#pragma once #define AP_PARAM_VEHICLE_NAME sub #include #include #include #include #if AP_SCRIPTING_ENABLED #include #endif // Global parameter class. // class Parameters { public: // The version of the layout as described by the parameter enum. // // When changing the parameter enum in an incompatible fashion, this // value should be incremented by one. // // The increment will prevent old parameters from being used incorrectly // by newer code. // static const uint16_t k_format_version = 1; // Parameter identities. // // The enumeration defined here is used to ensure that every parameter // or parameter group has a unique ID number. This number is used by // AP_Param to store and locate parameters in EEPROM. // // Note that entries without a number are assigned the next number after // the entry preceding them. When adding new entries, ensure that they // don't overlap. // // Try to group related variables together, and assign them a set // range in the enumeration. Place these groups in numerical order // at the end of the enumeration. // // WARNING: Care should be taken when editing this enumeration as the // AP_Param load/save code depends on the values here to identify // variables saved in EEPROM. // // enum { // Layout version number, always key zero. // k_param_format_version = 0, k_param_software_type, // unused k_param_g2, // 2nd block of parameters k_param_sitl, // Simulation // Telemetry k_param_gcs0 = 10, k_param_gcs1, k_param_gcs2, k_param_gcs3, k_param_sysid_this_mav, k_param_sysid_my_gcs, // Hardware/Software configuration k_param_BoardConfig = 20, // Board configuration (Pixhawk/Linux/etc) k_param_scheduler, // Scheduler (for debugging/perf_info) k_param_logger, // AP_Logger Logging k_param_serial_manager, // Serial ports, AP_SerialManager k_param_notify, // Notify Library, AP_Notify k_param_arming = 26, // Arming checks k_param_can_mgr, // Sensor objects k_param_ins = 30, // AP_InertialSensor k_param_compass, // Compass k_param_barometer, // Barometer/Depth Sensor k_param_battery, // AP_BattMonitor k_param_leak_detector, // Leak Detector k_param_rangefinder, // Rangefinder k_param_gps, // GPS k_param_optflow, // Optical Flow // Navigation libraries k_param_ahrs = 50, // AHRS k_param_NavEKF, // Extended Kalman Filter Inertial Navigation // remove k_param_NavEKF2, // EKF2 k_param_attitude_control, // Attitude Control k_param_pos_control, // Position Control k_param_wp_nav, // Waypoint navigation k_param_mission, // Mission library k_param_fence_old, // only used for conversion k_param_terrain, // Terrain database k_param_rally, // Disabled k_param_circle_nav, // Disabled k_param_avoid, // Relies on proximity and fence k_param_NavEKF3, k_param_loiter_nav, // Other external hardware interfaces k_param_motors = 65, // Motors k_param_relay, // Relay k_param_camera, // Camera k_param_camera_mount, // Camera gimbal // RC_Channel settings (deprecated) k_param_rc_1_old = 75, k_param_rc_2_old, k_param_rc_3_old, k_param_rc_4_old, k_param_rc_5_old, k_param_rc_6_old, k_param_rc_7_old, k_param_rc_8_old, k_param_rc_9_old, k_param_rc_10_old, k_param_rc_11_old, k_param_rc_12_old, k_param_rc_13_old, k_param_rc_14_old, // Joystick gain parameters k_param_gain_default, k_param_maxGain, k_param_minGain, k_param_numGainSettings, k_param_cam_tilt_step, // deprecated k_param_lights_step, // deprecated // Joystick button mapping parameters k_param_jbtn_0 = 