// -*- 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 value of k_format_version determines whether the existing * eeprom data is considered valid. You should only change this * value under the following circumstances: * * 1) the meaning of an existing eeprom parameter changes * * 2) the value of an existing k_param_* enum value changes * * Adding a new parameter should _not_ require a change to * k_format_version except under special circumstances. If you * change it anyway then all ArduPlane users will need to reload all * their parameters. We want that to be an extremely rare * thing. Please do not just change it "just in case". * * To determine if a k_param_* value has changed, use the rules of * C++ enums to work out the value of the neighboring enum * values. If you don't know the C++ enum rules then please ask for * help. */ ////////////////////////////////////////////////////////////////// // STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE // COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!! static const uint16_t k_format_version = 13; ////////////////////////////////////////////////////////////////// // The parameter software_type is set up solely for ground station use // and identifies the software type (eg ArduPilotMega versus ArduCopterMega) // GCS will interpret values 0-9 as ArduPilotMega. Developers may use // values within that range to identify different branches. // static const uint16_t k_software_type = 0; // 0 for APM trunk enum { // Layout version number, always key zero. // k_param_format_version = 0, k_param_software_type, k_param_num_resets, // Misc // k_param_auto_trim = 10, k_param_log_bitmask, k_param_pitch_trim_cd, k_param_mix_mode, k_param_reverse_elevons, k_param_reverse_ch1_elevon, k_param_reverse_ch2_elevon, k_param_flap_1_percent, k_param_flap_1_speed, k_param_flap_2_percent, k_param_flap_2_speed, k_param_reset_switch_chan, k_param_manual_level, k_param_land_pitch_cd, k_param_ins, k_param_stick_mixing, k_param_reset_mission_chan, k_param_land_flare_alt, k_param_land_flare_sec, k_param_crosstrack_min_distance, k_param_rudder_steer, k_param_throttle_nudge, k_param_alt_offset, // 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_serial3_baud, k_param_telem_delay, // 120: Fly-by-wire control // k_param_flybywire_airspeed_min = 120, k_param_flybywire_airspeed_max, k_param_FBWB_min_altitude_cm, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm) k_param_flybywire_elev_reverse, k_param_alt_control_algorithm, // // 130: Sensor parameters // k_param_imu = 130, // sensor calibration k_param_altitude_mix, k_param_compass_enabled, k_param_compass, k_param_battery_monitoring, k_param_volt_div_ratio, k_param_curr_amp_per_volt, k_param_input_voltage, k_param_pack_capacity, k_param_sonar_enabled, k_param_ahrs, // AHRS group k_param_barometer, // barometer ground calibration k_param_airspeed, // AP_Airspeed parameters // // 150: Navigation parameters // k_param_crosstrack_gain = 150, k_param_crosstrack_entry_angle, k_param_roll_limit_cd, k_param_pitch_limit_max_cd, k_param_pitch_limit_min_cd, k_param_airspeed_cruise_cm, k_param_RTL_altitude_cm, k_param_inverted_flight_ch, k_param_min_gndspeed_cm, k_param_crosstrack_use_wind, // // Camera and mount parameters // k_param_camera = 160, k_param_camera_mount, k_param_camera_mount2, // // Battery monitoring parameters // k_param_battery_volt_pin = 168, k_param_battery_curr_pin, // 169 // // 170: Radio settings // k_param_channel_roll = 170, k_param_channel_pitch, k_param_channel_throttle, k_param_channel_rudder, k_param_rc_5, k_param_rc_6, k_param_rc_7, k_param_rc_8, k_param_rc_9, k_param_rc_10, k_param_rc_11, k_param_throttle_min, k_param_throttle_max, k_param_throttle_fs_enabled, k_param_throttle_fs_value, k_param_throttle_cruise, k_param_short_fs_action, k_param_long_fs_action, k_param_gcs_heartbeat_fs_enabled, k_param_throttle_slewrate, k_param_throttle_suppress_manual, // // 200: Feed-forward gains // k_param_kff_pitch_compensation = 200, k_param_kff_rudder_mix, k_param_kff_pitch_to_throttle, k_param_kff_throttle_to_pitch, k_param_scaling_speed, // // 210: flight modes // k_param_flight_mode_channel = 210, k_param_flight_mode1, k_param_flight_mode2, k_param_flight_mode3, k_param_flight_mode4, k_param_flight_mode5, k_param_flight_mode6, // // 220: Waypoint data // k_param_waypoint_mode = 220, k_param_command_total, k_param_command_index, k_param_waypoint_radius, k_param_loiter_radius, k_param_fence_action, k_param_fence_total, k_param_fence_channel, k_param_fence_minalt, k_param_fence_maxalt, // other objects k_param_sitl = 230, k_param_obc, k_param_rollController, k_param_pitchController, k_param_yawController, // // 240: PID Controllers k_param_pidNavRoll = 240, k_param_pidServoRoll, k_param_pidServoPitch, k_param_pidNavPitchAirspeed, k_param_pidServoRudder, k_param_pidTeThrottle, k_param_pidNavPitchAltitude, k_param_pidWheelSteer, // 254,255: reserved }; AP_Int16 format_version; AP_Int8 software_type; // Telemetry control // AP_Int16 sysid_this_mav; AP_Int16 sysid_my_gcs; AP_Int8 serial3_baud; AP_Int8 telem_delay; // Feed-forward gains // AP_Float kff_pitch_compensation; AP_Float kff_rudder_mix; AP_Float kff_pitch_to_throttle; AP_Float kff_throttle_to_pitch; // speed used for speed scaling AP_Float scaling_speed; // Crosstrack navigation // AP_Float crosstrack_gain; AP_Int16 crosstrack_entry_angle; AP_Int8 crosstrack_use_wind; AP_Int16 crosstrack_min_distance; // Estimation // AP_Float altitude_mix; AP_Int8 alt_control_algorithm; // Waypoints // AP_Int8 waypoint_mode; AP_Int8 command_total; AP_Int8 command_index; AP_Int16 waypoint_radius; AP_Int16 loiter_radius; #if GEOFENCE_ENABLED == ENABLED AP_Int8 fence_action; AP_Int8 fence_total; AP_Int8 fence_channel; AP_Int16 fence_minalt; // meters AP_Int16 fence_maxalt; // meters #endif // Fly-by-wire // AP_Int16 flybywire_airspeed_min; AP_Int16 flybywire_airspeed_max; AP_Int8 flybywire_elev_reverse; // Throttle // AP_Int8 throttle_min; AP_Int8 throttle_max; AP_Int8 throttle_slewrate; AP_Int8 throttle_suppress_manual; AP_Int8 throttle_fs_enabled; AP_Int16 throttle_fs_value; AP_Int8 throttle_cruise; AP_Int8 throttle_nudge; // Failsafe AP_Int8 short_fs_action; AP_Int8 long_fs_action; AP_Int8 gcs_heartbeat_fs_enabled; // Flight modes // AP_Int8 flight_mode_channel; AP_Int8 flight_mode1; AP_Int8 flight_mode2; AP_Int8 flight_mode3; AP_Int8 flight_mode4; AP_Int8 flight_mode5; AP_Int8 flight_mode6; // Navigational maneuvering limits // AP_Int16 roll_limit_cd; AP_Int16 pitch_limit_max_cd; AP_Int16 pitch_limit_min_cd; AP_Int16 alt_offset; // Misc // AP_Int8 auto_trim; AP_Int8 mix_mode; AP_Int8 reverse_elevons; AP_Int8 reverse_ch1_elevon; AP_Int8 reverse_ch2_elevon; AP_Int16 num_resets; AP_Int16 log_bitmask; AP_Int8 reset_switch_chan; AP_Int8 reset_mission_chan; AP_Int8 manual_level; AP_Int32 airspeed_cruise_cm; AP_Int32 RTL_altitude_cm; AP_Int16 land_pitch_cd; AP_Float land_flare_alt; AP_Float land_flare_sec; AP_Int32 min_gndspeed_cm; AP_Int16 pitch_trim_cd; AP_Int16 FBWB_min_altitude_cm; AP_Int8 compass_enabled; AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current AP_Int8 flap_1_percent; AP_Int8 flap_1_speed; AP_Int8 flap_2_percent; AP_Int8 flap_2_speed; AP_Float volt_div_ratio; AP_Float curr_amp_per_volt; AP_Float input_voltage; AP_Int32 pack_capacity; // Battery pack capacity less reserve AP_Int8 battery_volt_pin; AP_Int8 battery_curr_pin; AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger AP_Int8 stick_mixing; AP_Int8 rudder_steer; // Camera #if CAMERA == ENABLED AP_Camera camera; #endif // RC channels RC_Channel channel_roll; RC_Channel channel_pitch; RC_Channel channel_throttle; RC_Channel channel_rudder; RC_Channel_aux rc_5; RC_Channel_aux rc_6; RC_Channel_aux rc_7; RC_Channel_aux rc_8; #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 RC_Channel_aux rc_9; RC_Channel_aux rc_10; RC_Channel_aux rc_11; #endif // PID controllers // #if APM_CONTROL == DISABLED PID pidServoRoll; PID pidServoPitch; PID pidServoRudder; #else AP_RollController rollController; AP_PitchController pitchController; AP_YawController yawController; #endif PID pidNavRoll; PID pidNavPitchAirspeed; PID pidTeThrottle; PID pidNavPitchAltitude; PID pidWheelSteer; Parameters() : // variable default //---------------------------------------- channel_roll (CH_1), channel_pitch (CH_2), channel_throttle (CH_3), channel_rudder (CH_4), rc_5 (CH_5), rc_6 (CH_6), rc_7 (CH_7), rc_8 (CH_8), #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 rc_9 (CH_9), rc_10 (CH_10), rc_11 (CH_11), #endif // PID controller initial P initial I initial D initial imax //----------------------------------------------------------------------------------- #if APM_CONTROL == DISABLED pidServoRoll (SERVO_ROLL_P, SERVO_ROLL_I, SERVO_ROLL_D, SERVO_ROLL_INT_MAX_CENTIDEGREE), pidServoPitch (SERVO_PITCH_P, SERVO_PITCH_I, SERVO_PITCH_D, SERVO_PITCH_INT_MAX_CENTIDEGREE), pidServoRudder (SERVO_YAW_P, SERVO_YAW_I, SERVO_YAW_D, SERVO_YAW_INT_MAX), #endif pidNavRoll (NAV_ROLL_P, NAV_ROLL_I, NAV_ROLL_D, NAV_ROLL_INT_MAX_CENTIDEGREE), pidNavPitchAirspeed (NAV_PITCH_ASP_P, NAV_PITCH_ASP_I, NAV_PITCH_ASP_D, NAV_PITCH_ASP_INT_MAX_CMSEC), pidTeThrottle (THROTTLE_TE_P, THROTTLE_TE_I, THROTTLE_TE_D, THROTTLE_TE_INT_MAX), pidNavPitchAltitude (NAV_PITCH_ALT_P, NAV_PITCH_ALT_I, NAV_PITCH_ALT_D, NAV_PITCH_ALT_INT_MAX_CM), pidWheelSteer (0, 0, 0, 0) {} }; extern const AP_Param::Info var_info[]; #endif // PARAMETERS_H