/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- /* * ArduCopter 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, "SYSID_SW_MREV", 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: TELEM_DELAY // @DisplayName: Telemetry startup delay // @Description: The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up // @User: Standard // @Units: seconds // @Range: 0 10 // @Increment: 1 GSCALAR(telem_delay, "TELEM_DELAY", 0), // @Param: ALT_HOLD_RTL // @DisplayName: RTL Altitude // @Description: This is the altitude the model will move to before Returning to Launch. Set to zero to return at current altitude. // @Units: centimeters // @Range: 0 4000 // @Increment: 1 // @User: Standard GSCALAR(RTL_altitude, "ALT_HOLD_RTL", RTL_HOLD_ALT), // @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", DISABLED), GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL), GSCALAR(battery_monitoring, "BATT_MONITOR", DISABLED), // @Param: VOLT_DIVIDER // @DisplayName: Voltage Divider // @Description: TODO 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), // @Param: BATT_CAPACITY // @DisplayName: Battery Capacity // @Description: Battery capacity in milliamp-hours (mAh) // @Units: mAh GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE), // @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), // @Param: FLOW_ENABLE // @DisplayName: Enable Optical Flow // @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow // @Values: 0:Disabled,1:Enabled // @User: Standard GSCALAR(optflow_enabled, "FLOW_ENABLE", OPTFLOW), // @Param: LOW_VOLT // @DisplayName: Low Voltage // @Description: Set this to the voltage you want to represent low voltage // @Range: 0 20 // @Increment: .1 // @User: Standard GSCALAR(low_voltage, "LOW_VOLT", LOW_VOLTAGE), // @Param: SUPER_SIMPLE // @DisplayName: Enable Super Simple Mode // @Description: Setting this to Enabled(1) will enable Super Simple Mode. Setting this to Disabled(0) will disable Super Simple Mode // @Values: 0:Disabled,1:Enabled // @User: Standard GSCALAR(super_simple, "SUPER_SIMPLE", SUPER_SIMPLE), // @Param: APPROACH_ALT // @DisplayName: RTL Approach Altitude // @Description: This is the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land. // @Units: centimeters // @Range: 1 1000 // @Increment: 1 // @User: Standard GSCALAR(rtl_approach_alt, "APPROACH_ALT", RTL_APPROACH_ALT), GSCALAR(tilt_comp, "TILT", 54), GSCALAR(waypoint_mode, "WP_MODE", 0), GSCALAR(command_total, "WP_TOTAL", 0), GSCALAR(command_index, "WP_INDEX", 0), GSCALAR(command_nav_index, "WP_MUST_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 vehicle will maintain during a loiter // @Units: Meters // @Range: 1 127 // @Increment: 1 // @User: Standard GSCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS), GSCALAR(waypoint_speed_max, "WP_SPEED_MAX", WAYPOINT_SPEED_MAX), GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", CROSSTRACK_GAIN), GSCALAR(auto_land_timeout, "AUTO_LAND", AUTO_LAND_TIME*1000), // @Param: THR_MIN // @DisplayName: Minimum Throttle // @Description: The minimum throttle which the autopilot will apply. // @Units: Percent // @Range: 0 100 // @Increment: 1 // @User: Standard GSCALAR(throttle_min, "THR_MIN", MINIMUM_THROTTLE), // @Param: THR_MAX // @DisplayName: Maximum Throttle // @Description: The maximum throttle which the autopilot will apply. // @Units: Percent // @Range: 0 100 // @Increment: 1 // @User: Standard GSCALAR(throttle_max, "THR_MAX", MAXIMUM_THROTTLE), // @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), GSCALAR(throttle_fs_action, "THR_FS_ACTION", THROTTLE_FAILSAFE_ACTION), // @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), GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE), GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1), GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2), GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3), GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4), GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5), GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6), GSCALAR(simple_modes, "SIMPLE", 0), // @Param: LOG_BITMASK // @DisplayName: Log bitmask // @Description: bitmap of log fields to enable // @User: Advanced GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK), GSCALAR(log_last_filenumber, "LOG_LASTFILE", 0), // THOR // Added to allow change of Rate in the Mission planner GSCALAR(toy_yaw_rate, "TOY_RATE", 1), GSCALAR(esc_calibrate, "ESC", 0), GSCALAR(radio_tuning, "TUNE", 0), GSCALAR(radio_tuning_low, "TUNE_LOW", 0), GSCALAR(radio_tuning_high, "TUNE_HIGH", 1000), GSCALAR(frame_orientation, "FRAME", FRAME_ORIENTATION), GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION), GSCALAR(auto_slew_rate, "AUTO_SLEW", AUTO_SLEW_RATE), #if FRAME_CONFIG == HELI_FRAME