// -*- 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 = 113; // 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 = 20, k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change #if FRAME_CONFIG == HELI_FRAME // // 80: Heli // k_param_heli_servo_1 = 80, 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, k_param_heli_servo_averaging, k_param_heli_servo_manual, k_param_heli_phase_angle, k_param_heli_coll_yaw_effect, // 97 #endif // 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, // // 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, k_param_top_bottom_ratio, k_param_optflow_enabled, k_param_input_voltage, k_param_low_voltage, k_param_ch7_option, k_param_sonar_type, // 153 k_param_reset_simple, // // 160: Navigation parameters // k_param_RTL_altitude = 160, k_param_crosstrack_gain, // // 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_esc_calibrate, k_param_radio_tuning, k_param_camera_pitch_gain, k_param_camera_roll_gain, // // 210: flight modes // k_param_flight_mode1, k_param_flight_mode2, k_param_flight_mode3, k_param_flight_mode4, k_param_flight_mode5, k_param_flight_mode6, k_param_simple_modes, // // 220: Waypoint data // k_param_waypoint_mode = 220, k_param_command_total, k_param_command_index, k_param_command_nav_index, k_param_waypoint_radius, k_param_loiter_radius, k_param_waypoint_speed_max, // // 240: PI/D Controllers // k_param_pi_rate_roll = 235, k_param_pi_rate_pitch, k_param_pi_rate_yaw, k_param_pi_stabilize_roll, k_param_pi_stabilize_pitch, k_param_pi_stabilize_yaw, k_param_pi_loiter_lat, k_param_pi_loiter_lon, k_param_pi_nav_lat, k_param_pi_nav_lon, k_param_pi_alt_hold, k_param_pi_throttle, k_param_pi_acro_roll, k_param_pi_acro_pitch, // 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; AP_Int16 RTL_altitude; AP_Int8 sonar_enabled; AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m range) 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 optflow_enabled; AP_Float input_voltage; AP_Float low_voltage; AP_Int8 reset_simple; // Waypoints // AP_Int8 waypoint_mode; AP_Int8 command_total; AP_Int8 command_index; AP_Int8 command_nav_index; AP_Int8 waypoint_radius; AP_Int16 loiter_radius; AP_Int16 waypoint_speed_max; AP_Float crosstrack_gain; // 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_Int8 flight_mode1; AP_Int8 flight_mode2; AP_Int8 flight_mode3; AP_Int8 flight_mode4; AP_Int8 flight_mode5; AP_Int8 flight_mode6; AP_Int8 simple_modes; // Misc // AP_Int16 log_bitmask; AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change AP_Int8 esc_calibrate; AP_Int8 radio_tuning; AP_Int8 frame_orientation; AP_Float top_bottom_ratio; AP_Int8 ch7_option; #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) AP_Int8 heli_servo_averaging; // 0 or 1 = no averaging (250hz) for **digital servos**, 2=average of two samples (125hz), 3=three samples (83.3hz) **analog servos**, 4=four samples (62.5hz), 5=5 samples(50hz) AP_Int8 heli_servo_manual; // 0 = normal mode, 1 = radio inputs directly control swash. required for swash set-up AP_Int16 heli_phase_angle; // 0 to 360 degrees. specifies mixing between roll and pitch for helis AP_Float heli_coll_yaw_effect; // -5.0 ~ 5.0. Feed forward control from collective to yaw. 1.0 = move rudder right 1% for every 1% of collective above the mid point #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; AP_Float camera_pitch_gain; AP_Float camera_roll_gain; // PI/D controllers APM_PI pi_rate_roll; APM_PI pi_rate_pitch; APM_PI pi_rate_yaw; APM_PI pi_stabilize_roll; APM_PI pi_stabilize_pitch; APM_PI pi_stabilize_yaw; APM_PI pi_loiter_lat; APM_PI pi_loiter_lon; APM_PI pi_nav_lat; APM_PI pi_nav_lon; APM_PI pi_alt_hold; APM_PI pi_throttle; APM_PI pi_acro_roll; APM_PI pi_acro_pitch; 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")), RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")), sonar_enabled (DISABLED, k_param_sonar, PSTR("SONAR_ENABLE")), sonar_type (AP_RANGEFINDER_MAXSONARXL, k_param_sonar_type, PSTR("SONAR_TYPE")), 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")), optflow_enabled (OPTFLOW, k_param_optflow_enabled, PSTR("FLOW_ENABLE")), input_voltage (INPUT_VOLTAGE, k_param_input_voltage, PSTR("IN_VOLT")), low_voltage (LOW_VOLTAGE, k_param_low_voltage, PSTR("LOW_VOLT")), reset_simple (RESET_SIMPLE, k_param_reset_simple, PSTR("RST_SIMPLE")), waypoint_mode (0, k_param_waypoint_mode, PSTR("WP_MODE")), command_total (0, k_param_command_total, PSTR("WP_TOTAL")), command_index (0, k_param_command_index, PSTR("WP_INDEX")), command_nav_index (0, k_param_command_nav_index, PSTR("WP_MUST_INDEX")), waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")), loiter_radius (LOITER_RADIUS, k_param_loiter_radius, PSTR("WP_LOITER_RAD")), waypoint_speed_max (WAYPOINT_SPEED_MAX, k_param_waypoint_speed_max, PSTR("WP_SPEED_MAX")), crosstrack_gain (CROSSTRACK_GAIN, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SC")), 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 (THROTTLE_CRUISE, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")), 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")), simple_modes (0, k_param_simple_modes, PSTR("SIMPLE")), log_bitmask (DEFAULT_LOG_BITMASK, k_param_log_bitmask, PSTR("LOG_BITMASK")), log_last_filenumber (0, k_param_log_last_filenumber, PSTR("LOG_LASTFILE")), esc_calibrate (0, k_param_esc_calibrate, PSTR("ESC")), radio_tuning (0, k_param_radio_tuning, PSTR("TUNE")), frame_orientation (FRAME_ORIENTATION, k_param_frame_orientation, PSTR("FRAME")), top_bottom_ratio (TOP_BOTTOM_RATIO, k_param_top_bottom_ratio, PSTR("TB_RATIO")), ch7_option (CH7_SAVE_WP, k_param_ch7_option, PSTR("CH7_OPT")), #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_")), heli_servo_averaging (0, k_param_heli_servo_averaging, PSTR("SV_AVG")), heli_servo_manual (0, k_param_heli_servo_manual, PSTR("HSV_MAN")), heli_phase_angle (0, k_param_heli_phase_angle, PSTR("H_PHANG")), heli_coll_yaw_effect (0, k_param_heli_coll_yaw_effect, PSTR("H_COLYAW")), #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, PSTR("CAM_P_")), rc_camera_roll (k_param_rc_10, PSTR("CAM_R_")), // variable default key name //------------------------------------------------------------------------------------------------------------------- camera_pitch_gain (CAM_PITCH_GAIN, k_param_camera_pitch_gain, PSTR("CAM_P_G")), camera_roll_gain (CAM_ROLL_GAIN, k_param_camera_roll_gain, PSTR("CAM_R_G")), // PI controller group key name initial P initial I initial imax //-------------------------------------------------------------------------------------------------------------------------------------------------------------------- pi_rate_roll (k_param_pi_rate_roll, PSTR("RATE_RLL_"), RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_IMAX * 100), pi_rate_pitch (k_param_pi_rate_pitch, PSTR("RATE_PIT_"), RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_IMAX * 100), pi_rate_yaw (k_param_pi_rate_yaw, PSTR("RATE_YAW_"), RATE_YAW_P, RATE_YAW_I, RATE_YAW_IMAX * 100), pi_stabilize_roll (k_param_pi_stabilize_roll, PSTR("STB_RLL_"), STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100), pi_stabilize_pitch (k_param_pi_stabilize_pitch, PSTR("STB_PIT_"), STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100), pi_stabilize_yaw (k_param_pi_stabilize_yaw, PSTR("STB_YAW_"), STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100), pi_loiter_lat (k_param_pi_loiter_lat, PSTR("HLD_LAT_"), LOITER_P, LOITER_I, LOITER_IMAX * 100), pi_loiter_lon (k_param_pi_loiter_lon, PSTR("HLD_LON_"), LOITER_P, LOITER_I, LOITER_IMAX * 100), pi_nav_lat (k_param_pi_nav_lat, PSTR("NAV_LAT_"), NAV_P, NAV_I, NAV_IMAX * 100), pi_nav_lon (k_param_pi_nav_lon, PSTR("NAV_LON_"), NAV_P, NAV_I, NAV_IMAX * 100), pi_alt_hold (k_param_pi_alt_hold, PSTR("THR_ALT_"), THR_HOLD_P, THR_HOLD_I, THR_HOLD_IMAX), pi_throttle (k_param_pi_throttle, PSTR("THR_RATE_"), THROTTLE_P, THROTTLE_I, THROTTLE_IMAX), pi_acro_roll (k_param_pi_acro_roll, PSTR("ACRO_RLL_"), ACRO_ROLL_P, ACRO_ROLL_I, ACRO_ROLL_IMAX * 100), pi_acro_pitch (k_param_pi_acro_pitch, PSTR("ACRO_PIT_"), ACRO_PITCH_P, ACRO_PITCH_I, ACRO_PITCH_IMAX * 100), junk(0) // XXX just so that we can add things without worrying about the trailing comma { } }; #endif // PARAMETERS_H