// -*- 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 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 = 12; // 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 // // 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_Var 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_Var 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, // Misc // k_param_auto_trim, k_param_switch_enable, k_param_log_bitmask, k_param_pitch_trim, 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_num_resets, k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change k_param_reset_switch_chan, // 110: Telemetry control // k_param_streamrates_port0 = 110, k_param_streamrates_port3, k_param_sysid_this_mav, k_param_sysid_my_gcs, k_param_serial3_baud, // 120: Fly-by-wire control // k_param_flybywire_airspeed_min = 120, k_param_flybywire_airspeed_max, k_param_FBWB_min_altitude, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm) // // 130: Sensor parameters // k_param_IMU_calibration = 130, k_param_altitude_mix, k_param_airspeed_ratio, k_param_ground_temperature, k_param_ground_pressure, 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_airspeed_offset, k_param_sonar_enabled, k_param_airspeed_enabled, // // 150: Navigation parameters // k_param_crosstrack_gain = 150, k_param_crosstrack_entry_angle, k_param_roll_limit, k_param_pitch_limit_max, k_param_pitch_limit_min, k_param_airspeed_cruise, k_param_RTL_altitude, k_param_inverted_flight_ch, k_param_min_gndspeed, // // 170: Radio settings // k_param_channel_roll = 170, k_param_channel_pitch, k_param_channel_throttle, k_param_channel_yaw, k_param_rc_5, k_param_rc_6, k_param_rc_7, k_param_rc_8, 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, // // 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, // // 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, // // 240: PID Controllers // // Heading-to-roll PID: // heading error from command to roll command deviation from trim // (bank to turn strategy) // k_param_heading_to_roll_PID = 240, // Roll-to-servo PID: // roll error from command to roll servo deviation from trim // (tracks commanded bank angle) // k_param_roll_to_servo_PID, // // Pitch control // // Pitch-to-servo PID: // pitch error from command to pitch servo deviation from trim // (front-side strategy) // k_param_pitch_to_servo_PID, // Airspeed-to-pitch PID: // airspeed error from command to pitch servo deviation from trim // (back-side strategy) // k_param_airspeed_to_pitch_PID, // // Yaw control // // Yaw-to-servo PID: // yaw rate error from command to yaw servo deviation from trim // (stabilizes dutch roll) // k_param_yaw_to_servo_PID, // // Throttle control // // Energy-to-throttle PID: // total energy error from command to throttle servo deviation from trim // (throttle back-side strategy alternative) // k_param_energy_to_throttle_PID, // Altitude-to-pitch PID: // altitude error from command to pitch servo deviation from trim // (throttle front-side strategy alternative) // k_param_altitude_to_pitch_PID, // 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; // 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; // Crosstrack navigation // AP_Float crosstrack_gain; AP_Int16 