#pragma once #define AP_PARAM_VEHICLE_NAME plane #include // Global parameter class. // class Parameters { public: /* * The value of k_format_version determines whether the existing * eeprom data is considered valid. You should only change this * value under the following circumstances: * * 1) the meaning of an existing eeprom parameter changes * * 2) the value of an existing k_param_* enum value changes * * Adding a new parameter should _not_ require a change to * k_format_version except under special circumstances. If you * change it anyway then all ArduPlane users will need to reload all * their parameters. We want that to be an extremely rare * thing. Please do not just change it "just in case". * * To determine if a k_param_* value has changed, use the rules of * C++ enums to work out the value of the neighboring enum * values. If you don't know the C++ enum rules then please ask for * help. */ ////////////////////////////////////////////////////////////////// // STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE // COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!! static const uint16_t k_format_version = 13; ////////////////////////////////////////////////////////////////// enum { // Layout version number, always key zero. // k_param_format_version = 0, k_param_software_type, // unused; k_param_num_resets, // unused k_param_NavEKF2, k_param_g2, k_param_avoidance_adsb, k_param_landing, k_param_NavEKF3, k_param_can_mgr, k_param_osd, // Misc // k_param_auto_trim = 10, // unused k_param_log_bitmask_old, // unused k_param_pitch_trim, k_param_mix_mode, k_param_reverse_elevons, // unused k_param_reverse_ch1_elevon, // unused k_param_reverse_ch2_elevon, // unused k_param_flap_1_percent, k_param_flap_1_speed, k_param_flap_2_percent, k_param_flap_2_speed, k_param_reset_switch_chan, // unused - moved to RC option k_param_manual_level, // unused k_param_land_pitch_cd, // unused - moved to AP_Landing k_param_ins_old, // *** Deprecated, remove with next eeprom number change k_param_stick_mixing, k_param_reset_mission_chan, // unused - moved to RC option k_param_land_flare_alt, // unused - moved to AP_Landing k_param_land_flare_sec, // unused - moved to AP_Landing k_param_crosstrack_min_distance, // unused k_param_rudder_steer, // unused k_param_throttle_nudge, k_param_alt_offset, k_param_ins, // libraries/AP_InertialSensor variables k_param_takeoff_throttle_min_speed, k_param_takeoff_throttle_min_accel, k_param_takeoff_heading_hold, // unused k_param_level_roll_limit, k_param_hil_servos_unused, // unused k_param_vtail_output, // unused k_param_nav_controller, // unused k_param_elevon_output, // unused k_param_att_controller, // unused k_param_mixing_gain, k_param_scheduler, k_param_relay, k_param_takeoff_throttle_delay, k_param_mode_takeoff, // was skip_gyro_cal k_param_auto_fbw_steer, // unused k_param_waypoint_max_radius, k_param_ground_steer_alt, k_param_ground_steer_dps, k_param_rally_limit_km_old, //unused anymore -- just holding this index k_param_hil_err_limit_unused, // unused k_param_sonar_old, // unused k_param_log_bitmask, k_param_BoardConfig, k_param_rssi_range, // unused, replaced by rssi_ library parameters k_param_flapin_channel_old, // unused, moved to RC_OPTION k_param_flaperon_output, // unused k_param_gps, k_param_autotune_level, k_param_rally, k_param_serial0_baud, // deprecated k_param_serial1_baud, // deprecated k_param_serial2_baud, // deprecated k_param_takeoff_tdrag_elevator, k_param_takeoff_tdrag_speed1, k_param_takeoff_rotate_speed, k_param_takeoff_throttle_slewrate, k_param_takeoff_throttle_max, k_param_rangefinder, k_param_terrain, k_param_terrain_follow, k_param_stab_pitch_down_cd_old, // deprecated