/// -*- 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, def) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v, {def_value:def} } #define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, {group_info:class::var_info} } #define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info:class::var_info} } const AP_Param::Info var_info[] PROGMEM = { GSCALAR(format_version, "FORMAT_VERSION", 0), GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type), GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID), GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255), // @Param: SERIAL3_BAUD // @DisplayName: Telemetry Baud Rate // @Description: The baud rate used on the telemetry port // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200 // @User: Standard GSCALAR(serial3_baud, "SERIAL3_BAUD", SERIAL3_BAUD/1000), // @Param: KFF_PTCHCOMP // @DisplayName: Pitch Compensation // @Description: Adds pitch input to compensate for the loss of lift due to roll control. 0 = 0 %, 1 = 100% // @Range: 0 1 // @Increment: 0.01 // @User: Advanced GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP", PITCH_COMP), // @Param: KFF_RDDRMIX // @DisplayName: Rudder Mix // @Description: The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100% // @Range: 0 1 // @Increment: 0.01 // @User: Standard GSCALAR(kff_rudder_mix, "KFF_RDDRMIX", RUDDER_MIX), // @Param: KFF_PTCH2THR // @DisplayName: Pitch to Throttle Mix // @Description: Pitch to throttle feed-forward gain. // @Range: 0 5 // @Increment: 0.01 // @User: Advanced GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR", P_TO_T), // @Param: KFF_THR2PTCH // @DisplayName: Throttle to Pitch Mix // @Description: Throttle to pitch feed-forward gain. // @Range: 0 5 // @Increment: 0.01 // @User: Advanced GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH", T_TO_P), // @Param: MANUAL_LEVEL // @DisplayName: Manual Level // @Description: Setting this to Disabled(0) will enable autolevel on every boot. Setting it to Enabled(1) will do a calibration only when you tell it to // @Values: 0:Disabled,1:Enabled // @User: Advanced GSCALAR(manual_level, "MANUAL_LEVEL", MANUAL_LEVEL), // @Param: STICK_MIXING // @DisplayName: Stick Mixing // @Description: When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes // @Values: 0:Disabled,1:Enabled // @User: Advanced GSCALAR(stick_mixing, "STICK_MIXING", 1), // @Param: land_pitch_cd // @DisplayName: Landing Pitch // @Description: Used in autoland for planes without airspeed sensors in hundredths of a degree // @Units: centi-Degrees // @User: Advanced GSCALAR(land_pitch_cd, "LAND_PITCH_CD", 0), // @Param: land_flare_alt // @DisplayName: Landing flare altitude // @Description: Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch // @Units: meters // @Increment: 0.1 // @User: Advanced GSCALAR(land_flare_alt, "LAND_FLARE_ALT", 3.0), // @Param: land_flare_sec // @DisplayName: Landing flare time // @Description: Time before landing point at which to lock heading and flare to the LAND_PITCH_CD pitch // @Units: seconds // @Increment: 0.1 // @User: Advanced GSCALAR(land_flare_sec, "LAND_FLARE_SEC", 2.0), // @Param: XTRK_GAIN_SC // @DisplayName: Crosstrack Gain // @Description: The scale between distance off the line and angle to meet the line (in Degrees * 100) // @Range: 0 2000 // @Increment: 1 // @User: Standard GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", XTRACK_GAIN_SCALED), // @Param: XTRK_ANGLE_CD // @DisplayName: Crosstrack Entry Angle // @Description: Maximum angle used to correct for track following. // @Units: centi-Degrees // @Range: 0 9000 // @Increment: 1 // @User: Standard GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD", XTRACK_ENTRY_ANGLE_CENTIDEGREE), // @Param: ALT_MIX // @DisplayName: Gps to Baro Mix // @Description: The percent of mixing between gps altitude and baro altitude. 