95, k_param_jbtn_1, k_param_jbtn_2, k_param_jbtn_3, k_param_jbtn_4, k_param_jbtn_5, k_param_jbtn_6, k_param_jbtn_7, k_param_jbtn_8, k_param_jbtn_9, k_param_jbtn_10, k_param_jbtn_11, k_param_jbtn_12, k_param_jbtn_13, k_param_jbtn_14, k_param_jbtn_15, // 16 more for MANUAL_CONTROL extensions k_param_jbtn_16, k_param_jbtn_17, k_param_jbtn_18, k_param_jbtn_19, k_param_jbtn_20, k_param_jbtn_21, k_param_jbtn_22, k_param_jbtn_23, k_param_jbtn_24, k_param_jbtn_25, k_param_jbtn_26, k_param_jbtn_27, k_param_jbtn_28, k_param_jbtn_29, k_param_jbtn_30, k_param_jbtn_31, // PID Controllers k_param_p_pos_xy = 126, // deprecated k_param_p_alt_hold, // deprecated k_param_pi_vel_xy, // deprecated k_param_p_vel_z, // deprecated k_param_pid_accel_z, // deprecated // Failsafes k_param_failsafe_gcs = 140, k_param_failsafe_leak, // leak failsafe behavior k_param_failsafe_pressure, // internal pressure failsafe behavior k_param_failsafe_pressure_max, // maximum internal pressure in pascal before failsafe is triggered k_param_failsafe_temperature, // internal temperature failsafe behavior k_param_failsafe_temperature_max, // maximum internal temperature in degrees C before failsafe is triggered k_param_failsafe_terrain, // terrain failsafe behavior k_param_fs_ekf_thresh, k_param_fs_ekf_action, k_param_fs_crash_check, k_param_failsafe_battery_enabled, // unused - moved to AP_BattMonitor k_param_fs_batt_mah, // unused - moved to AP_BattMonitor k_param_fs_batt_voltage, // unused - moved to AP_BattMonitor k_param_failsafe_pilot_input, k_param_failsafe_pilot_input_timeout, // Misc Sub settings k_param_log_bitmask = 165, k_param_angle_max = 167, k_param_rangefinder_gain, k_param_wp_yaw_behavior = 170, k_param_xtrack_angle_limit, // Angle limit for crosstrack correction in Auto modes (degrees) k_param_pilot_speed_up, // renamed from k_param_pilot_velocity_z_max k_param_pilot_accel_z, k_param_compass_enabled_deprecated, k_param_surface_depth, k_param_rc_speed, // Main output pwm frequency k_param_gcs_pid_mask = 178, k_param_throttle_filt, k_param_throttle_deadzone, // Used in auto-throttle modes k_param_terrain_follow = 182, // deprecated k_param_rc_feel_rp, k_param_throttle_gain, k_param_cam_tilt_center, // deprecated k_param_frame_configuration, // Acro Mode parameters k_param_acro_yaw_p = 220, // Used in all modes for get_pilot_desired_yaw_rate k_param_acro_trainer, k_param_acro_expo, k_param_acro_rp_p, k_param_acro_balance_roll, k_param_acro_balance_pitch, // RPM Sensor k_param_rpm_sensor = 232, // Disabled // RC_Mapper Library k_param_rcmap, // Disabled k_param_gcs4, k_param_gcs5, k_param_gcs6, k_param_cam_slew_limit = 237, // deprecated k_param_lights_steps, k_param_pilot_speed_dn, k_param_vehicle = 257, // vehicle common block of parameters }; AP_Int16 format_version; // Telemetry control // AP_Int16 sysid_this_mav; AP_Int16 sysid_my_gcs; AP_Float throttle_filt; #if RANGEFINDER_ENABLED == ENABLED AP_Float rangefinder_gain; #endif AP_Int8 failsafe_leak; // leak detection failsafe behavior AP_Int8 failsafe_gcs; // ground station failsafe behavior AP_Int8 failsafe_pressure; AP_Int8 failsafe_temperature; AP_Int32 failsafe_pressure_max; AP_Int8 failsafe_temperature_max; AP_Int8 failsafe_terrain; AP_Int8 failsafe_pilot_input; // pilot input failsafe behavior AP_Float failsafe_pilot_input_timeout; AP_Int8 xtrack_angle_limit; AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions AP_Int8 rc_feel_rp; // controls vehicle response to user input with 0 being extremely soft and 100 begin extremely