mirror of https://github.com/ArduPilot/ardupilot
1174 lines
51 KiB
C++
1174 lines
51 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* ArduCopter parameter definitions
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*
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*/
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#define GSCALAR(v, name, def) { copter.g.v.vtype, name, Parameters::k_param_ ## v, &copter.g.v, {def_value : def} }
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#define ASCALAR(v, name, def) { copter.aparm.v.vtype, name, Parameters::k_param_ ## v, (const void *)&copter.aparm.v, {def_value : def} }
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#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &copter.g.v, {group_info : class::var_info} }
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#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info : class::var_info} }
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#define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&copter.v, {group_info : class::var_info} }
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const AP_Param::Info Copter::var_info[] = {
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// @Param: SYSID_SW_MREV
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// @DisplayName: Eeprom format version number
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// @Description: This value is incremented when changes are made to the eeprom format
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// @User: Advanced
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GSCALAR(format_version, "SYSID_SW_MREV", 0),
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// @Param: SYSID_SW_TYPE
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// @DisplayName: Software Type
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// @Description: This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)
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// @Values: 0:ArduPlane,4:AntennaTracker,10:Copter,20:Rover
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// @User: Advanced
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GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type),
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// @Param: SYSID_THISMAV
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// @DisplayName: MAVLink system ID of this vehicle
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// @Description: Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
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// @Range: 1 255
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// @User: Advanced
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GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
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// @Param: SYSID_MYGCS
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// @DisplayName: My ground station number
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// @Description: Allows restricting radio overrides to only come from my ground station
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// @Values: 255:Mission Planner and DroidPlanner, 252: AP Planner 2
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// @User: Advanced
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GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
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#if CLI_ENABLED == ENABLED
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// @Param: CLI_ENABLED
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// @DisplayName: CLI Enable
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// @Description: This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface
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// @Values: 0:Disabled,1:Enabled
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// @User: Advanced
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GSCALAR(cli_enabled, "CLI_ENABLED", 0),
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#endif
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// @Param: PILOT_THR_FILT
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// @DisplayName: Throttle filter cutoff
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// @Description: Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
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// @User: Advanced
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// @Units: Hz
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// @Range: 0 10
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// @Increment: .5
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GSCALAR(throttle_filt, "PILOT_THR_FILT", 0),
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// @Param: PILOT_TKOFF_ALT
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// @DisplayName: Pilot takeoff altitude
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// @Description: Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick.
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// @User: Standard
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// @Units: Centimeters
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// @Range: 0.0 1000.0
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// @Increment: 10
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GSCALAR(pilot_takeoff_alt, "PILOT_TKOFF_ALT", PILOT_TKOFF_ALT_DEFAULT),
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// @Param: PILOT_TKOFF_DZ
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// @DisplayName: Takeoff trigger deadzone
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// @Description: Offset from mid stick at which takeoff is triggered
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// @User: Standard
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// @Range: 0.0 500.0
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// @Increment: 10
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GSCALAR(takeoff_trigger_dz, "PILOT_TKOFF_DZ", THR_DZ_DEFAULT),
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// @Param: PILOT_THR_BHV
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// @DisplayName: Throttle stick behavior
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// @Description: Bits for: Feedback starts from mid stick
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// @User: Standard
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// @Values: 0:None,1:FeedbackFromMid
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GSCALAR(throttle_behavior, "PILOT_THR_BHV", 0),
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// @Group: SERIAL
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// @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
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GOBJECT(serial_manager, "SERIAL", AP_SerialManager),
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// @Param: TELEM_DELAY
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// @DisplayName: Telemetry startup delay
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// @Description: The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
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// @User: Advanced
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// @Units: seconds
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// @Range: 0 10
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// @Increment: 1
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GSCALAR(telem_delay, "TELEM_DELAY", 0),
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// @Param: GCS_PID_MASK
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// @DisplayName: GCS PID tuning mask
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// @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
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// @User: Advanced
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// @Values: 0:None,1:Roll,2:Pitch,4:Yaw
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// @Bitmask: 0:Roll,1:Pitch,2:Yaw
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GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
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// @Param: RTL_ALT
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// @DisplayName: RTL Altitude
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// @Description: The minimum relative altitude the model will move to before Returning to Launch. Set to zero to return at current altitude.
