/// -*- 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, "SYSID_SW_TYPE"), GSCALAR(sysid_this_mav, "SYSID_THISMAV"), 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(manual_level, "MANUAL_LEVEL"), 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(ch7_option, "CH7_OPT"), 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"), #if HIL_MODE != HIL_MODE_ATTITUDE #if LITE == DISABLED // @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_type, "SONAR_TYPE"), #endif #endif GSCALAR(airspeed_enabled, "ARSPD_ENABLE"), // ************************************************************ // APMrover parameters - JLN update GSCALAR(closed_loop_nav, "ROV_CL_NAV"), GSCALAR(auto_wp_radius, "ROV_AWPR_NAV"), GSCALAR(sonar_trigger, "ROV_SONAR_TRIG"), GSCALAR(turn_gain, "ROV_GAIN"), // ************************************************************ 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), GOBJECT(gcs0, "SR0_", GCS_MAVLINK), GOBJECT(gcs3, "SR3_", GCS_MAVLINK), GOBJECT(imu, "IMU_", IMU) }; 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); } }