crisp // Waypoints // AP_Int16 pilot_speed_up; // maximum vertical ascending velocity the pilot may request AP_Int16 pilot_speed_dn; // maximum vertical descending velocity the pilot may request AP_Int16 pilot_accel_z; // vertical acceleration the pilot may request // Throttle // AP_Int16 throttle_deadzone; // Misc // AP_Int32 log_bitmask; AP_Int8 fs_ekf_action; AP_Int8 fs_crash_check; AP_Float fs_ekf_thresh; AP_Int16 gcs_pid_mask; AP_Int16 rc_speed; // speed of fast RC Channels in Hz AP_Float gain_default; AP_Float maxGain; AP_Float minGain; AP_Int8 numGainSettings; AP_Float throttle_gain; AP_Int16 lights_steps; // Joystick button parameters JSButton jbtn_0; JSButton jbtn_1; JSButton jbtn_2; JSButton jbtn_3; JSButton jbtn_4; JSButton jbtn_5; JSButton jbtn_6; JSButton jbtn_7; JSButton jbtn_8; JSButton jbtn_9; JSButton jbtn_10; JSButton jbtn_11; JSButton jbtn_12; JSButton jbtn_13; JSButton jbtn_14; JSButton jbtn_15; // 16 - 31 from manual_control extension JSButton jbtn_16; JSButton jbtn_17; JSButton jbtn_18; JSButton jbtn_19; JSButton jbtn_20; JSButton jbtn_21; JSButton jbtn_22; JSButton jbtn_23; JSButton jbtn_24; JSButton jbtn_25; JSButton jbtn_26; JSButton jbtn_27; JSButton jbtn_28; JSButton jbtn_29; JSButton jbtn_30; JSButton jbtn_31; // Acro parameters AP_Float acro_rp_p; AP_Float acro_yaw_p; AP_Float acro_balance_roll; AP_Float acro_balance_pitch; AP_Int8 acro_trainer; AP_Float acro_expo; AP_Float surface_depth; AP_Int8 frame_configuration; // Note: keep initializers here in the same order as they are declared // above. Parameters() { } }; /* 2nd block of parameters, to avoid going past 256 top level keys */ class ParametersG2 { public: ParametersG2(void); #if STATS_ENABLED == ENABLED // vehicle statistics AP_Stats stats; #endif // var_info for holding Parameter information static const struct AP_Param::GroupInfo var_info[]; #if AP_GRIPPER_ENABLED AP_Gripper gripper; #endif #if HAL_PROXIMITY_ENABLED // proximity (aka object avoidance) library AP_Proximity proximity; #endif // RC input channels RC_Channels_Sub rc_channels; // control over servo output ranges SRV_Channels servo_channels; #if AP_SCRIPTING_ENABLED AP_Scripting scripting; #endif // AP_SCRIPTING_ENABLED }; extern const AP_Param::Info var_info[]; // Sub-specific default parameters static const struct AP_Param::defaults_table_struct defaults_table[] = { { "BRD_SAFETY_DEFLT", 0 }, { "ARMING_CHECK", AP_Arming::ARMING_CHECK_RC | AP_Arming::ARMING_CHECK_VOLTAGE | AP_Arming::ARMING_CHECK_BATTERY}, { "CIRCLE_RATE", 2.0f}, { "ATC_ACCEL_Y_MAX", 110000.0f}, { "ATC_RATE_Y_MAX", 180.0f}, { "RC3_TRIM", 1100}, { "COMPASS_OFFS_MAX", 1000}, { "INS_GYR_CAL", 0}, { "MNT1_TYPE", 1}, { "MNT1_DEFLT_MODE", MAV_MOUNT_MODE_RC_TARGETING}, { "MNT1_RC_RATE", 30}, { "RC7_OPTION", 214}, // MOUNT1_YAW { "RC8_OPTION", 213}, // MOUNT1_PITCH { "MOT_PWM_MIN", 1100}, { "MOT_PWM_MAX", 1900}, { "PSC_JERK_Z", 50.0f}, { "WPNAV_SPEED", 100.0f}, { "PILOT_SPEED_UP", 100.0f}, { "PSC_VELXY_P", 6.0f}, { "EK3_SRC1_VELZ", 0}, #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR { "BARO_PROBE_EXT", 0}, { "BATT_MONITOR", 4}, { "BATT_CAPACITY", 0}, { "LEAK1_PIN", 27}, { "SCHED_LOOP_RATE", 200}, { "SERVO13_FUNCTION", 59}, // k_rcin9, lights 1 { "SERVO14_FUNCTION", 60}, // k_rcin10, lights 2 { "SERVO16_FUNCTION", 7}, // k_mount_tilt { "SERVO16_REVERSED", 1}, #else { "BARO_PROBE_EXT", 768}, { "SERVO9_FUNCTION", 59}, // k_rcin9, lights 1 { "SERVO10_FUNCTION", 7}, // k_mount_tilt #endif };