#pragma once #define AP_PARAM_VEHICLE_NAME copter #include #include "RC_Channel.h" #include #if MODE_FOLLOW_ENABLED # include #endif #if WEATHERVANE_ENABLED #include #endif // 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; // 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, // deprecated k_param_ins_old, // *** Deprecated, remove with next eeprom number change k_param_ins, // libraries/AP_InertialSensor variables k_param_NavEKF2_old, // deprecated - remove k_param_NavEKF2, k_param_g2, // 2nd block of parameters k_param_NavEKF3, k_param_can_mgr, k_param_osd, // simulation k_param_sitl = 10, // barometer object (needed for SITL) k_param_barometer, // scheduler object (for debugging) k_param_scheduler, // relay object k_param_relay, // (old) EPM object k_param_epm_unused, // BoardConfig object k_param_BoardConfig, // GPS object k_param_gps, // Parachute object k_param_parachute, // Landing gear object k_param_landinggear, // 18 // Input Management object k_param_input_manager, // 19 // Misc // k_param_log_bitmask_old = 20, // Deprecated k_param_log_last_filenumber, // *** Deprecated - remove // with next eeprom number // change k_param_toy_yaw_rate, // deprecated - remove k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change k_param_rssi_pin, // unused, replaced by rssi_ library parameters k_param_throttle_accel_enabled, // deprecated - remove k_param_wp_yaw_behavior, k_param_acro_trainer, k_param_pilot_speed_up, // renamed from k_param_pilot_velocity_z_max k_param_circle_rate, // deprecated - remove k_param_rangefinder_gain, // deprecated - remove k_param_ch8_option_old, // deprecated k_param_arming_check_old, // deprecated - remove k_param_sprayer, k_param_angle_max, k_param_gps_hdop_good, k_param_battery, k_param_fs_batt_mah, // unused - moved to AP_BattMonitor k_param_angle_rate_max, // remove k_param_rssi_range, // unused, replaced by rssi_ library parameters k_param_rc_feel_rp, // deprecated k_param_NavEKF, // deprecated - remove k_param_mission, // mission library k_param_rc_13_old, k_param_rc_14_old, k_param_rally, k_param_poshold_brake_rate, k_param_poshold_brake_angle_max, k_param_pilot_accel_z, k_param_serial0_baud, // deprecated - remove k_param_serial1_baud, // deprecated - remove k_param_serial2_baud, // deprecated - remove k_param_land_repositioning, k_param_rangefinder, // rangefinder object k_param_fs_ekf_thresh, k_param_terrain, k_param_acro_rp_expo, // deprecated - remove k_param_throttle_deadzone, k_param_optflow, k_param_dcmcheck_thresh, // deprecated - remove k_param_log_bitmask, k_param_cli_enabled_old, // deprecated - remove k_param_throttle_filt, k_param_throttle_behavior, k_param_pilot_takeoff_alt, // 64 // 65: AP_Limits Library k_param_limits = 65, // deprecated - remove k_param_gpslock_limit, // deprecated - remove k_param_geofence_limit, // deprecated - remove k_param_altitude_limit, // deprecated - remove k_param_fence_old, // only used for conversion k_param_gps_glitch, // deprecated k_param_baro_glitch, // 71 - deprecated // AP_ADSB Library k_param_adsb, // 72 k_param_notify, // 73 // 74: precision landing object k_param_precland = 74, // // 75: Singlecopter, CoaxCopter // k_param_single_servo_1 = 75, // remove k_param_single_servo_2, // remove k_param_single_servo_3, // remove k_param_single_servo_4, // 78 - remove // // 80: Heli // k_param_heli_servo_1 = 80, // remove k_param_heli_servo_2, // remove k_param_heli_servo_3, // remove k_param_heli_servo_4, // remove k_param_heli_pitch_ff, // remove k_param_heli_roll_ff, // remove k_param_heli_yaw_ff, // remove k_param_heli_stab_col_min, // remove k_param_heli_stab_col_max, // remove k_param_heli_servo_rsc, // 89 = full! - remove // // 90: misc2 // k_param_motors = 90, k_param_disarm_delay, k_param_fs_crash_check, k_param_throw_motor_start, k_param_rtl_alt_type, k_param_avoid, k_param_avoidance_adsb, // 97: RSSI k_param_rssi = 97, // // 100: Inertial Nav // k_param_inertial_nav = 100, // deprecated k_param_wp_nav, k_param_attitude_control, k_param_pos_control, k_param_circle_nav, k_param_loiter_nav, // 105 k_param_custom_control, // 110: Telemetry control // k_param_gcs0 = 110, k_param_gcs1, k_param_sysid_this_mav, k_param_sysid_my_gcs, k_param_serial1_baud_old, // deprecated k_param_telem_delay, k_param_gcs2, k_param_serial2_baud_old, // deprecated k_param_serial2_protocol, // deprecated k_param_serial_manager_old, k_param_ch9_option_old, k_param_ch10_option_old, k_param_ch11_option_old, k_param_ch12_option_old, k_param_takeoff_trigger_dz_old, k_param_gcs3, k_param_gcs_pid_mask, // 126 k_param_gcs4, k_param_gcs5, k_param_gcs6, // // 135 : reserved for Solo until features merged with master // k_param_rtl_speed_cms = 135, k_param_fs_batt_curr_rtl, k_param_rtl_cone_slope, // 137 // // 140: Sensor parameters // k_param_imu = 140, // deprecated - can be deleted k_param_battery_monitoring = 141, // deprecated - can be deleted k_param_volt_div_ratio, // deprecated - can be deleted k_param_curr_amp_per_volt, // deprecated - can be deleted k_param_input_voltage, // deprecated - can be deleted k_param_pack_capacity, // deprecated - can be deleted k_param_compass_enabled_deprecated, k_param_compass, k_param_rangefinder_enabled_old, // deprecated k_param_frame_type, k_param_optflow_enabled, // deprecated k_param_fs_batt_voltage, // unused - moved to AP_BattMonitor k_param_ch7_option_old, k_param_auto_slew_rate, // deprecated - can be deleted k_param_rangefinder_type_old, // deprecated k_param_super_simple = 155, k_param_axis_enabled = 157, // deprecated - remove with next eeprom number change k_param_copter_leds_mode, // deprecated - remove with next eeprom number change k_param_ahrs, // AHRS group // 159 // // 160: Navigation parameters // k_param_rtl_altitude = 160, k_param_crosstrack_gain, // deprecated - remove with next eeprom number change k_param_rtl_loiter_time, k_param_rtl_alt_final, k_param_tilt_comp, // 164 deprecated - remove with next eeprom number change // // Camera and mount parameters // k_param_camera = 165, k_param_camera_mount, k_param_camera_mount2, // deprecated // // Battery monitoring parameters // k_param_battery_volt_pin = 168, // deprecated - can be deleted k_param_battery_curr_pin, // 169 deprecated - can be deleted // // 170: Radio settings // 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_10_old, k_param_rc_11_old, k_param_throttle_min, // remove k_param_throttle_max, // remove k_param_failsafe_throttle, k_param_throttle_fs_action, // remove k_param_failsafe_throttle_value, k_param_throttle_trim, // remove k_param_esc_calibrate, k_param_radio_tuning, k_param_radio_tuning_high_old, // unused k_param_radio_tuning_low_old, // unused k_param_rc_speed = 192, k_param_failsafe_battery_enabled, // unused - moved to AP_BattMonitor k_param_throttle_mid, // remove k_param_failsafe_gps_enabled, // remove k_param_rc_9_old, k_param_rc_12_old, k_param_failsafe_gcs, k_param_rcmap, // 199 // // 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, k_param_flight_mode_chan, k_param_initial_mode, // // 210: Waypoint data // k_param_waypoint_mode = 210, // remove k_param_command_total, // remove k_param_command_index, // remove k_param_command_nav_index, // remove k_param_waypoint_radius, // remove k_param_circle_radius, // remove k_param_waypoint_speed_max, // remove k_param_land_speed, k_param_auto_velocity_z_min, // remove k_param_auto_velocity_z_max, // remove - 219 k_param_land_speed_high, // // 220: PI/D Controllers // k_param_acro_rp_p = 221, // remove k_param_axis_lock_p, // remove k_param_pid_rate_roll, // remove k_param_pid_rate_pitch, // remove k_param_pid_rate_yaw, // remove k_param_p_stabilize_roll, // remove k_param_p_stabilize_pitch, // remove k_param_p_stabilize_yaw, // remove k_param_p_pos_xy, // remove k_param_p_loiter_lon, // remove k_param_pid_loiter_rate_lat, // remove k_param_pid_loiter_rate_lon, // remove k_param_pid_nav_lat, // remove k_param_pid_nav_lon, // remove k_param_p_alt_hold, // remove k_param_p_vel_z, // remove k_param_pid_optflow_roll, // remove k_param_pid_optflow_pitch, // remove k_param_acro_balance_roll_old, // remove k_param_acro_balance_pitch_old, // remove k_param_pid_accel_z, // remove k_param_acro_balance_roll, k_param_acro_balance_pitch, k_param_acro_yaw_p, // remove k_param_autotune_axis_bitmask, // remove k_param_autotune_aggressiveness, // remove k_param_pi_vel_xy, // remove k_param_fs_ekf_action, k_param_rtl_climb_min, k_param_rpm_sensor, k_param_autotune_min_d, // remove k_param_arming, // 252 - AP_Arming k_param_logger = 253, // 253 - Logging Group // 254,255: reserved k_param_vehicle = 257, // vehicle common block of parameters k_param_throw_altitude_min, k_param_throw_altitude_max, // the k_param_* space is 9-bits in size // 511: reserved }; AP_Int16 format_version; // Telemetry control // AP_Int16 sysid_this_mav; AP_Int16 sysid_my_gcs; AP_Int8 telem_delay; AP_Float throttle_filt; AP_Int16 throttle_behavior; AP_Float pilot_takeoff_alt; #if MODE_RTL_ENABLED AP_Int32 rtl_altitude; AP_Int16 rtl_speed_cms; AP_Float rtl_cone_slope; AP_Int16 rtl_alt_final; AP_Int16 rtl_climb_min; // rtl minimum climb in cm AP_Int32 rtl_loiter_time; AP_Enum rtl_alt_type; #endif AP_Int8 failsafe_gcs; // ground station failsafe behavior AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position AP_Int8 super_simple; AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions #if MODE_POSHOLD_ENABLED AP_Int16 poshold_brake_rate; // PosHold flight mode's rotation rate during braking in deg/sec AP_Int16 poshold_brake_angle_max; // PosHold flight mode's max lean angle during braking in centi-degrees #endif // Waypoints // AP_Int16 land_speed; AP_Int16 land_speed_high; AP_Int16 pilot_speed_up; // maximum vertical ascending velocity the pilot may request AP_Int16 pilot_accel_z; // vertical acceleration the pilot may request // Throttle // AP_Int8 failsafe_throttle; AP_Int16 failsafe_throttle_value; AP_Int16 throttle_deadzone; // 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; AP_Int8 flight_mode_chan; AP_Int8 initial_mode; // Misc // AP_Int32 log_bitmask; AP_Int8 esc_calibrate; AP_Int8 radio_tuning; AP_Int8 frame_type; AP_Int8 disarm_delay; AP_Int8 land_repositioning; AP_Int8 fs_ekf_action; AP_Int8 fs_crash_check; AP_Float fs_ekf_thresh; AP_Int16 gcs_pid_mask; #if MODE_THROW_ENABLED AP_Enum throw_motor_start; AP_Int16 throw_altitude_min; // minimum altitude in m above which a throw can be detected AP_Int16 throw_altitude_max; // maximum altitude in m below which a throw can be detected #endif AP_Int16 rc_speed; // speed of fast RC Channels in Hz #if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED // Acro parameters AP_Float acro_balance_roll; AP_Float acro_balance_pitch; #endif #if MODE_ACRO_ENABLED // Acro parameters AP_Int8 acro_trainer; #endif // Note: keep initializers here in the same order as they are declared // above. Parameters() { } }; /* 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[]; static const struct AP_Param::GroupInfo var_info2[]; // altitude at which nav control can start in takeoff AP_Float wp_navalt_min; // unused_integer