// -*- 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 = 16; static const uint16_t k_software_type = 20; enum { // Layout version number, always key zero. // k_param_format_version = 0, k_param_software_type, // Misc // k_param_log_bitmask = 10, k_param_num_resets, k_param_reset_switch_chan, k_param_initial_mode, k_param_scheduler, k_param_relay, // IO pins k_param_rssi_pin = 20, k_param_battery_volt_pin, k_param_battery_curr_pin, // 110: Telemetry control // k_param_gcs0 = 110, // stream rates for port0 k_param_gcs3, // stream rates for port3 k_param_sysid_this_mav, k_param_sysid_my_gcs, k_param_serial0_baud, k_param_serial3_baud, k_param_telem_delay, // // 130: Sensor parameters // k_param_compass_enabled = 130, // 140: battery controls k_param_battery_monitoring = 140, k_param_volt_div_ratio, k_param_curr_amp_per_volt, k_param_input_voltage, // deprecated, can be deleted k_param_pack_capacity, // // 150: Navigation parameters // k_param_crosstrack_gain = 150, k_param_crosstrack_entry_angle, k_param_speed_cruise, k_param_speed_turn_gain, k_param_speed_turn_dist, k_param_ch7_option, k_param_auto_trigger_pin, k_param_auto_kickstart, // // 160: Radio settings // k_param_rc_1 = 160, 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, // throttle control k_param_throttle_min = 170, k_param_throttle_max, k_param_throttle_cruise, k_param_throttle_slewrate, k_param_throttle_reduction, k_param_skid_steer_in, k_param_skid_steer_out, // failsafe control k_param_fs_action = 180, k_param_fs_timeout, k_param_fs_throttle_enabled, k_param_fs_throttle_value, k_param_fs_gcs_enabled, // obstacle control k_param_sonar_enabled = 190, // deprecated, can be removed k_param_sonar, // sonar object k_param_sonar_trigger_cm, k_param_sonar_turn_angle, k_param_sonar_turn_time, k_param_sonar2, // sonar2 object k_param_sonar_debounce, // // 210: driving modes // k_param_mode_channel = 210, k_param_mode1, k_param_mode2, k_param_mode3, k_param_mode4, k_param_mode5, k_param_mode6, k_param_learn_channel, // // 220: Waypoint data // k_param_command_total = 220, k_param_command_index, k_param_waypoint_radius, // // 230: camera control // k_param_camera, k_param_camera_mount, k_param_camera_mount2, // // 240: PID Controllers k_param_pidNavSteer = 230, k_param_pidServoSteer, k_param_pidSpeedThrottle, // high RC channels k_param_rc_9 = 235, k_param_rc_10, k_param_rc_11, k_param_rc_12, // other objects k_param_sitl = 240, k_param_ahrs, k_param_ins, k_param_compass, k_param_rcmap, // 254,255: reserved }; AP_Int16 format_version; AP_Int8 software_type; // Misc // AP_Int16 log_bitmask; AP_Int16 num_resets; AP_Int8 reset_switch_chan; AP_Int8 initial_mode; // IO pins AP_Int8 rssi_pin; AP_Int8 battery_volt_pin; AP_Int8 battery_curr_pin; // Telemetry control // AP_Int16 sysid_this_mav; AP_Int16 sysid_my_gcs; AP_Int8 serial0_baud; AP_Int8 serial3_baud; AP_Int8 telem_delay; // sensor parameters AP_Int8 compass_enabled; // battery controls 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_Int16 pack_capacity; // Battery pack capacity less reserve // navigation parameters // AP_Float crosstrack_gain; AP_Int16 crosstrack_entry_angle; AP_Float speed_cruise; AP_Int8 speed_turn_gain; AP_Float speed_turn_dist; AP_Int8 ch7_option; AP_Int8 auto_trigger_pin; AP_Float auto_kickstart; // RC channels RC_Channel rc_1; RC_Channel_aux rc_2; RC_Channel rc_3; RC_Channel_aux rc_4; RC_Channel_aux rc_5; RC_Channel_aux rc_6; RC_Channel_aux rc_7; RC_Channel_aux rc_8; #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 RC_Channel_aux rc_9; #endif #if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 RC_Channel_aux rc_10; RC_Channel_aux rc_11; #endif #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 RC_Channel_aux rc_12; #endif // Throttle // AP_Int8 throttle_min; AP_Int8 throttle_max; AP_Int8 throttle_cruise; AP_Int8 throttle_slewrate; AP_Int8 skid_steer_in; AP_Int8 skid_steer_out; // failsafe control AP_Int8 fs_action; AP_Float fs_timeout; AP_Int8 fs_throttle_enabled; AP_Int16 fs_throttle_value; AP_Int8 fs_gcs_enabled; // obstacle control AP_Int16 sonar_trigger_cm; AP_Float sonar_turn_angle; AP_Float sonar_turn_time; AP_Int8 sonar_debounce; // driving modes // AP_Int8 mode_channel; AP_Int8 mode1; AP_Int8 mode2; AP_Int8 mode3; AP_Int8 mode4; AP_Int8 mode5; AP_Int8 mode6; AP_Int8 learn_channel; // Waypoints // AP_Int8 command_total; AP_Int8 command_index; AP_Float waypoint_radius; // PID controllers // PID pidNavSteer; PID pidServoSteer; PID pidSpeedThrottle; Parameters() : // RC channels 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 CONFIG_HAL_BOARD == HAL_BOARD_PX4 rc_9 (CH_9), #endif #if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 rc_10 (CH_10), rc_11 (CH_11), #endif #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 rc_12 (CH_12), #endif // PID controller initial P initial I initial D initial imax //----------------------------------------------------------------------------------- pidNavSteer (0.7, 0.1, 0.2, 2000), pidServoSteer (0.5, 0.1, 0.2, 2000), pidSpeedThrottle (0.7, 0.2, 0.2, 4000) {} }; extern const AP_Param::Info var_info[]; #endif // PARAMETERS_H