// -*- 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 = 120; // 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_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, k_param_ins_old, // *** Deprecated, remove with next eeprom number change k_param_ins, // libraries/AP_InertialSensor variables // simulation k_param_sitl = 10, // barometer object (needed for SITL) k_param_barometer, // scheduler object (for debugging) k_param_scheduler, // relay object k_param_relay, // EPM object k_param_epm, // BoardConfig object k_param_BoardConfig, // GPS object k_param_gps, // Parachute object k_param_parachute, // 17 // Landing gear object k_param_landinggear, // 18 // Misc // k_param_log_bitmask_old = 20, // Deprecated k_param_log_last_filenumber, // *** Deprecated - remove // with next eeprom number // change k_param_toy_yaw_rate, // deprecated - remove k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change k_param_rssi_pin, k_param_throttle_accel_enabled, // deprecated - remove k_param_wp_yaw_behavior, k_param_acro_trainer, k_param_pilot_velocity_z_max, k_param_circle_rate, // deprecated - remove k_param_sonar_gain, k_param_ch8_option, k_param_arming_check, k_param_sprayer, k_param_angle_max, k_param_gps_hdop_good, k_param_battery, k_param_fs_batt_mah, k_param_angle_rate_max, // remove k_param_rssi_range, k_param_rc_feel_rp, k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group k_param_mission, // mission library k_param_rc_13, k_param_rc_14, k_param_rally, k_param_poshold_brake_rate, k_param_poshold_brake_angle_max, k_param_pilot_accel_z, k_param_serial0_baud, // deprecated - remove k_param_serial1_baud, // deprecated - remove k_param_serial2_baud, // deprecated - remove k_param_land_repositioning, k_param_sonar, // sonar object k_param_ekfcheck_thresh, k_param_terrain, k_param_acro_expo, k_param_throttle_deadzone, k_param_optflow, k_param_dcmcheck_thresh, // deprecated - remove k_param_log_bitmask, k_param_cli_enabled, // 61 k_param_throttle_filt, // 62 // 65: AP_Limits Library k_param_limits = 65, // deprecated - remove k_param_gpslock_limit, // deprecated - remove k_param_geofence_limit, // deprecated - remove k_param_altitude_limit, // deprecated - remove k_param_fence, k_param_gps_glitch, // deprecated k_param_baro_glitch, // 71 - deprecated // // 75: Singlecopter, CoaxCopter // k_param_single_servo_1 = 75, k_param_single_servo_2, k_param_single_servo_3, k_param_single_servo_4, // 78 // // 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_pitch_ff, // remove k_param_heli_roll_ff, // remove k_param_heli_yaw_ff, // remove k_param_heli_stab_col_min, k_param_heli_stab_col_max, // 88 // // 90: Motors // k_param_motors = 90, // // 100: Inertial Nav // k_param_inertial_nav = 100, // deprecated k_param_wp_nav, k_param_attitude_control, k_param_pos_control, k_param_circle_nav, // 104 // 110: Telemetry control // k_param_gcs0 = 110, k_param_gcs1, k_param_sysid_this_mav, k_param_sysid_my_gcs, k_param_serial1_baud_old, // deprecated k_param_telem_delay, k_param_gcs2, k_param_serial2_baud_old, // deprecated k_param_serial2_protocol, // deprecated k_param_serial_manager, // 119 k_param_ch9_option, k_param_ch10_option, k_param_ch11_option, k_param_ch12_option, // 123 // // 140: Sensor parameters // k_param_imu = 140, // deprecated - can be deleted k_param_battery_monitoring = 141, // deprecated - can be deleted k_param_volt_div_ratio, // deprecated - can be deleted k_param_curr_amp_per_volt, // deprecated - can be deleted k_param_input_voltage, // deprecated - can be deleted k_param_pack_capacity, // deprecated - can be deleted k_param_compass_enabled, k_param_compass, k_param_sonar_enabled_old, // deprecated k_param_frame_orientation, k_param_optflow_enabled, // deprecated k_param_fs_batt_voltage, k_param_ch7_option, k_param_auto_slew_rate, // deprecated - can be deleted k_param_sonar_type_old, // deprecated k_param_super_simple = 155, k_param_axis_enabled = 157, // deprecated - remove with next eeprom number change k_param_copter_leds_mode, // deprecated - remove with next eeprom number change k_param_ahrs, // AHRS group // 159 // // 160: Navigation parameters // k_param_rtl_altitude = 160, k_param_crosstrack_gain, // deprecated - remove with next eeprom number change k_param_rtl_loiter_time, k_param_rtl_alt_final, k_param_tilt_comp, //164 deprecated - remove with next eeprom number change // // Camera and mount parameters // k_param_camera = 165, k_param_camera_mount, k_param_camera_mount2, // deprecated // // Batery monitoring parameters // k_param_battery_volt_pin = 168, // deprecated - can be deleted k_param_battery_curr_pin, // 169 deprecated - can be deleted // // 170: Radio settings // k_param_rc_1 = 170, 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_10, k_param_rc_11, k_param_throttle_min, k_param_throttle_max, // remove k_param_failsafe_throttle, k_param_throttle_fs_action, // remove k_param_failsafe_throttle_value, k_param_throttle_trim, // remove k_param_esc_calibrate, k_param_radio_tuning, k_param_radio_tuning_high, k_param_radio_tuning_low, k_param_rc_speed = 192, k_param_failsafe_battery_enabled, k_param_throttle_mid, k_param_failsafe_gps_enabled, // remove k_param_rc_9, k_param_rc_12, k_param_failsafe_gcs, // 198 k_param_rcmap, // 199 // // 200: flight modes // k_param_flight_mode1 = 200, k_param_flight_mode2, k_param_flight_mode3, k_param_flight_mode4, k_param_flight_mode5, k_param_flight_mode6, k_param_simple_modes, // // 210: Waypoint data // k_param_waypoint_mode = 210, // remove k_param_command_total, // remove k_param_command_index, // remove k_param_command_nav_index, // remove k_param_waypoint_radius, // remove k_param_circle_radius, // remove k_param_waypoint_speed_max, // remove k_param_land_speed, k_param_auto_velocity_z_min, // remove k_param_auto_velocity_z_max, // remove - 219 // // 220: PI/D Controllers // k_param_acro_rp_p = 221, k_param_axis_lock_p, // remove k_param_pid_rate_roll, k_param_pid_rate_pitch, k_param_pid_rate_yaw, k_param_p_stabilize_roll, k_param_p_stabilize_pitch, k_param_p_stabilize_yaw, k_param_p_pos_xy, k_param_p_loiter_lon, // remove k_param_pid_loiter_rate_lat, // remove k_param_pid_loiter_rate_lon, // remove k_param_pid_nav_lat, // 233 - remove k_param_pid_nav_lon, // 234 - remove k_param_p_alt_hold, k_param_p_vel_z, k_param_pid_optflow_roll, // 237 - remove k_param_pid_optflow_pitch, // 238 - remove k_param_acro_balance_roll_old, // 239 - remove k_param_acro_balance_pitch_old, // 240 - remove k_param_pid_accel_z, k_param_acro_balance_roll, k_param_acro_balance_pitch, k_param_acro_yaw_p, // 244 k_param_autotune_axis_bitmask, // 245 k_param_autotune_aggressiveness, // 246 k_param_pi_vel_xy, // 247 // 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 telem_delay; #if CLI_ENABLED == ENABLED AP_Int8 cli_enabled; #endif AP_Float throttle_filt; AP_Int16 rtl_altitude; AP_Float sonar_gain; AP_Int8 failsafe_battery_enabled; // battery failsafe enabled AP_Float fs_batt_voltage; // battery voltage below which failsafe will be triggered AP_Float fs_batt_mah; // battery capacity (in mah) below which failsafe will be triggered AP_Int8 failsafe_gcs; // ground station failsafe behavior AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position AP_Int8 compass_enabled; AP_Int8 super_simple; AP_Int16 rtl_alt_final; AP_Int8 rssi_pin; AP_Float rssi_range; // allows to set max voltage for rssi pin such as 5.0, 3.3 etc. 