
// @Description: Minimum ground speed in cm/s when under airspeed control
// @Units: cm/s
// @User: Advanced
GSCALAR(min_gndspeed, "MIN_GNDSPD_CM"),
GSCALAR(min_gndspeed, "MIN_GNDSPD_CM", MIN_GNDSPEED_CM),
// @Param: TRIM_PITCH_CD
// @DisplayName: Pitch angle offset
// @Description: offset to add to pitch - used for trimming tail draggers
// @Units: centi-Degrees
// @User: Advanced
GSCALAR(pitch_trim, "TRIM_PITCH_CD"),
GSCALAR(pitch_trim, "TRIM_PITCH_CD", 0),
// @Param: ALT_HOLD_RTL
// @DisplayName: RTL altitude
// @Description: Return to launch target altitude
// @Units: centimeters
// @User: User
GSCALAR(RTL_altitude, "ALT_HOLD_RTL"),
GSCALAR(RTL_altitude, "ALT_HOLD_RTL", ALT_HOLD_HOME_CM),
GSCALAR(FBWB_min_altitude, "ALT_HOLD_FBWCM"),
GSCALAR(FBWB_min_altitude, "ALT_HOLD_FBWCM", ALT_HOLD_FBW_CM),
// @Param: MAG_ENABLE
// @DisplayName: Enable Compass
// @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(compass_enabled, "MAG_ENABLE"),
GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER),
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(flap_1_percent, "FLAP_1_PERCNT", FLAP_1_PERCENT),
GSCALAR(flap_1_speed, "FLAP_1_SPEED", FLAP_1_SPEED),
GSCALAR(flap_2_percent, "FLAP_2_PERCNT", FLAP_2_PERCENT),
GSCALAR(flap_2_speed, "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(battery_monitoring, "BATT_MONITOR", 0),
GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO),
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT),
GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE),
GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE),
GSCALAR(inverted_flight_ch, "INVERTEDFLT_CH", 0),
// @Param: SONAR_ENABLE
// @DisplayName: Enable Sonar
// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(sonar_enabled, "SONAR_ENABLE"),
GSCALAR(sonar_enabled, "SONAR_ENABLE", SONAR_ENABLED),
// barometer ground calibration. The GND_ prefix is chosen for
// compatibility with previous releases of ArduPlane
@ -554,21 +554,13 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Path: ../libraries/SITL/SITL.cpp
GOBJECT(sitl, "SIM_", SITL),
#endif
AP_VAREND
};
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) {