/// -*- 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: 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: 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", 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), GSCALAR(command_total, "CMD_TOTAL", 0), GSCALAR(command_index, "CMD_INDEX", 0), GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT), // @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: Throttle slew rate // @Description: maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one 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), GSCALAR(roll_limit, "LIM_ROLL_CD", HEAD_MAX_CENTIDEGREE), GSCALAR(pitch_limit_max, "LIM_PITCH_MAX", PITCH_MAX_CENTIDEGREE), GSCALAR(pitch_limit_min, "LIM_PITCH_MIN", PITCH_MIN_CENTIDEGREE), GSCALAR(auto_trim, "TRIM_AUTO", AUTO_TRIM), GSCALAR(num_resets, "SYS_NUM_RESETS", 0), GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK), GSCALAR(log_last_filenumber, "LOG_LASTFILE", 0), GSCALAR(reset_switch_chan, "RST_SWITCH_CH", 0), GSCALAR(airspeed_cruise, "TRIM_ARSPD_CM", AIRSPEED_CRUISE_CM), GSCALAR(min_gndspeed, "MIN_GNDSPD_CM", MIN_GNDSPEED_CM), GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION), GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER), GSCALAR(battery_monitoring, "BATT_MONITOR", DISABLED), 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), #if HIL_MODE != HIL_MODE_ATTITUDE #if CONFIG_SONAR == ENABLED // @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), GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL), #endif #endif // ************************************************************ // APMrover parameters - JLN update GSCALAR(auto_wp_radius, "ROV_AWPR_NAV", AUTO_WP_RADIUS), GSCALAR(sonar_trigger, "ROV_SONAR_TRIG", SONAR_TRIGGER), GSCALAR(turn_gain, "ROV_GAIN", TURN_GAIN), GSCALAR(booster, "ROV_BOOSTER", BOOSTER), // ************************************************************ GGROUP(channel_roll, "RC1_", RC_Channel), GGROUP(channel_pitch, "RC2_", RC_Channel), GGROUP(channel_throttle, "RC3_", RC_Channel), GGROUP(channel_rudder, "RC4_", RC_Channel), GGROUP(rc_5, "RC5_", RC_Channel_aux), GGROUP(rc_6, "RC6_", RC_Channel_aux), GGROUP(rc_7, "RC7_", RC_Channel_aux), GGROUP(rc_8, "RC8_", RC_Channel_aux), 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), // variables not in the g class which contain EEPROM saved variables GOBJECT(compass, "COMPASS_", Compass), GOBJECT(gcs0, "SR0_", GCS_MAVLINK), GOBJECT(gcs3, "SR3_", GCS_MAVLINK), #if HIL_MODE == HIL_MODE_DISABLED // @Group: INS_ // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp GOBJECT(ins, "INS_", AP_InertialSensor), #endif #ifdef DESKTOP_BUILD // @Group: SIM_ // @Path: ../libraries/SITL/SITL.cpp GOBJECT(sitl, "SIM_", SITL), #endif // @Group: AHRS_ // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp GOBJECT(ahrs, "AHRS_", AP_AHRS), AP_VAREND }; static void load_parameters(void) { if (!g.format_version.load() || g.format_version != Parameters::k_format_version) { // erase all parameters cliSerial->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); cliSerial->println_P(PSTR("done.")); } else { unsigned long before = micros(); // Load all auto-loaded EEPROM variables AP_Param::load_all(); cliSerial->printf_P(PSTR("load_all took %luus\n"), micros() - before); } }