crosstrack_entry_angle; // Estimation // AP_Float altitude_mix; AP_Float airspeed_ratio; AP_Int16 airspeed_offset; // Waypoints // AP_Int8 waypoint_mode; AP_Int8 command_total; AP_Int8 command_index; AP_Int8 waypoint_radius; AP_Int8 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_Int8 flybywire_airspeed_min; AP_Int8 flybywire_airspeed_max; AP_Int16 FBWB_min_altitude; // Throttle // AP_Int8 throttle_min; AP_Int8 throttle_max; AP_Int8 throttle_slewrate; AP_Int8 throttle_fs_enabled; AP_Int16 throttle_fs_value; AP_Int8 throttle_cruise; // 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; AP_Int16 pitch_limit_max; AP_Int16 pitch_limit_min; // Misc // AP_Int8 auto_trim; AP_Int8 switch_enable; 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_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change AP_Int8 reset_switch_chan; AP_Int16 airspeed_cruise; AP_Int16 min_gndspeed; AP_Int16 pitch_trim; AP_Int16 RTL_altitude; AP_Int16 ground_temperature; AP_Int32 ground_pressure; AP_Int8 compass_enabled; AP_Int16 angle_of_attack; AP_Int8 battery_monitoring; // 0=disabled, 1=3 cell lipo, 2=4 cell lipo, 3=total voltage only, 4=total voltage and current AP_Float volt_div_ratio; AP_Float curr_amp_per_volt; AP_Float input_voltage; AP_Int16 pack_capacity; // Battery pack capacity less reserve AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger AP_Int8 sonar_enabled; AP_Int8 airspeed_enabled; AP_Int8 flap_1_percent; AP_Int8 flap_1_speed; AP_Int8 flap_2_percent; AP_Int8 flap_2_speed; // 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; // PID controllers // PID pidNavRoll; PID pidServoRoll; PID pidServoPitch; PID pidNavPitchAirspeed; PID pidServoRudder; PID pidTeThrottle; PID pidNavPitchAltitude; uint8_t junk; // Note: keep initializers here in the same order as they are declared above. Parameters() : // variable default key name //------------------------------------------------------------------------------------------------------- format_version (k_format_version, k_param_format_version, PSTR("SYSID_SW_MREV")), software_type (k_software_type, k_param_software_type, PSTR("SYSID_SW_TYPE")), sysid_this_mav (MAV_SYSTEM_ID, k_param_sysid_this_mav, PSTR("SYSID_THISMAV")), sysid_my_gcs (255, k_param_sysid_my_gcs, PSTR("SYSID_MYGCS")), serial3_baud (SERIAL3_BAUD/1000, k_param_serial3_baud, PSTR("SERIAL3_BAUD")), kff_pitch_compensation (PITCH_COMP, k_param_kff_pitch_compensation, PSTR("KFF_PTCHCOMP")), kff_rudder_mix (RUDDER_MIX, k_param_kff_rudder_mix, PSTR("KFF_RDDRMIX")), kff_pitch_to_throttle (P_TO_T, k_param_kff_pitch_to_throttle, PSTR("KFF_PTCH2THR")), kff_throttle_to_pitch (T_TO_P, k_param_kff_throttle_to_pitch, PSTR("KFF_THR2PTCH")), crosstrack_gain (XTRACK_GAIN_SCALED, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SC")), crosstrack_entry_angle (XTRACK_ENTRY_ANGLE_CENTIDEGREE,k_param_crosstrack_entry_angle, PSTR("XTRK_ANGLE_CD")), altitude_mix (ALTITUDE_MIX, k_param_altitude_mix, PSTR("ALT_MIX")), airspeed_ratio (AIRSPEED_RATIO, k_param_airspeed_ratio, PSTR("ARSPD_RATIO")), airspeed_offset (0, k_param_airspeed_offset, PSTR("ARSPD_OFFSET")), /* XXX waypoint_mode missing here */ command_total (0, k_param_command_total, PSTR("CMD_TOTAL")), command_index (0, k_param_command_index, PSTR("CMD_INDEX")), waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")), loiter_radius (LOITER_RADIUS_DEFAULT, k_param_loiter_radius, PSTR("WP_LOITER_RAD")), #if GEOFENCE_ENABLED == ENABLED fence_action (0, k_param_fence_action, PSTR("FENCE_ACTION")), fence_total (0, k_param_fence_total, PSTR("FENCE_TOTAL")), fence_channel (0, k_param_fence_channel, PSTR("FENCE_CHANNEL")), fence_minalt (0, k_param_fence_minalt, PSTR("FENCE_MINALT")), fence_maxalt (0, k_param_fence_maxalt, PSTR("FENCE_MAXALT")), #endif flybywire_airspeed_min (AIRSPEED_FBW_MIN, k_param_flybywire_airspeed_min, PSTR("ARSPD_FBW_MIN")), flybywire_airspeed_max (AIRSPEED_FBW_MAX, k_param_flybywire_airspeed_max, PSTR("ARSPD_FBW_MAX")), throttle_min (THROTTLE_MIN, k_param_throttle_min, PSTR("THR_MIN")), throttle_max (THROTTLE_MAX, k_param_throttle_max, PSTR("THR_MAX")), throttle_slewrate (THROTTLE_SLEW_LIMIT, k_param_throttle_slewrate, PSTR("THR_SLEWRATE")), throttle_fs_enabled (THROTTLE_FAILSAFE, k_param_throttle_fs_enabled, PSTR("THR_FAILSAFE")), throttle_fs_value (THROTTLE_FS_VALUE, k_param_throttle_fs_value, PSTR("THR_FS_VALUE")), throttle_cruise (THROTTLE_CRUISE, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")), short_fs_action (SHORT_FAILSAFE_ACTION, k_param_short_fs_action, PSTR("FS_SHORT_ACTN")), long_fs_action (LONG_FAILSAFE_ACTION, k_param_long_fs_action, PSTR("FS_LONG_ACTN")), gcs_heartbeat_fs_enabled(GCS_HEARTBEAT_FAILSAFE, k_param_gcs_heartbeat_fs_enabled, PSTR("FS_GCS_ENABL")), flight_mode_channel (FLIGHT_MODE_CHANNEL, k_param_flight_mode_channel, PSTR("FLTMODE_CH")), flight_mode1 (FLIGHT_MODE_1, k_param_flight_mode1, PSTR("FLTMODE1")), flight_mode2 (FLIGHT_MODE_2, k_param_flight_mode2, PSTR("FLTMODE2")), flight_mode3 (FLIGHT_MODE_3, k_param_flight_mode3, PSTR("FLTMODE3")), flight_mode4 (FLIGHT_MODE_4, k_param_flight_mode4, PSTR("FLTMODE4")), flight_mode5 (FLIGHT_MODE_5, k_param_flight_mode5, PSTR("FLTMODE5")), flight_mode6 (FLIGHT_MODE_6, k_param_flight_mode6, PSTR("FLTMODE6")), roll_limit (HEAD_MAX_CENTIDEGREE, k_param_roll_limit, PSTR("LIM_ROLL_CD")), pitch_limit_max (PITCH_MAX_CENTIDEGREE, k_param_pitch_limit_max, PSTR("LIM_PITCH_MAX")), pitch_limit_min (PITCH_MIN_CENTIDEGREE, k_param_pitch_limit_min, PSTR("LIM_PITCH_MIN")), auto_trim (AUTO_TRIM, k_param_auto_trim, PSTR("TRIM_AUTO")), switch_enable (REVERSE_SWITCH, k_param_switch_enable, PSTR("SWITCH_ENABLE")), mix_mode (ELEVON_MIXING, k_param_mix_mode, PSTR("ELEVON_MIXING")), reverse_elevons (ELEVON_REVERSE, k_param_reverse_elevons, PSTR("ELEVON_REVERSE")), reverse_ch1_elevon (ELEVON_CH1_REVERSE, k_param_reverse_ch1_elevon, PSTR("ELEVON_CH1_REV")), reverse_ch2_elevon (ELEVON_CH2_REVERSE, k_param_reverse_ch2_elevon, PSTR("ELEVON_CH2_REV")), num_resets (0, k_param_num_resets, PSTR("SYS_NUM_RESETS")), log_bitmask (DEFAULT_LOG_BITMASK, k_param_log_bitmask, PSTR("LOG_BITMASK")), log_last_filenumber (0, k_param_log_last_filenumber, PSTR("LOG_LASTFILE")), reset_switch_chan (0, k_param_reset_switch_chan, PSTR("RST_SWITCH_CH")), airspeed_cruise (AIRSPEED_CRUISE_CM, k_param_airspeed_cruise, PSTR("TRIM_ARSPD_CM")), min_gndspeed (MIN_GNDSPEED_CM, k_param_min_gndspeed, PSTR("MIN_GNDSPD_CM")), pitch_trim (0, k_param_pitch_trim, PSTR("TRIM_PITCH_CD")), RTL_altitude (ALT_HOLD_HOME_CM, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")), FBWB_min_altitude (ALT_HOLD_FBW_CM, k_param_FBWB_min_altitude, PSTR("ALT_HOLD_FBWCM")), ground_temperature (0, k_param_ground_temperature, PSTR("GND_TEMP")), ground_pressure (0, k_param_ground_pressure, PSTR("GND_ABS_PRESS")), compass_enabled (MAGNETOMETER, k_param_compass_enabled, PSTR("MAG_ENABLE")), flap_1_percent (FLAP_1_PERCENT, k_param_flap_1_percent, PSTR("FLAP_1_PERCNT")), flap_1_speed (FLAP_1_SPEED, k_param_flap_1_speed, PSTR("FLAP_1_SPEED")), flap_2_percent (FLAP_2_PERCENT, k_param_flap_2_percent, PSTR("FLAP_2_PERCNT")), flap_2_speed (FLAP_2_SPEED, k_param_flap_2_speed, PSTR("FLAP_2_SPEED")), battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")), volt_div_ratio (VOLT_DIV_RATIO, k_param_volt_div_ratio, PSTR("VOLT_DIVIDER")), curr_amp_per_volt (CURR_AMP_PER_VOLT, k_param_curr_amp_per_volt, PSTR("AMP_PER_VOLT")), input_voltage (INPUT_VOLTAGE, k_param_input_voltage, PSTR("INPUT_VOLTS")), pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")), inverted_flight_ch (0, k_param_inverted_flight_ch, PSTR("INVERTEDFLT_CH")), sonar_enabled (SONAR_ENABLED, k_param_sonar_enabled, PSTR("SONAR_ENABLE")), airspeed_enabled (AIRSPEED_SENSOR, k_param_airspeed_enabled, PSTR("ARSPD_ENABLE")), // Note - total parameter name length must be less than 14 characters for MAVLink compatibility! // RC channel group key name //---------------------------------------------------------------------- channel_roll (k_param_channel_roll, PSTR("RC1_")), channel_pitch (k_param_channel_pitch, PSTR("RC2_")), channel_throttle (k_param_channel_throttle, PSTR("RC3_")), channel_rudder (k_param_channel_yaw, PSTR("RC4_")), rc_5 (k_param_rc_5, PSTR("RC5_")), rc_6 (k_param_rc_6, PSTR("RC6_")), rc_7 (k_param_rc_7, PSTR("RC7_")), rc_8 (k_param_rc_8, PSTR("RC8_")), // PID controller group key name initial P initial I initial D initial imax //--------------------------------------------------------------------------------------------------------------------------------------- pidNavRoll (k_param_heading_to_roll_PID, PSTR("HDNG2RLL_"), NAV_ROLL_P, NAV_ROLL_I, NAV_ROLL_D, NAV_ROLL_INT_MAX_CENTIDEGREE), pidServoRoll (k_param_roll_to_servo_PID, PSTR("RLL2SRV_"), SERVO_ROLL_P, SERVO_ROLL_I, SERVO_ROLL_D, SERVO_ROLL_INT_MAX_CENTIDEGREE), pidServoPitch (k_param_pitch_to_servo_PID, PSTR("PTCH2SRV_"), SERVO_PITCH_P, SERVO_PITCH_I, SERVO_PITCH_D, SERVO_PITCH_INT_MAX_CENTIDEGREE), pidNavPitchAirspeed (k_param_airspeed_to_pitch_PID, PSTR("ARSP2PTCH_"), NAV_PITCH_ASP_P, NAV_PITCH_ASP_I, NAV_PITCH_ASP_D, NAV_PITCH_ASP_INT_MAX_CMSEC), pidServoRudder (k_param_yaw_to_servo_PID, PSTR("YW2SRV_"), SERVO_YAW_P, SERVO_YAW_I, SERVO_YAW_D, SERVO_YAW_INT_MAX), pidTeThrottle (k_param_energy_to_throttle_PID, PSTR("ENRGY2THR_"), THROTTLE_TE_P, THROTTLE_TE_I, THROTTLE_TE_D, THROTTLE_TE_INT_MAX), pidNavPitchAltitude (k_param_altitude_to_pitch_PID, PSTR("ALT2PTCH_"), NAV_PITCH_ALT_P, NAV_PITCH_ALT_I, NAV_PITCH_ALT_D, NAV_PITCH_ALT_INT_MAX_CM), junk(0) // XXX just so that we can add things without worrying about the trailing comma { } }; #endif // PARAMETERS_H