// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #ifndef PARAMETERS_H #define PARAMETERS_H #include // Global parameter class. // class Parameters { public: // The version of the layout as described by the parameter enum. // // When changing the parameter enum in an incompatible fashion, this // value should be incremented by one. // // The increment will prevent old parameters from being used incorrectly // by newer code. // static const uint16_t k_format_version = 120; // The parameter software_type is set up solely for ground station use // and identifies the software type (eg ArduPilotMega versus // ArduCopterMega) // GCS will interpret values 0-9 as ArduPilotMega. Developers may use // values within that range to identify different branches. // static const uint16_t k_software_type = 10; // 0 for APM // trunk // Parameter identities. // // The enumeration defined here is used to ensure that every parameter // or parameter group has a unique ID number. This number is used by // AP_Param to store and locate parameters in EEPROM. // // Note that entries without a number are assigned the next number after // the entry preceding them. When adding new entries, ensure that they // don't overlap. // // Try to group related variables together, and assign them a set // range in the enumeration. Place these groups in numerical order // at the end of the enumeration. // // WARNING: Care should be taken when editing this enumeration as the // AP_Param load/save code depends on the values here to identify // variables saved in EEPROM. // // enum { // Layout version number, always key zero. // k_param_format_version = 0, k_param_software_type, k_param_ins_old, // *** Deprecated, remove with next eeprom number change k_param_ins, // libraries/AP_InertialSensor variables // simulation k_param_sitl = 10, // barometer object (needed for SITL) k_param_barometer, // scheduler object (for debugging) k_param_scheduler, // Misc // k_param_log_bitmask = 20, k_param_log_last_filenumber, // *** Deprecated - remove // with next eeprom number // change k_param_toy_yaw_rate, // THOR The memory // location for the // Yaw Rate 1 = fast, // 2 = med, 3 = slow k_param_crosstrack_min_distance, k_param_rssi_pin, k_param_throttle_accel_enabled, k_param_yaw_override_behaviour, k_param_acro_trainer_enabled, k_param_pilot_velocity_z_max, // 28 // 65: AP_Limits Library k_param_limits = 65, k_param_gpslock_limit, k_param_geofence_limit, k_param_altitude_limit, // // 80: Heli // k_param_heli_servo_1 = 80, k_param_heli_servo_2, k_param_heli_servo_3, k_param_heli_servo_4, k_param_heli_pitch_ff, k_param_heli_roll_ff, k_param_heli_yaw_ff, // // 90: Motors // k_param_motors = 90, // // 100: Inertial Nav // k_param_inertial_nav = 100, // 110: Telemetry control // k_param_gcs0 = 110, k_param_gcs3, k_param_sysid_this_mav, k_param_sysid_my_gcs, k_param_serial3_baud, k_param_telem_delay, // // 140: Sensor parameters // k_param_imu = 140, // deprecated - can be deleted k_param_battery_monitoring = 141, k_param_volt_div_ratio, k_param_curr_amp_per_volt, k_param_input_voltage, k_param_pack_capacity, k_param_compass_enabled, k_param_compass, k_param_sonar_enabled, k_param_frame_orientation, k_param_optflow_enabled, k_param_low_voltage, k_param_ch7_option, k_param_auto_slew_rate, k_param_sonar_type, k_param_super_simple = 155, k_param_axis_enabled = 157, k_param_copter_leds_mode, k_param_ahrs, // AHRS group // // 160: Navigation parameters // k_param_rtl_altitude = 160, k_param_crosstrack_gain, k_param_rtl_loiter_time, k_param_rtl_alt_final, k_param_tilt_comp, //164 // // Camera and mount parameters // k_param_camera = 165, k_param_camera_mount, k_param_camera_mount2, // // Batery monitoring parameters // k_param_battery_volt_pin = 168, k_param_battery_curr_pin, // 169 // // 170: Radio settings // k_param_rc_1 = 170, k_param_rc_2, k_param_rc_3, k_param_rc_4, k_param_rc_5, k_param_rc_6, k_param_rc_7, k_param_rc_8, k_param_rc_10, k_param_rc_11, k_param_throttle_min, k_param_throttle_max, k_param_failsafe_throttle, k_param_throttle_fs_action, // remove k_param_failsafe_throttle_value, k_param_throttle_cruise, k_param_esc_calibrate, k_param_radio_tuning, k_param_radio_tuning_high, k_param_radio_tuning_low, k_param_rc_speed = 192, k_param_failsafe_battery_enabled, // 193 // // 200: flight modes // k_param_flight_mode1 = 200, k_param_flight_mode2, k_param_flight_mode3, k_param_flight_mode4, k_param_flight_mode5, k_param_flight_mode6, k_param_simple_modes, // // 210: Waypoint data // k_param_waypoint_mode = 210, // remove k_param_command_total, k_param_command_index, k_param_command_nav_index, // remove k_param_waypoint_radius, k_param_circle_radius, k_param_waypoint_speed_max, k_param_land_speed, k_param_auto_velocity_z_min, k_param_auto_velocity_z_max, // 219 // // 220: PI/D Controllers // k_param_acro_p = 221, k_param_axis_lock_p, // remove k_param_pid_rate_roll, k_param_pid_rate_pitch, k_param_pid_rate_yaw, k_param_pi_stabilize_roll, k_param_pi_stabilize_pitch, k_param_pi_stabilize_yaw, k_param_pi_loiter_lat, k_param_pi_loiter_lon, k_param_pid_loiter_rate_lat, k_param_pid_loiter_rate_lon, k_param_pid_nav_lat, k_param_pid_nav_lon, k_param_pi_alt_hold, k_param_pid_throttle, k_param_pid_optflow_roll, k_param_pid_optflow_pitch, k_param_acro_balance_roll, // scalar (not PID) k_param_acro_balance_pitch, // scalar (not PID) k_param_pid_throttle_accel, // 241 // 254,255: reserved }; AP_Int16 format_version; AP_Int8 software_type; // Telemetry control // AP_Int16 sysid_this_mav; AP_Int16 sysid_my_gcs; AP_Int8 serial3_baud; AP_Int8 telem_delay; AP_Int16 rtl_altitude; AP_Int8 sonar_enabled; AP_Int8 sonar_type; // 0 = XL, 1 = LV, // 2 = XLL (XL with 10m range) // 3 = HRLV AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, // 4=voltage and current AP_Float volt_div_ratio; AP_Float curr_amp_per_volt; AP_Float input_voltage; AP_Int16 pack_capacity; // Battery pack capacity less reserve AP_Int8 failsafe_battery_enabled; // battery failsafe enabled AP_Int8 compass_enabled; AP_Int8 optflow_enabled; AP_Float low_voltage; AP_Int8 super_simple; AP_Int16 rtl_alt_final; AP_Int8 tilt_comp; AP_Int8 axis_enabled; AP_Int8 copter_leds_mode; // Operating mode of LED // lighting system AP_Int8 battery_volt_pin; AP_Int8 battery_curr_pin; AP_Int8 rssi_pin; AP_Int8 throttle_accel_enabled; // enable/disable accel based throttle controller AP_Int8 yaw_override_behaviour; // controls when autopilot takes back normal control of yaw after pilot overrides // Waypoints // AP_Int8 command_total; AP_Int8 command_index; AP_Int16 waypoint_radius; AP_Int16 circle_radius; AP_Int16 waypoint_speed_max; AP_Float crosstrack_gain; AP_Int16 crosstrack_min_distance; AP_Int32 rtl_loiter_time; AP_Int16 land_speed; AP_Int16 auto_velocity_z_min; // minimum vertical velocity (i.e. maximum descent) the autopilot may request AP_Int16 auto_velocity_z_max; // maximum vertical velocity the autopilot may request AP_Int16 pilot_velocity_z_max; // maximum vertical velocity the pilot may request // Throttle // AP_Int16 throttle_min; AP_Int16 throttle_max; AP_Int8 failsafe_throttle; AP_Int16 failsafe_throttle_value; AP_Int16 throttle_cruise; // Flight modes // 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 simple_modes; // Misc // AP_Int16 log_bitmask; AP_Int8 toy_yaw_rate; // THOR The // Yaw Rate 1 // = fast, 2 = // med, 3 = // slow AP_Int8 esc_calibrate; AP_Int8 radio_tuning; AP_Int16 radio_tuning_high; AP_Int16 radio_tuning_low; AP_Int8 frame_orientation; AP_Int8 ch7_option; AP_Int16 auto_slew_rate; #if FRAME_CONFIG == HELI_FRAME // Heli RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail AP_Float heli_pitch_ff; // pitch rate feed-forward AP_Float heli_roll_ff; // roll rate feed-forward AP_Float heli_yaw_ff; // yaw rate feed-forward #endif // RC channels RC_Channel rc_1; RC_Channel rc_2; RC_Channel rc_3; RC_Channel rc_4; RC_Channel_aux rc_5; RC_Channel_aux rc_6; RC_Channel_aux rc_7; RC_Channel_aux rc_8; #if MOUNT == ENABLED RC_Channel_aux rc_10; RC_Channel_aux rc_11; #endif AP_Int16 rc_speed; // speed of fast RC Channels in Hz // Acro parameters AP_Float acro_p; AP_Int16 acro_balance_roll; AP_Int16 acro_balance_pitch; AP_Int8 acro_trainer_enabled; // PI/D controllers AC_PID pid_rate_roll; AC_PID pid_rate_pitch; AC_PID pid_rate_yaw; AC_PID pid_loiter_rate_lat; AC_PID pid_loiter_rate_lon; AC_PID pid_nav_lat; AC_PID pid_nav_lon; AC_PID pid_throttle; AC_PID pid_throttle_accel; AC_PID pid_optflow_roll; AC_PID pid_optflow_pitch; APM_PI pi_loiter_lat; APM_PI pi_loiter_lon; APM_PI pi_stabilize_roll; APM_PI pi_stabilize_pitch; APM_PI pi_stabilize_yaw; APM_PI pi_alt_hold; // Note: keep initializers here in the same order as they are declared // above. Parameters() : #if FRAME_CONFIG == HELI_FRAME heli_servo_1 (CH_1), heli_servo_2 (CH_2), heli_servo_3 (CH_3), heli_servo_4 (CH_4), #endif rc_1 (CH_1), rc_2 (CH_2), rc_3 (CH_3), rc_4 (CH_4), rc_5 (CH_5), rc_6 (CH_6), rc_7 (CH_7), rc_8 (CH_8), #if MOUNT == ENABLED rc_10 (CH_10), rc_11 (CH_11), #endif // PID controller initial P initial I initial D // initial imax //----------------------------------------------------------------------------------------------------- pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100), pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100), pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100), pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100), pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100), pid_nav_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), pid_nav_lon (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX), pid_throttle_accel (THROTTLE_ACCEL_P, THROTTLE_ACCEL_I, THROTTLE_ACCEL_D, THROTTLE_ACCEL_IMAX), pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100), pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100), // PI controller initial P initial I initial // imax //---------------------------------------------------------------------- pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX * 100), pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX * 100), pi_stabilize_roll (STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100), pi_stabilize_pitch (STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100), pi_stabilize_yaw (STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100), pi_alt_hold (ALT_HOLD_P, ALT_HOLD_I, ALT_HOLD_IMAX) { } }; extern const AP_Param::Info var_info[]; #endif // PARAMETERS_H