GGROUP(heli_servo_1, "HS1_", RC_Channel), GGROUP(heli_servo_2, "HS2_", RC_Channel), GGROUP(heli_servo_3, "HS3_", RC_Channel), GGROUP(heli_servo_4, "HS4_", RC_Channel), #endif #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(rc_1, "RC1_", RC_Channel), // @Group: RC2_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp GGROUP(rc_2, "RC2_", RC_Channel), // @Group: RC3_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp GGROUP(rc_3, "RC3_", RC_Channel), // @Group: RC4_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp GGROUP(rc_4, "RC4_", RC_Channel), // @Group: RC5_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp GGROUP(rc_5, "RC5_", RC_Channel), // @Group: RC6_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp GGROUP(rc_6, "RC6_", RC_Channel), // @Group: RC7_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp GGROUP(rc_7, "RC7_", RC_Channel), // @Group: RC8_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp GGROUP(rc_8, "RC8_", RC_Channel), #if MOUNT == ENABLED // @Group: RC9_ // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp GGROUP(rc_9, "RC9_", RC_Channel_aux), // @Group: RC10_ // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp GGROUP(rc_10, "RC10_", RC_Channel_aux), // @Group: RC11_ // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp GGROUP(rc_11, "RC11_", RC_Channel_aux), #endif // @Param: RC_SPEED // @DisplayName: ESC Update Speed // @Description: This is the speed in Hertz that your ESCs will receive updates // @Units: Hertz (Hz) // @Values: 125,400,490 // @User: Advanced GSCALAR(rc_speed, "RC_SPEED", RC_FAST_SPEED), // variable //--------- GSCALAR(stabilize_d, "STAB_D", STABILIZE_D), // @Param: STAB_D_S // @DisplayName: Stabilize D Schedule // @Description: This value is a percentage of scheduling applied to the Stabilize D term. // @Range: 0 1 // @Increment: .01 // @User: Advanced GSCALAR(stabilize_d_schedule, "STAB_D_S", STABILIZE_D_SCHEDULE), GSCALAR(acro_p, "ACRO_P", ACRO_P), GSCALAR(axis_lock_p, "AXIS_P", AXIS_LOCK_P), GSCALAR(axis_enabled, "AXIS_ENABLE", AXIS_LOCK_ENABLED), GSCALAR(copter_leds_mode, "LED_MODE", 9), // PID controller //--------------- GGROUP(pid_rate_roll, "RATE_RLL_", AC_PID), GGROUP(pid_rate_pitch, "RATE_PIT_", AC_PID), GGROUP(pid_rate_yaw, "RATE_YAW_", AC_PID), GGROUP(pid_loiter_rate_lat, "LOITER_LAT_", AC_PID), GGROUP(pid_loiter_rate_lon, "LOITER_LON_", AC_PID), GGROUP(pid_nav_lat, "NAV_LAT_", AC_PID), GGROUP(pid_nav_lon, "NAV_LON_", AC_PID), GGROUP(pid_throttle, "THR_RATE_", AC_PID), GGROUP(pid_optflow_roll, "OF_RLL_", AC_PID), GGROUP(pid_optflow_pitch, "OF_PIT_", AC_PID), // PI controller //-------------- GGROUP(pi_stabilize_roll, "STB_RLL_", APM_PI), GGROUP(pi_stabilize_pitch, "STB_PIT_", APM_PI), GGROUP(pi_stabilize_yaw, "STB_YAW_", APM_PI), GGROUP(pi_alt_hold, "THR_ALT_", APM_PI), GGROUP(pi_loiter_lat, "HLD_LAT_", APM_PI), GGROUP(pi_loiter_lon, "HLD_LON_", APM_PI), // variables not in the g class which contain EEPROM saved variables // @Group: COMPASS_ // @Path: ../libraries/AP_Compass/Compass.cpp GOBJECT(compass, "COMPASS_", Compass), // @Group: INS_ // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp #if HIL_MODE == HIL_MODE_DISABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 GOBJECT(ins, "INS_", AP_InertialSensor_Oilpan), #endif GOBJECT(gcs0, "SR0_", GCS_MAVLINK), GOBJECT(gcs3, "SR3_", GCS_MAVLINK), // @Group: IMU_ // @Path: ../libraries/AP_IMU/IMU.cpp GOBJECT(imu, "IMU_", IMU), // @Group: AHRS_ // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp GOBJECT(ahrs, "AHRS_", AP_AHRS), #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 GOBJECT(sitl, "SIM_", SITL), #endif //@Group: LIM_ //@Path: ../libraries/AP_Limits/AP_Limits.cpp,../libraries/AP_Limits/AP_Limit_GPSLock.cpp, ../libraries/AP_Limits/AP_Limit_Geofence.cpp, ../libraries/AP_Limits/AP_Limit_Altitude.cpp, ../libraries/AP_Limits/AP_Limit_Module.cpp GOBJECT(limits, "LIM_", AP_Limits), GOBJECT(gpslock_limit, "LIM_", AP_Limit_GPSLock), GOBJECT(geofence_limit, "LIM_", AP_Limit_Geofence), GOBJECT(altitude_limit, "LIM_", AP_Limit_Altitude), #if FRAME_CONFIG == HELI_FRAME // @Group: H_ // @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp GOBJECT(motors, "H_", AP_MotorsHeli), #else GOBJECT(motors, "MOT_", AP_Motors), #endif AP_VAREND }; static void load_parameters(void) { // change the default for the AHRS_GPS_GAIN for ArduCopter // if it hasn't been set by the user if (!ahrs.gps_gain.load()) { ahrs.gps_gain.set_and_save(0.0); } // setup different AHRS gains for ArduCopter than the default // but allow users to override in their config if (!ahrs._kp.load()) { ahrs._kp.set_and_save(0.1); } if (!ahrs._kp_yaw.load()) { ahrs._kp_yaw.set_and_save(0.1); } 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); default_dead_zones(); 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); } }