k_param_glide_slope_min, k_param_stab_pitch_down, k_param_terrain_lookahead, k_param_fbwa_tdrag_chan, // unused - moved to RC option k_param_rangefinder_landing, k_param_land_flap_percent, // unused - moved to AP_Landing k_param_takeoff_flap_percent, k_param_flap_slewrate, k_param_rtl_autoland, k_param_override_channel, k_param_stall_prevention, k_param_optflow, k_param_cli_enabled_old, // unused - CLI removed k_param_trim_rc_at_start, // unused k_param_hil_mode_unused, // unused k_param_land_disarm_delay, // unused - moved to AP_Landing k_param_glide_slope_threshold, k_param_rudder_only, k_param_gcs3, // 93 k_param_gcs_pid_mask, k_param_crash_detection_enable, k_param_land_abort_throttle_enable, // unused - moved to AP_Landing k_param_rssi = 97, k_param_rpm_sensor, k_param_parachute, k_param_arming = 100, k_param_parachute_channel, // unused - moved to RC option k_param_crash_accel_threshold, k_param_override_safety, // unused k_param_land_throttle_slewrate, // 104 unused - moved to AP_Landing // 105: Extra parameters k_param_fence_retalt = 105, k_param_fence_autoenable, k_param_fence_ret_rally, k_param_q_attitude_control, k_param_takeoff_pitch_limit_reduction_sec, // 110: Telemetry control // k_param_gcs0 = 110, // stream rates for SERIAL0 k_param_gcs1, // stream rates for SERIAL1 k_param_sysid_this_mav, k_param_sysid_my_gcs, k_param_serial1_baud_old, // deprecated k_param_telem_delay, k_param_serial0_baud_old, // deprecated k_param_gcs2, // stream rates for SERIAL2 k_param_serial2_baud_old, // deprecated k_param_serial2_protocol, // deprecated // 120: Fly-by-wire control // k_param_airspeed_min = 120, k_param_airspeed_max, k_param_cruise_alt_floor, k_param_flybywire_elev_reverse, k_param_alt_control_algorithm, // unused k_param_flybywire_climb_rate, k_param_acro_roll_rate, k_param_acro_pitch_rate, k_param_acro_locking, k_param_use_reverse_thrust = 129, // // 130: Sensor parameters // k_param_imu = 130, // unused k_param_altitude_mix, // deprecated k_param_compass_enabled_deprecated, k_param_compass, k_param_battery_monitoring, // unused k_param_volt_div_ratio, // unused k_param_curr_amp_per_volt, // unused k_param_input_voltage, // deprecated, can be deleted k_param_pack_capacity, // unused k_param_sonar_enabled_old, // unused k_param_ahrs, // AHRS group k_param_barometer, // barometer ground calibration k_param_airspeed, // only used for parameter conversion; AP_Airspeed parameters moved to AP_Vehicle k_param_curr_amp_offset, k_param_NavEKF, // deprecated - remove k_param_mission, // mission library k_param_serial_manager_old, // serial manager library k_param_NavEKF2_old, // deprecated - remove k_param_land_pre_flare_alt, // unused - moved to AP_Landing k_param_land_pre_flare_airspeed = 149, // unused - moved to AP_Landing // // 150: Navigation parameters // k_param_crosstrack_gain = 150, // unused k_param_crosstrack_entry_angle, // unused k_param_roll_limit, k_param_pitch_limit_max, k_param_pitch_limit_min, k_param_airspeed_cruise, k_param_RTL_altitude, k_param_inverted_flight_ch_unused, // unused k_param_min_groundspeed, k_param_crosstrack_use_wind, // unused // // Camera and mount parameters // k_param_camera = 160, k_param_camera_mount, k_param_camera_mount2, // unused k_param_adsb, k_param_notify, k_param_land_pre_flare_sec = 165, // unused - moved to AP_Landing // // Battery monitoring parameters // k_param_battery = 166, k_param_rssi_pin, // unused, replaced by rssi_ library parameters - 167 k_param_battery_volt_pin, // unused - 168 k_param_battery_curr_pin, // unused - 169 // // 170: Radio settings - all unused now // k_param_rc_1_old = 