// -*- 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 value of k_format_version determines whether the existing * eeprom data is considered valid. You should only change this * value under the following circumstances: * * 1) the meaning of an existing eeprom parameter changes * * 2) the value of an existing k_param_* enum value changes * * Adding a new parameter should _not_ require a change to * k_format_version except under special circumstances. If you * change it anyway then all ArduPlane users will need to reload all * their parameters. We want that to be an extremely rare * thing. Please do not just change it "just in case". * * To determine if a k_param_* value has changed, use the rules of * C++ enums to work out the value of the neighboring enum * values. If you don't know the C++ enum rules then please ask for * help. */ ////////////////////////////////////////////////////////////////// // STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE // COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!! static const uint16_t k_format_version = 13; ////////////////////////////////////////////////////////////////// // 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 enum { // Layout version number, always key zero. // k_param_format_version = 0, k_param_software_type, k_param_num_resets, // Misc // k_param_auto_trim = 10, k_param_log_bitmask_old, // unused k_param_pitch_trim_cd, 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_reset_switch_chan, k_param_manual_level, // unused k_param_land_pitch_cd, k_param_ins_old, // *** Deprecated, remove with next eeprom number change k_param_stick_mixing, k_param_reset_mission_chan, k_param_land_flare_alt, k_param_land_flare_sec, k_param_crosstrack_min_distance, // unused k_param_rudder_steer, // unused k_param_throttle_nudge, k_param_alt_offset, k_param_ins, // libraries/AP_InertialSensor variables k_param_takeoff_throttle_min_speed, k_param_takeoff_throttle_min_accel, k_param_takeoff_heading_hold, // unused k_param_level_roll_limit, k_param_hil_servos, k_param_vtail_output, k_param_nav_controller, k_param_elevon_output, k_param_att_controller, k_param_mixing_gain, k_param_scheduler, k_param_relay, k_param_takeoff_throttle_delay, k_param_skip_gyro_cal, k_param_auto_fbw_steer, k_param_waypoint_max_radius, k_param_ground_steer_alt, k_param_ground_steer_dps, k_param_rally_limit_km_old, //unused anymore -- just holding this index k_param_hil_err_limit, k_param_sonar_old, // unused k_param_log_bitmask, k_param_BoardConfig, k_param_rssi_range, k_param_flapin_channel, k_param_flaperon_output, k_param_gps, k_param_autotune_level, k_param_rally, k_param_serial0_baud, k_param_serial1_baud, k_param_serial2_baud, k_param_takeoff_tdrag_elevator, k_param_takeoff_tdrag_speed1, k_param_takeoff_rotate_speed, k_param_takeoff_throttle_slewrate, k_param_takeoff_throttle_max, k_param_sonar, // 100: Arming parameters k_param_arming = 100, // 105: Extra parameters k_param_fence_retalt = 105, k_param_fence_autoenable, k_param_fence_ret_rally, // 110: Telemetry control // k_param_gcs0 = 110, // stream rates for uartA k_param_gcs1, // stream rates for uartC k_param_sysid_this_mav, k_param_sysid_my_gcs, k_param_serial1_baud_old, // deprecated k_param_telem_delay, k_param_serial0_baud_old, // deprecated k_param_gcs2, // stream rates for uartD k_param_serial2_baud_old, // deprecated // 120: Fly-by-wire control // k_param_airspeed_min = 120, k_param_airspeed_max, k_param_FBWB_min_altitude_cm, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm) k_param_flybywire_elev_reverse, k_param_alt_control_algorithm, k_param_flybywire_climb_rate, k_param_acro_roll_rate, k_param_acro_pitch_rate, k_param_acro_locking, // // 130: Sensor parameters // k_param_imu = 130, // unused k_param_altitude_mix, k_param_compass_enabled, k_param_compass, k_param_battery_monitoring, // unused k_param_volt_div_ratio, // unused k_param_curr_amp_per_volt, // unused k_param_input_voltage, // deprecated, can be deleted k_param_pack_capacity, // unused k_param_sonar_enabled, k_param_ahrs, // AHRS group k_param_barometer, // barometer ground calibration k_param_airspeed, // AP_Airspeed parameters k_param_curr_amp_offset, k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group k_param_mission, // mission library // // 150: Navigation parameters // k_param_crosstrack_gain = 150, // unused k_param_crosstrack_entry_angle, // unused k_param_roll_limit_cd, k_param_pitch_limit_max_cd, k_param_pitch_limit_min_cd, k_param_airspeed_cruise_cm, k_param_RTL_altitude_cm, k_param_inverted_flight_ch, k_param_min_gndspeed_cm, k_param_crosstrack_use_wind, // unused // // Camera and mount parameters // k_param_camera = 160, k_param_camera_mount, k_param_camera_mount2, // // Battery monitoring parameters // k_param_battery = 