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 AP_Int16 poshold_brake_rate; // PosHold flight mode's rotation rate during braking in deg/sec AP_Int16 poshold_brake_angle_max; // PosHold flight mode's max lean angle during braking in centi-degrees // Waypoints // AP_Int32 rtl_loiter_time; AP_Int16 land_speed; AP_Int16 pilot_velocity_z_max; // maximum vertical velocity the pilot may request AP_Int16 pilot_accel_z; // vertical acceleration the pilot may request // Throttle // AP_Int16 throttle_min; AP_Int8 failsafe_throttle; AP_Int16 failsafe_throttle_value; AP_Int16 throttle_mid; AP_Int16 throttle_deadzone; // 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_Int32 log_bitmask; AP_Int8 esc_calibrate; AP_Int8 radio_tuning; AP_Int16 radio_tuning_high; AP_Int16 radio_tuning_low; AP_Int8 frame_orientation; AP_Int8 ch7_option; AP_Int8 ch8_option; AP_Int8 ch9_option; AP_Int8 ch10_option; AP_Int8 ch11_option; AP_Int8 ch12_option; AP_Int8 arming_check; AP_Int8 land_repositioning; AP_Float ekfcheck_thresh; #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_stab_col_min; // min collective while pilot directly controls collective in stabilize mode AP_Int16 heli_stab_col_max; // min collective while pilot directly controls collective in stabilize mode #endif #if FRAME_CONFIG == SINGLE_FRAME // Single RC_Channel single_servo_1, single_servo_2, single_servo_3, single_servo_4; // servos for four flaps #endif #if FRAME_CONFIG == COAX_FRAME // Coax copter flaps RC_Channel single_servo_1, single_servo_2; // servos for two flaps #endif // RC channels RC_Channel rc_1; RC_Channel rc_2; RC_Channel rc_3; RC_Channel rc_4; RC_Channel_aux rc_5; RC_Channel_aux rc_6; RC_Channel_aux rc_7; RC_Channel_aux rc_8; #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN RC_Channel_aux rc_9; #endif RC_Channel_aux rc_10; RC_Channel_aux rc_11; #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN RC_Channel_aux rc_12; RC_Channel_aux rc_13; RC_Channel_aux rc_14; #endif AP_Int16 rc_speed; // speed of fast RC Channels in Hz // 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; // PI/D controllers #if FRAME_CONFIG == HELI_FRAME AC_HELI_PID pid_rate_roll; AC_HELI_PID pid_rate_pitch; AC_HELI_PID pid_rate_yaw; #else AC_PID pid_rate_roll; AC_PID pid_rate_pitch; AC_PID pid_rate_yaw; #endif AC_PI_2D pi_vel_xy; AC_P p_vel_z; AC_PID pid_accel_z; AC_P p_pos_xy; AC_P p_stabilize_roll; AC_P p_stabilize_pitch; AC_P p_stabilize_yaw; AC_P p_alt_hold; // Autotune AP_Int8 autotune_axis_bitmask; AP_Float autotune_aggressiveness; // Note: keep initializers here in the same order as they are declared // above. Parameters() : #if FRAME_CONFIG == HELI_FRAME heli_servo_1 (CH_1), heli_servo_2 (CH_2), heli_servo_3 (CH_3), heli_servo_4 (CH_4), #endif #if FRAME_CONFIG == SINGLE_FRAME single_servo_1 (CH_1), single_servo_2 (CH_2), single_servo_3 (CH_3), single_servo_4 (CH_4), #endif #if FRAME_CONFIG == COAX_FRAME single_servo_1 (CH_1), single_servo_2 (CH_2), #endif rc_1 (CH_1), rc_2 (CH_2), rc_3 (CH_3), rc_4 (CH_4), rc_5 (CH_5), rc_6 (CH_6), rc_7 (CH_7), rc_8 (CH_8), #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN rc_9 (CH_9), #endif rc_10 (CH_10), rc_11 (CH_11), #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN rc_12 (CH_12), rc_13 (CH_13), rc_14 (CH_14), #endif // PID controller initial P initial I initial D initial imax initial filt hz pid rate //--------------------------------------------------------------------------------------------------------------------------------- pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX, RATE_ROLL_FILT_HZ, MAIN_LOOP_SECONDS), pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX, RATE_PITCH_FILT_HZ, MAIN_LOOP_SECONDS), pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX, RATE_YAW_FILT_HZ, MAIN_LOOP_SECONDS), pi_vel_xy (VEL_XY_P, VEL_XY_I, VEL_XY_IMAX, VEL_XY_FILT_HZ, WPNAV_LOITER_UPDATE_TIME), p_vel_z (VEL_Z_P), pid_accel_z (ACCEL_Z_P, ACCEL_Z_I, ACCEL_Z_D, ACCEL_Z_IMAX, ACCEL_Z_FILT_HZ, MAIN_LOOP_SECONDS), // P controller initial P //---------------------------------------------------------------------- p_pos_xy (POS_XY_P), p_stabilize_roll (STABILIZE_ROLL_P), p_stabilize_pitch (STABILIZE_PITCH_P), p_stabilize_yaw (STABILIZE_YAW_P), p_alt_hold (ALT_HOLD_P) { } }; extern const AP_Param::Info var_info[]; #endif // PARAMETERS_H