170, k_param_rc_2_old, k_param_rc_3_old, k_param_rc_4_old, k_param_rc_5_old, k_param_rc_6_old, k_param_rc_7_old, k_param_rc_8_old, k_param_rc_9_old, k_param_rc_10_old, k_param_rc_11_old, k_param_throttle_min, k_param_throttle_max, k_param_throttle_fs_enabled, k_param_throttle_fs_value, k_param_throttle_cruise, k_param_fs_action_short, k_param_fs_action_long, k_param_gcs_heartbeat_fs_enabled, k_param_throttle_slewrate, k_param_throttle_suppress_manual, k_param_throttle_passthru_stabilize, k_param_rc_12_old, k_param_fs_batt_voltage, // unused - moved to AP_BattMonitor k_param_fs_batt_mah, // unused - moved to AP_BattMonitor k_param_fs_timeout_short, k_param_fs_timeout_long, k_param_rc_13_old, k_param_rc_14_old, k_param_tuning, // // 200: Feed-forward gains // k_param_kff_pitch_compensation = 200, // unused k_param_kff_rudder_mix, k_param_kff_pitch_to_throttle, // unused k_param_kff_throttle_to_pitch, k_param_scaling_speed, k_param_quadplane, k_param_rtl_radius, k_param_land_then_servos_neutral, // unused - moved to AP_Landing k_param_rc_15_old, k_param_rc_16_old, // // 210: flight modes // k_param_flight_mode_channel = 210, k_param_flight_mode1, k_param_flight_mode2, k_param_flight_mode3, k_param_flight_mode4, k_param_flight_mode5, k_param_flight_mode6, k_param_initial_mode, k_param_land_slope_recalc_shallow_threshold, // unused - moved to AP_Landing k_param_land_slope_recalc_steep_threshold_to_abort, // unused - moved to AP_Landing // // 220: Waypoint data // k_param_waypoint_mode = 220, // unused k_param_command_total, // unused k_param_command_index, // unused k_param_waypoint_radius, k_param_loiter_radius, k_param_fence_action, k_param_fence_total, k_param_fence_channel, // unused - moved to RC option k_param_fence_minalt, k_param_fence_maxalt, // other objects k_param_sitl = 230, k_param_afs, k_param_rollController, k_param_pitchController, k_param_yawController, k_param_L1_controller, k_param_rcmap, k_param_TECS_controller, k_param_rally_total_old, //unused k_param_steerController, // // 240: PID Controllers k_param_pidNavRoll = 240, // unused k_param_pidServoRoll, // unused k_param_pidServoPitch, // unused k_param_pidNavPitchAirspeed, // unused k_param_pidServoRudder, // unused k_param_pidTeThrottle, // unused k_param_pidNavPitchAltitude, // unused k_param_pidWheelSteer, // unused k_param_mixing_offset, k_param_dspoiler_rud_rate, k_param_airspeed_stall, k_param_logger = 253, // Logging Group // 254,255: reserved k_param_vehicle = 257, // vehicle common block of parameters k_param_gcs4, // stream rates k_param_gcs5, // stream rates k_param_gcs6, // stream rates k_param_fence, // vehicle fence - unused k_param_acro_yaw_rate, k_param_takeoff_throttle_max_t, k_param_autotune_options, k_param_takeoff_throttle_min, k_param_takeoff_options, k_param_takeoff_throttle_idle, k_param_pullup = 270, k_param_quicktune, }; AP_Int16 format_version; // Telemetry control // AP_Int16 sysid_this_mav; AP_Int16 sysid_my_gcs; AP_Int8 telem_delay; AP_Enum rtl_autoland; AP_Int8 crash_accel_threshold; // Feed-forward gains // AP_Float kff_rudder_mix; AP_Float kff_pitch_to_throttle; AP_Float kff_throttle_to_pitch; AP_Float ground_steer_alt; AP_Int16 ground_steer_dps; AP_Float stab_pitch_down; // speed used for speed scaling AP_Float scaling_speed; // Waypoints // AP_Int16 waypoint_radius; AP_Int16 waypoint_max_radius; AP_Int16 rtl_radius; // Fly-by-wire // AP_Int8 flybywire_elev_reverse; AP_Int8 flybywire_climb_rate; // Throttle // AP_Int8 throttle_suppress_manual; AP_Int8 throttle_passthru_stabilize; AP_Int8 throttle_fs_enabled; AP_Int16 throttle_fs_value; AP_Int8 throttle_nudge; AP_Int32 use_reverse_thrust; // Failsafe AP_Int8 fs_action_short; AP_Int8 fs_action_long; AP_Float fs_timeout_short; AP_Float fs_timeout_long; AP_Int8 gcs_heartbeat_fs_enabled; // Flight modes // AP_Int8 