# # Parameter database specification # # This file describes the global parameters used by the ArduPilot Mega software. # Definitions here are used to produce the param_table.h, param_table.c and # param_init.pde files. # # Process this file with "awk -f paramgen.awk paramgen.in" # # # Parameters are grouped by type, with the software expecting that the types # will be presented in the order float, uint8, uint16, int16, uint32. # # The following line formats are recognised # # type # # Announces the start of the section of the file conatining parameters # of the type . # # # # Defines a parameter with the name . This will result in # the generation of an enumeration named PARAM_, and the # creation of an entry in the global param_nametab array indexed by the # enumeration, pointing to a PROGMEM string containing . # # # # As above, but additionally an entry will be added to the param_init() # function that will reset the parameter to . # # # ------------------------------------------------------------------ # # !!! CHANGE THE FIRMWARE VERSION IF YOU MODIFY THIS FILE !!! # # If the firmware version in ROM and the firmware version # in this file do not match it is assumed that the EEProm is # in an unknown state and a factory reset is forced. # This is to prevent the user from reading EEProm values that # have been remapped to different locations in memory. # # ====================================================================== type float # ------------------------------------------------------------------ # Gains # ------------------------------------------------------------------ # Roll Control # heading error from commnd to roll command deviation from trim # (bank to turn strategy) HDNG2RLL_P NAV_ROLL_P HDNG2RLL_I NAV_ROLL_I HDNG2RLL_D NAV_ROLL_D HDNG2RLL_IMAX NAV_ROLL_INT_MAX # roll error from command to roll servo deviation from trim # (tracks commanded bank angle) RLL2SRV_P SERVO_ROLL_P RLL2SRV_I SERVO_ROLL_I RLL2SRV_D SERVO_ROLL_D RLL2SRV_IMAX SERVO_ROLL_INT_MAX # ------------------------------------------------------------------ # Pitch Control # pitch error from command to pitch servo deviation from trim # (front-side strategy) PTCH2SRV_P SERVO_PITCH_P PTCH2SRV_I SERVO_PITCH_I PTCH2SRV_D SERVO_PITCH_D PTCH2SRV_IMAX SERVO_PITCH_INT_MAX # airspeed error from commnd to pitch servo deviation from trim # (back-side strategy) ARSPD2PTCH_P NAV_PITCH_ASP_P ARSPD2PTCH_I NAV_PITCH_ASP_I ARSPD2PTCH_D NAV_PITCH_ASP_D ARSPD2PTCH_IMAX NAV_PITCH_ASP_INT_MAX # ------------------------------------------------------------------ # Yaw Control # yaw rate error from commnd to yaw servo deviation from trim # (stabilizes dutch roll) YW2SRV_P SERVO_YAW_P YW2SRV_I SERVO_YAW_I YW2SRV_D SERVO_YAW_D YW2SRV_IMAX SERVO_YAW_INT_MAX # ------------------------------------------------------------------ # Throttle Control # altitude error from commnd to throttle servo deviation from trim # (throttle back-side strategy) ALT2THR_P THROTTLE_ALT_P ALT2THR_I THROTTLE_ALT_I ALT2THR_D THROTTLE_ALT_D ALT2THR_IMAX THROTTLE_ALT_INT_MAX # total energy error from commnd to throttle