/// -*- 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), GSCALAR(serial3_baud, "SERIAL3_BAUD", SERIAL3_BAUD/1000), GSCALAR(telem_delay, "TELEM_DELAY", 0), GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP", PITCH_COMP), GSCALAR(kff_rudder_mix, "KFF_RDDRMIX", RUDDER_MIX), GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR", P_TO_T), GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH", T_TO_P), GSCALAR(manual_level, "MANUAL_LEVEL", 0), GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", XTRACK_GAIN_SCALED), GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD", XTRACK_ENTRY_ANGLE_CENTIDEGREE), GSCALAR(altitude_mix, "ALT_MIX", ALTITUDE_MIX), GSCALAR(command_total, "CMD_TOTAL", 0), GSCALAR(command_index, "CMD_INDEX", 0), GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT), GSCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS_DEFAULT), GSCALAR(throttle_min, "THR_MIN", THROTTLE_MIN), GSCALAR(throttle_max, "THR_MAX", THROTTLE_MAX), GSCALAR(throttle_slewrate, "THR_SLEWRATE", THROTTLE_SLEW_LIMIT), GSCALAR(throttle_fs_enabled, "THR_FAILSAFE", THROTTLE_FAILSAFE), GSCALAR(throttle_fs_value, "THR_FS_VALUE", THROTTLE_FS_VALUE), GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE), GSCALAR(short_fs_action, "FS_SHORT_ACTN", SHORT_FAILSAFE_ACTION), GSCALAR(long_fs_action, "FS_LONG_ACTN", LONG_FAILSAFE_ACTION), GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL", GCS_HEARTBEAT_FAILSAFE), GSCALAR(flight_mode_channel, "FLTMODE_CH", FLIGHT_MODE_CHANNEL), 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(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(switch_enable, "SWITCH_ENABLE", REVERSE_SWITCH), GSCALAR(mix_mode, "ELEVON_MIXING", ELEVON_MIXING), GSCALAR(reverse_elevons, "ELEVON_REVERSE", ELEVON_REVERSE), GSCALAR(reverse_ch1_elevon, "ELEVON_CH1_REV", ELEVON_CH1_REVERSE), GSCALAR(reverse_ch2_elevon, "ELEVON_CH2_REV", ELEVON_CH2_REVERSE), 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(flap_1_percent, "FLAP_1_PERCNT", FLAP_1_PERCENT), GSCALAR(flap_1_speed, "FLAP_1_SPEED", FLAP_2_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", 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(closed_loop_nav, "ROV_CL_NAV", CLOSED_LOOP_NAV), 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 // @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); } }