flight_mode_channel; AP_Int8 flight_mode1; AP_Int8 flight_mode2; AP_Int8 flight_mode3; AP_Int8 flight_mode4; AP_Int8 flight_mode5; AP_Int8 flight_mode6; AP_Int8 initial_mode; // Navigational manoeuvring limits // AP_Int16 alt_offset; AP_Int16 acro_roll_rate; AP_Int16 acro_pitch_rate; AP_Int16 acro_yaw_rate; AP_Int8 acro_locking; // Misc // AP_Int8 rudder_only; AP_Float mixing_gain; AP_Int16 mixing_offset; AP_Int16 dspoiler_rud_rate; AP_Int32 log_bitmask; AP_Float RTL_altitude; AP_Float pitch_trim; AP_Float cruise_alt_floor; AP_Int8 flap_1_percent; AP_Int8 flap_1_speed; AP_Int8 flap_2_percent; AP_Int8 flap_2_speed; AP_Int8 takeoff_flap_percent; AP_Enum stick_mixing; AP_Float takeoff_throttle_min_speed; AP_Float takeoff_throttle_min_accel; AP_Int8 takeoff_throttle_delay; AP_Int8 takeoff_tdrag_elevator; AP_Float takeoff_tdrag_speed1; AP_Float takeoff_rotate_speed; AP_Int8 takeoff_throttle_slewrate; AP_Float takeoff_pitch_limit_reduction_sec; AP_Int8 level_roll_limit; #if AP_TERRAIN_AVAILABLE AP_Int32 terrain_follow; AP_Int16 terrain_lookahead; #endif AP_Int16 glide_slope_min; AP_Float glide_slope_threshold; AP_Int8 rangefinder_landing; AP_Int8 flap_slewrate; #if HAL_WITH_IO_MCU AP_Int8 override_channel; #endif AP_Int16 gcs_pid_mask; }; /* 2nd block of parameters, to avoid going past 256 top level keys */ class ParametersG2 { public: ParametersG2(void); // var_info for holding Parameter information static const struct AP_Param::GroupInfo var_info[]; // just to make compilation easier when all things are compiled out... uint8_t unused_integer; // button reporting library #if HAL_BUTTON_ENABLED AP_Button *button_ptr; #endif #if AP_ICENGINE_ENABLED // internal combustion engine control AP_ICEngine ice_control; #endif // RC input channels RC_Channels_Plane rc_channels; // control over servo output ranges SRV_Channels servo_channels; // whether to enforce acceptance of packets only from sysid_my_gcs AP_Int8 sysid_enforce; #if HAL_SOARING_ENABLED // ArduSoar parameters SoaringController soaring_controller; #endif // dual motor tailsitter rudder to differential thrust scaling: 0-100% AP_Int8 rudd_dt_gain; // mask of channels to do manual pass-thru for AP_Int32 manual_rc_mask; // home reset altitude threshold AP_Int8 home_reset_threshold; AP_Int32 flight_options; AP_Int8 takeoff_throttle_accel_count; AP_Int8 takeoff_timeout; #if AP_LANDINGGEAR_ENABLED AP_LandingGear landing_gear; #endif #if AC_PRECLAND_ENABLED AC_PrecLand precland; #endif // crow flaps weighting AP_Int8 crow_flap_weight_outer; AP_Int8 crow_flap_weight_inner; AP_Int8 crow_flap_options; AP_Int8 crow_flap_aileron_matching; // Forward throttle battery voltage compensation class FWD_BATT_CMP { public: // Calculate the throttle scale to compensate for battery voltage drop void update(); // Apply throttle scale to min and max limits void apply_min_max(int8_t &min_throttle, int8_t &max_throttle) const; // Apply throttle scale to throttle demand float apply_throttle(float throttle) const; AP_Float batt_voltage_max; AP_Float batt_voltage_min; AP_Int8 batt_idx; private: bool enabled; float ratio; } fwd_batt_cmp; #if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED // guided yaw heading PID AC_PID guidedHeading{5000.0, 0.0, 0.0, 0 , 10.0, 5.0, 5.0 , 5.0 , 0.0}; #endif #if AP_SCRIPTING_ENABLED && AP_FOLLOW_ENABLED AP_Follow follow; #endif AP_Float fs_ekf_thresh; // min initial climb in RTL AP_Int16 rtl_climb_min; AP_Int8 man_expo_roll; AP_Int8 man_expo_pitch; AP_Int8 man_expo_rudder; AP_Int32 oneshot_mask; AP_Int8 axis_bitmask; // axes to be autotuned #if AP_RANGEFINDER_ENABLED // orientation of rangefinder to use for landing AP_Int8 rangefinder_land_orient; #endif }; extern const AP_Param::Info var_info[];