0 = 100% gps, 1 = 100% baro // @Units: Percent // @Range: 0 1 // @Increment: 0.1 // @User: Advanced GSCALAR(altitude_mix, "ALT_MIX", ALTITUDE_MIX), GSCALAR(command_total, "CMD_TOTAL", 0), GSCALAR(command_index, "CMD_INDEX", 0), // @Param: WP_RADIUS // @DisplayName: Waypoint Radius // @Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit. // @Units: Meters // @Range: 1 127 // @Increment: 1 // @User: Standard GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT), // @Param: WP_LOITER_RAD // @DisplayName: Waypoint Loiter Radius // @Description: Defines the distance from the waypoint center, the plane will maintain during a loiter // @Units: Meters // @Range: 1 127 // @Increment: 1 // @User: Standard GSCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS_DEFAULT), #if GEOFENCE_ENABLED == ENABLED // @Param: FENCE_ACTION // @DisplayName: Action on geofence breach // @Description: What to do on fence breach // @Values: 0:None,1:GuidedMode,2:ReportOnly // @User: Standard GSCALAR(fence_action, "FENCE_ACTION", 0), // @Param: FENCE_TOTAL // @DisplayName: Fence Total // @Description: Number of geofence points currently loaded // @User: Standard GSCALAR(fence_total, "FENCE_TOTAL", 0), // @Param: FENCE_CHANNEL // @DisplayName: Fence Channel // @Description: RC Channel to use to enable geofence. PWM input above 1750 enables the geofence // @User: Standard GSCALAR(fence_channel, "FENCE_CHANNEL", 0), // @Param: FENCE_MINALT // @DisplayName: Fence Minimum Altitude // @Description: Minimum altitude allowed before geofence triggers // @Units: meters // @Range: 0 32767 // @Increment: 1 // @User: Standard GSCALAR(fence_minalt, "FENCE_MINALT", 0), // @Param: FENCE_MAXALT // @DisplayName: Fence Maximum Altitude // @Description: Maximum altitude allowed before geofence triggers // @Units: meters // @Range: 0 32767 // @Increment: 1 // @User: Standard GSCALAR(fence_maxalt, "FENCE_MAXALT", 0), #endif // @Param: ARSPD_FBW_MIN // @DisplayName: Fly By Wire Minimum Airspeed // @Description: Airspeed corresponding to minimum throttle in Fly By Wire B mode. // @Units: m/s // @Range: 5 50 // @Increment: 1 // @User: Standard GSCALAR(flybywire_airspeed_min, "ARSPD_FBW_MIN", AIRSPEED_FBW_MIN), // @Param: ARSPD_FBW_MAX // @DisplayName: Fly By Wire Maximum Airspeed // @Description: Airspeed corresponding to maximum throttle in Fly By Wire B mode. // @Units: m/s // @Range: 5 50 // @Increment: 1 // @User: Standard GSCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX", AIRSPEED_FBW_MAX), // @Param: FBWB_ELEV_REV // @DisplayName: Fly By Wire elevator reverse // @Description: Reverse sense of elevator in FBWB. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude. // @Values: 0:Disabled,1:Enabled // @User: Standard GSCALAR(flybywire_elev_reverse, "FBWB_ELEV_REV", 0), // @Param: THR_MIN // @DisplayName: Minimum Throttle // @Description: The minimum throttle setting to which the autopilot will apply. // @Units: Percent // @Range: 0 100 // @Increment: 1 // @User: Standard GSCALAR(throttle_min, "THR_MIN", THROTTLE_MIN), // @Param: THR_MAX // @DisplayName: Maximum Throttle // @Description: The maximum throttle setting to which the autopilot will apply. // @Units: Percent // @Range: 0 100 // @Increment: 1 // @User: Standard GSCALAR(throttle_max, "THR_MAX", THROTTLE_MAX), // @Param: THR_SLEWRATE // @DisplayName: Throttlw slew rate // @Description: maximum percentage change in throttle per second // @Units: Percent // @Range: 0 100 // @Increment: 1 // @User: Standard GSCALAR(throttle_slewrate, "THR_SLEWRATE", THROTTLE_SLEW_LIMIT), // @Param: THR_FAILSAFE // @DisplayName: Throttle Failsafe Enable // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel // @Values: 0:Disabled,1:Enabled // @User: Standard GSCALAR(throttle_fs_enabled, "THR_FAILSAFE", THROTTLE_FAILSAFE), // @Param: THR_FS_VALUE // @DisplayName: Throttle Failsafe Value // @Description: The PWM level on channel 3 below which throttle sailsafe triggers // @User: Standard GSCALAR(throttle_fs_value, "THR_FS_VALUE", THROTTLE_FS_VALUE), // @Param: TRIM_THROTTLE // @DisplayName: Throttle cruise percentage // @Description: The target percentage of throttle to apply for normal flight // @Units: Percent // @Range: 0 100 // @Increment: 1 // @User: Standard GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE), // @Param: FS_SHORT_ACTN // @DisplayName: Short failsafe action // @Description: The action to take on a short (1 second) failsafe event // @Values: 0:None,1:ReturnToLaunch // @User: Standard GSCALAR(short_fs_action, "FS_SHORT_ACTN", SHORT_FAILSAFE_ACTION), // @Param: FS_LONG_ACTN // @DisplayName: Long failsafe action // @Description: The action to take on a long (20 second) failsafe event // @Values: 0:None,1:ReturnToLaunch // @User: Standard GSCALAR(long_fs_action, "FS_LONG_ACTN", LONG_FAILSAFE_ACTION), // @Param: FS_GCS_ENABL // @DisplayName: GCS failsafe enable // @Description: Enable ground control station telemetry failsafe. Failsafe will trigger after 20 seconds of no MAVLink heartbeat messages // @Values: 0:Disabled,1:Enabled // @User: Standard GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL", GCS_HEARTBEAT_FAILSAFE), // @Param: FLTMODE_CH // @DisplayName: Flightmode channel // @Description: RC Channel to use for flight mode control // @User: Advanced GSCALAR(flight_mode_channel, "FLTMODE_CH", FLIGHT_MODE_CHANNEL), // @Param: FLTMODE1 // @DisplayName: FlightMode1 // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided // @User: Standard // @Description: Flight mode for switch position 1 (910 to 1230 and above 2049) GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1), // @Param: FLTMODE2 // @DisplayName: FlightMode2 // @Description: Flight mode for switch position 2 (1231 to 1360) // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided // @User: Standard GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2), // @Param: FLTMODE3 // @DisplayName: FlightMode3 // @Description: Flight mode for switch position 3 (1361 to 1490) // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided // @User: Standard GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3), // @Param: FLTMODE4 // @DisplayName: FlightMode4 // @Description: Flight mode for switch position 4 (1491 to 1620) // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided // @User: Standard GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4), // @Param: FLTMODE5 // @DisplayName: FlightMode5 // @Description: Flight mode for switch position 5 (1621 to 1749) // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided // @User: Standard GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5), // @Param: FLTMODE6 // @DisplayName: FlightMode6 // @Description: Flight mode for switch position 6 (1750 to 2049) // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided // @User: Standard GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6), // @Param: LIM_ROLL_CD // @DisplayName: Maximum Bank Angle // @Description: The maximum commanded bank angle in either direction // @Units: centi-Degrees // @Range: 0 9000 // @Increment: 1 // @User: Standard GSCALAR(roll_limit_cd, "LIM_ROLL_CD", HEAD_MAX_CENTIDEGREE), // @Param: LIM_PITCH_MAX // @DisplayName: Maximum Pitch Angle // @Description: The maximum commanded pitch up angle // @Units: centi-Degrees // @Range: 0 9000 // @Increment: 1 // @User: Standard GSCALAR(pitch_limit_max_cd, "LIM_PITCH_MAX", PITCH_MAX_CENTIDEGREE), // @Param: LIM_PITCH_MIN // @DisplayName: Minimum Pitch Angle // @Description: The minimum commanded pitch down angle // @Units: centi-Degrees // @Range: 0 9000 // @Increment: 1 // @User: Standard GSCALAR(pitch_limit_min_cd, "LIM_PITCH_MIN", PITCH_MIN_CENTIDEGREE), // @Param: AUTO_TRIM // @DisplayName: Auto trim // @Description: Set RC trim PWM levels to current levels when switching away from manual mode // @Values: 0:Disabled,1:Enabled // @User: Standard GSCALAR(auto_trim, "TRIM_AUTO", AUTO_TRIM), // @Param: MIX_MODE // @DisplayName: Elevon mixing // @Description: Enable elevon mixing // @Values: 0:Disabled,1:Enabled // @User: User GSCALAR(mix_mode, "ELEVON_MIXING", ELEVON_MIXING), // @Param: ELEVON_REVERSE // @DisplayName: Elevon reverse // @Description: Reverse elevon mixing // @Values: 0:Disabled,1:Enabled // @User: User GSCALAR(reverse_elevons, "ELEVON_REVERSE", ELEVON_REVERSE), // @Param: ELEVON_CH1_REV // @DisplayName: Elevon reverse // @Description: Reverse elevon channel 1 // @Values: -1:Disabled,1:Enabled // @User: User GSCALAR(reverse_ch1_elevon, "ELEVON_CH1_REV", ELEVON_CH1_REVERSE), // @Param: ELEVON_CH2_REV // @DisplayName: Elevon reverse // @Description: Reverse elevon channel 2 // @Values: -1:Disabled,1:Enabled // @User: User GSCALAR(reverse_ch2_elevon, "ELEVON_CH2_REV", ELEVON_CH2_REVERSE), // @Param: SYS_NUM_RESETS // @DisplayName: Num Resets // @Description: Number of APM board resets // @User: Advanced GSCALAR(num_resets, "SYS_NUM_RESETS", 0), // @Param: LOG_BITMASK // @DisplayName: Log bitmask // @Description: bitmap of log fields to enable // @User: Advanced GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK), // @Param: RST_SWITCH_CH // @DisplayName: Reset Switch Channel // @Description: RC channel to use to reset to last flight mode after geofence takeover. // @User: Advanced GSCALAR(reset_switch_chan, "RST_SWITCH_CH", 0), // @Param: RST_MISSION_CH // @DisplayName: Reset Mission Channel // @Description: RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable. // @User: Advanced GSCALAR(reset_mission_chan, "RST_MISSION_CH", 0), // @Param: TRIM_ARSPD_CM // @DisplayName: Target airspeed // @Description: Airspeed in cm/s to aim for when airspeed is enabled in auto mode // @Units: cm/s // @User: User GSCALAR(airspeed_cruise_cm, "TRIM_ARSPD_CM", AIRSPEED_CRUISE_CM), // @Param: SCALING_SPEED // @DisplayName: speed used for speed scaling calculations // @Description: Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values // @Units: m/s // @User: Advanced GSCALAR(scaling_speed, "SCALING_SPEED", SCALING_SPEED), // @Param: MIN_GNDSPD_CM // @DisplayName: Minimum ground speed // @Description: Minimum ground speed in cm/s when under airspeed control // @Units: cm/s // @User: Advanced GSCALAR(min_gndspeed_cm, "MIN_GNDSPD_CM", MIN_GNDSPEED_CM), // @Param: TRIM_PITCH_CD // @DisplayName: Pitch angle offset // @Description: offset to add to pitch - used for trimming tail draggers // @Units: centi-Degrees // @User: Advanced GSCALAR(pitch_trim_cd, "TRIM_PITCH_CD", 0), // @Param: ALT_HOLD_RTL // @DisplayName: RTL altitude // @Description: Return to launch target altitude // @Units: centimeters // @User: User GSCALAR(RTL_altitude_cm, "ALT_HOLD_RTL", ALT_HOLD_HOME_CM), GSCALAR(FBWB_min_altitude_cm, "ALT_HOLD_FBWCM", ALT_HOLD_FBW_CM), // @Param: MAG_ENABLE // @DisplayName: Enable Compass // @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass // @Values: 0:Disabled,1:Enabled // @User: Standard GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER), GSCALAR(flap_1_percent, "FLAP_1_PERCNT", FLAP_1_PERCENT), GSCALAR(flap_1_speed, "FLAP_1_SPEED", FLAP_1_SPEED), GSCALAR(flap_2_percent, "FLAP_2_PERCNT", FLAP_2_PERCENT), GSCALAR(flap_2_speed, "FLAP_2_SPEED", FLAP_2_SPEED), GSCALAR(battery_monitoring, "BATT_MONITOR", 0), GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO), GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT), GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE), GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE), GSCALAR(inverted_flight_ch, "INVERTEDFLT_CH", 0), // @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", SONAR_ENABLED), // barometer ground calibration. The GND_ prefix is chosen for // compatibility with previous releases of ArduPlane GOBJECT(barometer, "GND_", AP_Baro), #if CAMERA == ENABLED // @Group: CAM_ // @Path: ../libraries/AP_Camera/AP_Camera.cpp GGROUP(camera, "CAM_", AP_Camera), #endif // RC channel //----------- // @Group: RC1_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp GGROUP(channel_roll, "RC1_", RC_Channel), // @Group: RC2_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp GGROUP(channel_pitch, "RC2_", RC_Channel), // @Group: RC3_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp GGROUP(channel_throttle, "RC3_", RC_Channel), // @Group: RC4_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp GGROUP(channel_rudder, "RC4_", RC_Channel), // @Group: RC5_ // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp GGROUP(rc_5, "RC5_", RC_Channel_aux), // @Group: RC6_ // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp GGROUP(rc_6, "RC6_", RC_Channel_aux), // @Group: RC7_ // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp GGROUP(rc_7, "RC7_", RC_Channel_aux), // @Group: RC8_ // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp GGROUP(rc_8, "RC8_", RC_Channel_aux), #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 // @Group: RC9_ // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp GGROUP(rc_9, "RC9_", RC_Channel_aux), // @Group: RC10_ // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp GGROUP(rc_10, "RC10_", RC_Channel_aux), // @Group: RC11_ // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp GGROUP(rc_11, "RC11_", RC_Channel_aux), #endif 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), GGROUP(pidWheelSteer, "WHEELSTEER_",PID), // variables not in the g class which contain EEPROM saved variables // @Group: COMPASS_ // @Path: ../libraries/AP_Compass/Compass.cpp GOBJECT(compass, "COMPASS_", Compass), GOBJECT(gcs0, "SR0_", GCS_MAVLINK), GOBJECT(gcs3, "SR3_", GCS_MAVLINK), #if HIL_MODE == HIL_MODE_DISABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 // @Group: INS_ // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp GOBJECT(ins, "INS_", AP_InertialSensor_Oilpan), #endif // @Group: IMU_ // @Path: ../libraries/AP_IMU/IMU.cpp GOBJECT(imu, "IMU_", IMU), // @Group: AHRS_ // @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp, ../libraries/AP_AHRS/AP_AHRS_MPU6000.cpp #if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 GOBJECT(ahrs, "AHRS_", AP_AHRS_MPU6000), #else GOBJECT(ahrs, "AHRS_", AP_AHRS_DCM), #endif // @Group: ARSPD_ // @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp GOBJECT(airspeed, "ARSPD_", AP_Airspeed), #if MOUNT == ENABLED // @Group: MNT_ // @Path: ../libraries/AP_Mount/AP_Mount.cpp GOBJECT(camera_mount, "MNT_", AP_Mount), #endif #if MOUNT2 == ENABLED // @Group: MNT2_ // @Path: ../libraries/AP_Mount/AP_Mount.cpp GOBJECT(camera_mount2, "MNT2_", AP_Mount), #endif #ifdef DESKTOP_BUILD // @Group: SIM_ // @Path: ../libraries/SITL/SITL.cpp GOBJECT(sitl, "SIM_", SITL), #endif #if OBC_FAILSAFE == ENABLED GOBJECT(obc, "FS_", APM_OBC), #endif AP_VAREND }; static void load_parameters(void) { 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 { uint32_t before = micros(); // Load all auto-loaded EEPROM variables AP_Param::load_all(); Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before); } }