servo deviation from trim # (throttle back-side strategy alternative) ENRGY2THR_P THROTTLE_TE_P ENRGY2THR_I THROTTLE_TE_I ENRGY2THR_D THROTTLE_TE_D ENRGY2THR_IMAX THROTTLE_TE_INT_MAX # altitude error from commnd to pitch servo deviation from trim # (throttle front-side strategy alternative) ALT2PTCH_P NAV_PITCH_ALT_P ALT2PTCH_I NAV_PITCH_ALT_I ALT2PTCH_D NAV_PITCH_ALT_D ALT2PTCH_IMAX NAV_PITCH_ALT_INT_MAX # feed forward gains KFF_PTCHCOMP PITCH_COMP KFF_RDDRMIX RUDDER_MIX KFF_PTCH2THR P_TO_T # misc GND_ALT 0 TRIM_AIRSPEED AIRSPEED_CRUISE XTRACK_ANGLE XTRACK_ENTRY_ANGLE # limits LIM_ROLL HEAD_MAX LIM_PITCH_MAX PITCH_MAX LIM_PITCH_MIN PITCH_MIN # estimation ALT_MIX ALTITUDE_MIX ALT_HOLD_HOME 0 ARSPD_RATIO AIRSPEED_RATIO # ------------------------------------------------------------------ # IMU Calibration IMU_OFFSET_0 0 IMU_OFFSET_1 0 IMU_OFFSET_2 0 IMU_OFFSET_3 0 IMU_OFFSET_4 0 IMU_OFFSET_5 0 # ====================================================================== type uint8 # not used currently YAW_MODE 0 # waypoints WP_MODE 0 WP_TOTAL WP_SIZE WP_INDEX 0 WP_RADIUS WP_RADIUS_DEFAULT LOITER_RADIUS LOITER_RADIUS_DEFAULT # fly by wire ARSPD_FBW_MIN AIRSPEED_FBW_MIN ARSPD_FBW_MAX AIRSPEED_FBW_MAX # throttle THR_MIN THROTTLE_MIN THR_MAX THROTTLE_MAX THR_FAILSAFE THROTTLE_FAILSAFE THR_FS_ACTION THROTTLE_FAILSAFE_ACTION TRIM_THROTTLE THROTTLE_CRUISE # misc CONFIG 0 TRIM_AUTO AUTO_TRIM SWITCH_ENABLE REVERSE_SWITCH # flight modes FLIGHT_MODE_CH FLIGHT_MODE_CHANNEL FLIGHT_MODE_1 FLIGHT_MODE_1 FLIGHT_MODE_2 FLIGHT_MODE_2 FLIGHT_MODE_3 FLIGHT_MODE_3 FLIGHT_MODE_4 FLIGHT_MODE_4 FLIGHT_MODE_5 FLIGHT_MODE_5 FLIGHT_MODE_6 FLIGHT_MODE_6 # ====================================================================== type uint16 FIRMWARE_VER FIRMWARE_VERSION # ------------------------------------------------------------------ # Radio Settings # # all radio settings are uint16_t and represent the period of the # pulse width modulated signal. Typically 1000 ms is the lower limit, # 1500 is neutral, and 2000 is the upper limit # trim (neutral setting) RADIOTRIM_CH1 1500 RADIOTRIM_CH2 1500 RADIOTRIM_CH3 1500 RADIOTRIM_CH4 1500 RADIOTRIM_CH5 1500 RADIOTRIM_CH6 1500 RADIOTRIM_CH7 1500 RADIOTRIM_CH8 1500 # min (maps to 0%) RADIOMIN_CH1 1000 RADIOMIN_CH2 1000 RADIOMIN_CH3 1000 RADIOMIN_CH4 1000 RADIOMIN_CH5 CH5_MIN RADIOMIN_CH6 CH6_MIN RADIOMIN_CH7 CH7_MIN RADIOMIN_CH8 CH8_MIN # max (maps to 100%) RADIOMAX_CH1 2000 RADIOMAX_CH2 2000 RADIOMAX_CH3 2000 RADIOMAX_CH4 2000 RADIOMAX_CH5 CH5_MAX RADIOMAX_CH6 CH6_MAX RADIOMAX_CH7 CH7_MAX RADIOMAX_CH8 CH8_MAX # ------------------------------------------------------------------ # Misc LOG_BITMASK 0 TRIM_ELEVON 1500 THR_FS_VALUE THROTTLE_FS_VALUE # ====================================================================== type int16 # ------------------------------------------------------------------ # Misc XTRACK_GAIN XTRACK_GAIN GND_TEMP 0 AP_OFFSET 0 TRIM_PITCH 0 # ====================================================================== type uint32 # ------------------------------------------------------------------ # Misc GND_ABS_PRESS 0