// -*- 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 = 101; // 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 = 10; // 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_log_bitmask, // 110: Telemetry control // k_param_streamrates_port0 = 110, k_param_streamrates_port3, k_param_sysid_this_mav, k_param_sysid_my_gcs, // // 140: Sensor parameters // k_param_IMU_calibration = 140, k_param_battery_monitoring, k_param_pack_capacity, k_param_compass_enabled, k_param_compass, k_param_sonar, k_param_frame_orientation, // // 160: Navigation parameters // k_param_crosstrack_gain = 160, k_param_crosstrack_entry_angle, k_param_pitch_max, k_param_RTL_altitude, // // 180: Radio settings // k_param_rc_1 = 180, k_param_rc_2, k_param_rc_3, k_param_rc_4, 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_throttle_min, k_param_throttle_max, k_param_throttle_fs_enabled, k_param_throttle_fs_action, k_param_throttle_fs_value, k_param_throttle_cruise, k_param_flight_modes, k_param_esc_calibrate, #if FRAME_CONFIG == HELI_FRAME // // 200: Heli // k_param_heli_servo_1 = 200, k_param_heli_servo_2, k_param_heli_servo_3, k_param_heli_servo_4, k_param_heli_servo1_pos , k_param_heli_servo2_pos, k_param_heli_servo3_pos, k_param_heli_roll_max, k_param_heli_pitch_max, k_param_heli_collective_min, k_param_heli_collective_max, k_param_heli_collective_mid, k_param_heli_ext_gyro_enabled, k_param_heli_ext_gyro_gain, // 213 #endif // // 220: Waypoint data // k_param_waypoint_mode = 220, k_param_waypoint_total, k_param_waypoint_index, k_param_command_must_index, k_param_waypoint_radius, k_param_loiter_radius, // // 240: PID Controllers // // Heading-to-roll PID: // heading error from commnd to roll command deviation from trim // (bank to turn strategy) // k_param_pid_acro_rate_roll = 240, k_param_pid_acro_rate_pitch, k_param_pid_acro_rate_yaw, k_param_pid_stabilize_roll, k_param_pid_stabilize_pitch, k_param_pid_yaw, k_param_pid_nav_lat, k_param_pid_nav_lon, k_param_pid_nav_wp, k_param_pid_baro_throttle, k_param_pid_sonar_throttle, // 255: reserved }; AP_Int16 format_version; AP_Int8 software_type; // Telemetry control // AP_Int16 sysid_this_mav; AP_Int16 sysid_my_gcs; // Crosstrack navigation // AP_Float crosstrack_gain; AP_Int16 crosstrack_entry_angle; // Waypoints // AP_Int8 waypoint_mode; AP_Int8 waypoint_total; AP_Int8 waypoint_index; AP_Int8 command_must_index; AP_Int8 waypoint_radius; AP_Int8 loiter_radius; // Throttle // AP_Int16 throttle_min; AP_Int16 throttle_max; AP_Int8 throttle_fs_enabled; AP_Int8 throttle_fs_action; AP_Int16 throttle_fs_value; AP_Int16 throttle_cruise; // Flight modes // AP_VarA flight_modes; // Radio settings // //AP_Var_group pwm_roll; //AP_Var_group pwm_pitch; //AP_Var_group pwm_throttle; //AP_Var_group pwm_yaw; AP_Int16 pitch_max; // Misc // AP_Int16 log_bitmask; AP_Int16 RTL_altitude; AP_Int8 sonar_enabled; AP_Int8 battery_monitoring; // 0=disabled, 1=3 cell lipo, 2=4 cell lipo, 3=total voltage only, 4=total voltage and current AP_Int16 