simply exists so that the constructor for // ParametersG2 can be created with a relatively easy syntax in // the face of many #ifs: uint8_t unused_integer; // button checking #if HAL_BUTTON_ENABLED AP_Button *button_ptr; #endif #if MODE_THROW_ENABLED // Throw mode parameters AP_Int8 throw_nextmode; AP_Enum throw_type; #endif // ground effect compensation enable/disable AP_Int8 gndeffect_comp_enabled; #if AP_TEMPCALIBRATION_ENABLED // temperature calibration handling AP_TempCalibration temp_calibration; #endif #if AP_BEACON_ENABLED // beacon (non-GPS positioning) library AP_Beacon beacon; #endif #if HAL_PROXIMITY_ENABLED // proximity (aka object avoidance) library AP_Proximity proximity; #endif // whether to enforce acceptance of packets only from sysid_my_gcs AP_Int8 sysid_enforce; #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED // advanced failsafe library AP_AdvancedFailsafe_Copter afs; #endif // developer options AP_Int32 dev_options; #if MODE_ACRO_ENABLED AP_Float acro_thr_mid; #endif // frame class AP_Int8 frame_class; // RC input channels RC_Channels_Copter rc_channels; // control over servo output ranges SRV_Channels servo_channels; #if MODE_SMARTRTL_ENABLED // Safe RTL library AP_SmartRTL smart_rtl; #endif // wheel encoder and winch #if AP_WINCH_ENABLED AP_Winch winch; #endif // Additional pilot velocity items AP_Int16 pilot_speed_dn; // Land alt final stage AP_Int16 land_alt_low; #if TOY_MODE_ENABLED ToyMode toy_mode; #endif #if MODE_FLOWHOLD_ENABLED // we need a pointer to the mode for the G2 table void *mode_flowhold_ptr; #endif #if MODE_FOLLOW_ENABLED // follow AP_Follow follow; #endif #if USER_PARAMS_ENABLED // User custom parameters UserParameters user_parameters; #endif #if AUTOTUNE_ENABLED // we need a pointer to autotune for the G2 table void *autotune_ptr; #endif AP_Float tuning_min; AP_Float tuning_max; #if AP_OAPATHPLANNER_ENABLED // object avoidance path planning AP_OAPathPlanner oa; #endif #if MODE_SYSTEMID_ENABLED // we need a pointer to the mode for the G2 table void *mode_systemid_ptr; #endif // vibration failsafe enable/disable AP_Int8 fs_vibe_enabled; // Failsafe options bitmask #36 AP_Int32 fs_options; #if MODE_AUTOROTATE_ENABLED // Autonmous autorotation AC_Autorotation arot; #endif #if MODE_ZIGZAG_ENABLED // we need a pointer to the mode for the G2 table void *mode_zigzag_ptr; #endif // command model parameters #if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED AC_CommandModel command_model_acro_rp; #endif #if MODE_ACRO_ENABLED || MODE_DRIFT_ENABLED AC_CommandModel command_model_acro_y; #endif AC_CommandModel command_model_pilot; #if MODE_ACRO_ENABLED AP_Int8 acro_options; #endif #if MODE_AUTO_ENABLED AP_Int32 auto_options; #endif #if MODE_GUIDED_ENABLED AP_Int32 guided_options; #endif AP_Float fs_gcs_timeout; #if MODE_RTL_ENABLED AP_Int32 rtl_options; #endif AP_Int32 flight_options; #if AP_RANGEFINDER_ENABLED AP_Float rangefinder_filt; #endif #if MODE_GUIDED_ENABLED AP_Float guided_timeout; #endif AP_Int8 surftrak_mode; AP_Int8 failsafe_dr_enable; AP_Int16 failsafe_dr_timeout; AP_Float surftrak_tc; // ramp time of throttle during take-off AP_Float takeoff_throttle_slew_time; AP_Float takeoff_throttle_max; #if HAL_WITH_ESC_TELEM && FRAME_CONFIG != HELI_FRAME AP_Int16 takeoff_rpm_min; AP_Int16 takeoff_rpm_max; #endif // EKF variance filter cutoff AP_Float fs_ekf_filt_hz; #if WEATHERVANE_ENABLED AC_WeatherVane weathervane; #endif // payload place parameters AP_Float pldp_thrust_placed_fraction; AP_Float pldp_range_finder_maximum_m; AP_Float pldp_delay_s; AP_Float pldp_descent_speed_ms; AP_Int8 att_enable; AP_Int8 att_decimation; }; extern const AP_Param::Info var_info[];