166, k_param_rssi_pin, k_param_battery_volt_pin, // unused k_param_battery_curr_pin, // unused - 169 // // 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_9, k_param_rc_10, k_param_rc_11, 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, k_param_throttle_suppress_manual, k_param_throttle_passthru_stabilize, k_param_rc_12, k_param_fs_batt_voltage, k_param_fs_batt_mah, k_param_short_fs_timeout, k_param_long_fs_timeout, k_param_rc_13, k_param_rc_14, // // 200: Feed-forward gains // k_param_kff_pitch_compensation = 200, // unused k_param_kff_rudder_mix, k_param_kff_pitch_to_throttle, // unused k_param_kff_throttle_to_pitch, k_param_scaling_speed, // // 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, // unused k_param_command_index, // unused 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, // other objects k_param_sitl = 230, k_param_obc, k_param_rollController, k_param_pitchController, k_param_yawController, k_param_L1_controller, k_param_rcmap, k_param_TECS_controller, k_param_rally_total_old, //unused k_param_steerController, // // 240: PID Controllers k_param_pidNavRoll = 240, // unused k_param_pidServoRoll, // unused k_param_pidServoPitch, // unused k_param_pidNavPitchAirspeed, // unused k_param_pidServoRudder, // unused k_param_pidTeThrottle, // unused k_param_pidNavPitchAltitude, // unused k_param_pidWheelSteer, // unused // 254,255: reserved }; AP_Int16 format_version; AP_Int8 software_type; // Telemetry control // AP_Int16 sysid_this_mav; AP_Int16 sysid_my_gcs; AP_Int16 serial0_baud; AP_Int16 serial1_baud; #if MAVLINK_COMM_NUM_BUFFERS > 2 AP_Int16 serial2_baud; #endif AP_Int8 telem_delay; #if HIL_MODE != HIL_MODE_DISABLED AP_Float hil_err_limit; #endif // Feed-forward gains // AP_Float kff_rudder_mix; AP_Float kff_pitch_to_throttle; AP_Float kff_throttle_to_pitch; AP_Float ground_steer_alt; AP_Int16 ground_steer_dps; // speed used for speed scaling AP_Float scaling_speed; // navigation controller type. See AP_Navigation::ControllerType AP_Int8 nav_controller; // attitude controller type. AP_Int8 att_controller; // skip gyro calibration AP_Int8 skip_gyro_cal; AP_Int8 auto_fbw_steer; // Estimation // AP_Float altitude_mix; AP_Int8 alt_control_algorithm; // Waypoints // AP_Int8 waypoint_mode; AP_Int16 waypoint_radius; AP_Int16 waypoint_max_radius; AP_Int16 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 AP_Int16 fence_retalt; // meters AP_Int8 fence_autoenable; AP_Int8 fence_ret_rally; #endif // Fly-by-wire // AP_Int8 flybywire_elev_reverse; AP_Int8 flybywire_climb_rate; // Throttle // AP_Int8 throttle_suppress_manual; AP_Int8 throttle_passthru_stabilize; AP_Int8 throttle_fs_enabled; AP_Int16 throttle_fs_value; AP_Int8 throttle_nudge; // Failsafe AP_Int8 short_fs_action; AP_Int8 long_fs_action; AP_Float short_fs_timeout; AP_Float long_fs_timeout; AP_Int8 gcs_heartbeat_fs_enabled; AP_Float fs_batt_voltage; AP_Float fs_batt_mah; // 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_cd; AP_Int16 alt_offset; AP_Int16 acro_roll_rate; AP_Int16 acro_pitch_rate; AP_Int8 acro_locking; // Misc // AP_Int8 auto_trim; AP_Int8 mix_mode; AP_Int8 vtail_output; AP_Int8 elevon_output; AP_Float mixing_gain; AP_Int8 reverse_elevons; AP_Int8 reverse_ch1_elevon; AP_Int8 reverse_ch2_elevon; AP_Int16 num_resets; AP_Int32 log_bitmask; AP_Int8 reset_switch_chan; AP_Int8 reset_mission_chan; AP_Int32 airspeed_cruise_cm; AP_Int32 RTL_altitude_cm; AP_Int16 land_pitch_cd; AP_Float land_flare_alt; AP_Float land_flare_sec; AP_Int32 min_gndspeed_cm; AP_Int16 pitch_trim_cd; AP_Int16 FBWB_min_altitude_cm; #if HIL_MODE != HIL_MODE_DISABLED AP_Int8 hil_servos; #endif AP_Int8 compass_enabled; AP_Int8 flap_1_percent; AP_Int8 flap_1_speed; AP_Int8 flap_2_percent; AP_Int8 flap_2_speed; 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 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger AP_Int8 stick_mixing; AP_Float takeoff_throttle_min_speed; AP_Float takeoff_throttle_min_accel; AP_Int8 takeoff_throttle_delay; AP_Int8 takeoff_tdrag_elevator; AP_Float takeoff_tdrag_speed1; AP_Float takeoff_rotate_speed; AP_Int8 takeoff_throttle_slewrate; AP_Int8 takeoff_throttle_max; AP_Int8 level_roll_limit; AP_Int8 flapin_channel; AP_Int8 flaperon_output; // 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 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN RC_Channel_aux rc_10; RC_Channel_aux rc_11; #endif #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 uint8_t _dummy; Parameters() : // variable default //---------------------------------------- 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 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN rc_10 (CH_10), rc_11 (CH_11), #endif #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 _dummy(0) {} }; extern const AP_Param::Info var_info[]; #endif // PARAMETERS_H