pack_capacity; // Battery pack capacity less reserve AP_Int8 compass_enabled; AP_Int8 esc_calibrate; AP_Int8 frame_orientation; #if FRAME_CONFIG == HELI_FRAME // Heli RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail AP_Int16 heli_servo1_pos, heli_servo2_pos, heli_servo3_pos; // servo positions (3 because we don't need pos for tail servo) AP_Int16 heli_roll_max, heli_pitch_max; // maximum allowed roll and pitch of swashplate AP_Int16 heli_coll_min, heli_coll_max, heli_coll_mid; // min and max collective. mid = main blades at zero pitch AP_Int8 heli_ext_gyro_enabled; // 0 = no external tail gyro, 1 = external tail gyro AP_Int16 heli_ext_gyro_gain; // radio output 1000~2000 (value output on CH_7) #endif // RC channels RC_Channel rc_1; RC_Channel rc_2; RC_Channel rc_3; RC_Channel rc_4; RC_Channel rc_5; RC_Channel rc_6; RC_Channel rc_7; RC_Channel rc_8; RC_Channel rc_camera_pitch; RC_Channel rc_camera_roll; // PID controllers PID pid_acro_rate_roll; PID pid_acro_rate_pitch; PID pid_acro_rate_yaw; PID pid_stabilize_roll; PID pid_stabilize_pitch; PID pid_yaw; PID pid_nav_lat; PID pid_nav_lon; PID pid_nav_wp; PID pid_baro_throttle; PID pid_sonar_throttle; 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")), crosstrack_gain (XTRACK_GAIN * 100, k_param_crosstrack_gain, PSTR("XTRK_GAIN")), crosstrack_entry_angle (XTRACK_ENTRY_ANGLE * 100, k_param_crosstrack_entry_angle, PSTR("XTRACK_ANGLE")), sonar_enabled (DISABLED, k_param_sonar, PSTR("SONAR_ENABLE")), battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")), pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")), compass_enabled (MAGNETOMETER, k_param_compass_enabled, PSTR("MAG_ENABLE")), waypoint_mode (0, k_param_waypoint_mode, PSTR("WP_MODE")), waypoint_total (0, k_param_waypoint_total, PSTR("WP_TOTAL")), waypoint_index (0, k_param_waypoint_index, PSTR("WP_INDEX")), command_must_index (0, k_param_command_must_index, PSTR("WP_MUST_INDEX")), waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")), loiter_radius (LOITER_RADIUS_DEFAULT, k_param_loiter_radius, PSTR("LOITER_RADIUS")), throttle_min (0, k_param_throttle_min, PSTR("THR_MIN")), throttle_max (1000, k_param_throttle_max, PSTR("THR_MAX")), throttle_fs_enabled (THROTTLE_FAILSAFE, k_param_throttle_fs_enabled, PSTR("THR_FAILSAFE")), throttle_fs_action (THROTTLE_FAILSAFE_ACTION, k_param_throttle_fs_action, PSTR("THR_FS_ACTION")), throttle_fs_value (THROTTLE_FS_VALUE, k_param_throttle_fs_value, PSTR("THR_FS_VALUE")), throttle_cruise (100, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")), flight_modes (k_param_flight_modes, PSTR("FLTMODE")), pitch_max (PITCH_MAX * 100, k_param_pitch_max, PSTR("PITCH_MAX")), log_bitmask (MASK_LOG_SET_DEFAULTS, k_param_log_bitmask, PSTR("LOG_BITMASK")), RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")), esc_calibrate (0, k_param_esc_calibrate, PSTR("ESC")), frame_orientation (FRAME_ORIENTATION, k_param_frame_orientation, PSTR("FRAME")), #if FRAME_CONFIG == HELI_FRAME heli_servo_1 (k_param_heli_servo_1, PSTR("HS1_")), heli_servo_2 (k_param_heli_servo_2, PSTR("HS2_")), heli_servo_3 (k_param_heli_servo_3, PSTR("HS3_")), heli_servo_4 (k_param_heli_servo_4, PSTR("HS4_")), heli_servo1_pos (-60, k_param_heli_servo1_pos, PSTR("SV1_POS_")), heli_servo2_pos (60, k_param_heli_servo2_pos, PSTR("SV2_POS_")), heli_servo3_pos (180, k_param_heli_servo3_pos, PSTR("SV3_POS_")), heli_roll_max (4500, k_param_heli_roll_max, PSTR("ROL_MAX_")), heli_pitch_max (4500, k_param_heli_pitch_max, PSTR("PIT_MAX_")), heli_coll_min (1000, k_param_heli_collective_min, PSTR("COL_MIN_")), heli_coll_max (2000, k_param_heli_collective_max, PSTR("COL_MAX_")), heli_coll_mid (1500, k_param_heli_collective_mid, PSTR("COL_MID_")), heli_ext_gyro_enabled (0, k_param_heli_ext_gyro_enabled, PSTR("GYR_ENABLE_")), heli_ext_gyro_gain (1000, k_param_heli_ext_gyro_gain, PSTR("GYR_GAIN_")), #endif // RC channel group key name //---------------------------------------------------------------------- rc_1 (k_param_rc_1, PSTR("RC1_")), rc_2 (k_param_rc_2, PSTR("RC2_")), rc_3 (k_param_rc_3, PSTR("RC3_")), rc_4 (k_param_rc_4, 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_")), rc_camera_pitch (k_param_rc_9, NULL), rc_camera_roll (k_param_rc_10, NULL), // PID controller group key name initial P initial I initial D initial imax //-------------------------------------------------------------------------------------------------------------------------------------------------------------------- pid_acro_rate_roll (k_param_pid_acro_rate_roll, PSTR("ACR_RLL_"), ACRO_RATE_ROLL_P, ACRO_RATE_ROLL_I, ACRO_RATE_ROLL_D, ACRO_RATE_ROLL_IMAX * 100), pid_acro_rate_pitch (k_param_pid_acro_rate_pitch, PSTR("ACR_PIT_"), ACRO_RATE_PITCH_P, ACRO_RATE_PITCH_I, ACRO_RATE_PITCH_D, ACRO_RATE_PITCH_IMAX * 100), pid_acro_rate_yaw (k_param_pid_acro_rate_yaw, PSTR("ACR_YAW_"), ACRO_RATE_YAW_P, ACRO_RATE_YAW_I, ACRO_RATE_YAW_D, ACRO_RATE_YAW_IMAX * 100), pid_stabilize_roll (k_param_pid_stabilize_roll, PSTR("STB_RLL_"), STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_D, STABILIZE_ROLL_IMAX * 100), pid_stabilize_pitch (k_param_pid_stabilize_pitch, PSTR("STB_PIT_"), STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_D, STABILIZE_PITCH_IMAX * 100), pid_yaw (k_param_pid_yaw, PSTR("STB_YAW_"), YAW_P, YAW_I, YAW_D, YAW_IMAX * 100), pid_nav_lat (k_param_pid_nav_lat, PSTR("NAV_LAT_"), NAV_LOITER_P, NAV_LOITER_I, NAV_LOITER_D, NAV_LOITER_IMAX * 100), pid_nav_lon (k_param_pid_nav_lon, PSTR("NAV_LON_"), NAV_LOITER_P, NAV_LOITER_I, NAV_LOITER_D, NAV_LOITER_IMAX * 100), pid_nav_wp (k_param_pid_nav_wp, PSTR("NAV_WP_"), NAV_WP_P, NAV_WP_I, NAV_WP_D, NAV_WP_IMAX * 100), pid_baro_throttle (k_param_pid_baro_throttle, PSTR("THR_BAR_"), THROTTLE_BARO_P, THROTTLE_BARO_I, THROTTLE_BARO_D, THROTTLE_BARO_IMAX), pid_sonar_throttle (k_param_pid_sonar_throttle, PSTR("THR_SON_"), THROTTLE_SONAR_P, THROTTLE_SONAR_I, THROTTLE_SONAR_D, THROTTLE_SONAR_IMAX), junk(0) // XXX just so that we can add things without worrying about the trailing comma { } }; #endif // PARAMETERS_H