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// @Units: Centimeters
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// @Range: 0 8000
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// @Increment: 1
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// @User: Standard
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GSCALAR(rtl_altitude, "RTL_ALT", RTL_ALT),
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// @Param: RTL_SPEED
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// @DisplayName: RTL speed
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// @Description: Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead.
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// @Units: cm/s
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// @Range: 0 2000
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// @Increment: 50
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// @User: Standard
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GSCALAR(rtl_speed_cms, "RTL_SPEED", 0),
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// @Param: RNGFND_GAIN
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// @DisplayName: Rangefinder gain
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// @Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter
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// @Range: 0.01 2.0
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// @Increment: 0.01
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// @User: Standard
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GSCALAR(sonar_gain, "RNGFND_GAIN", SONAR_GAIN_DEFAULT),
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// @Param: FS_BATT_ENABLE
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// @DisplayName: Battery Failsafe Enable
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// @Description: Controls whether failsafe will be invoked when battery voltage or current runs low
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// @Values: 0:Disabled,1:Land,2:RTL
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// @User: Standard
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GSCALAR(failsafe_battery_enabled, "FS_BATT_ENABLE", FS_BATT_DISABLED),
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// @Param: FS_BATT_VOLTAGE
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// @DisplayName: Failsafe battery voltage
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// @Description: Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL
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// @Units: Volts
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// @Increment: 0.1
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// @User: Standard
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GSCALAR(fs_batt_voltage, "FS_BATT_VOLTAGE", FS_BATT_VOLTAGE_DEFAULT),
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// @Param: FS_BATT_MAH
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// @DisplayName: Failsafe battery milliAmpHours
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// @Description: Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL
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// @Units: mAh
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// @Increment: 50
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// @User: Standard
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GSCALAR(fs_batt_mah, "FS_BATT_MAH", FS_BATT_MAH_DEFAULT),
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// @Param: FS_GCS_ENABLE
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// @DisplayName: Ground Station Failsafe Enable
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// @Description: Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle.
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// @Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode
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// @User: Standard
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GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_ENABLED_ALWAYS_RTL),
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// @Param: GPS_HDOP_GOOD
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// @DisplayName: GPS Hdop Good
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// @Description: GPS Hdop value at or below this value represent a good position. Used for pre-arm checks
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// @Range: 100 900
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// @User: Advanced
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GSCALAR(gps_hdop_good, "GPS_HDOP_GOOD", GPS_HDOP_GOOD_DEFAULT),
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// @Param: MAG_ENABLE
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// @DisplayName: Compass enable/disable
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// @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER),
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// @Param: SUPER_SIMPLE
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// @DisplayName: Super Simple Mode
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// @Description: Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode
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// @Values: 0:Disabled,1:Mode1,2:Mode2,3:Mode1+2,4:Mode3,5:Mode1+3,6:Mode2+3,7:Mode1+2+3,8:Mode4,9:Mode1+4,10:Mode2+4,11:Mode1+2+4,12:Mode3+4,13:Mode1+3+4,14:Mode2+3+4,15:Mode1+2+3+4,16:Mode5,17:Mode1+5,18:Mode2+5,19:Mode1+2+5,20:Mode3+5,21:Mode1+3+5,22:Mode2+3+5,23:Mode1+2+3+5,24:Mode4+5,25:Mode1+4+5,26:Mode2+4+5,27:Mode1+2+4+5,28:Mode3+4+5,29:Mode1+3+4+5,30:Mode2+3+4+5,31:Mode1+2+3+4+5,32:Mode6,33:Mode1+6,34:Mode2+6,35:Mode1+2+6,36:Mode3+6,37:Mode1+3+6,38:Mode2+3+6,39:Mode1+2+3+6,40:Mode4+6,41:Mode1+4+6,42:Mode2+4+6,43:Mode1+2+4+6,44:Mode3+4+6,45:Mode1+3+4+6,46:Mode2+3+4+6,47:Mode1+2+3+4+6,48:Mode5+6,49:Mode1+5+6,50:Mode2+5+6,51:Mode1+2+5+6,52:Mode3+5+6,53:Mode1+3+5+6,54:Mode2+3+5+6,55:Mode1+2+3+5+6,56:Mode4+5+6,57:Mode1+4+5+6,58:Mode2+4+5+6,59:Mode1+2+4+5+6,60:Mode3+4+5+6,61:Mode1+3+4+5+6,62:Mode2+3+4+5+6,63:Mode1+2+3+4+5+6
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// @User: Standard
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GSCALAR(super_simple, "SUPER_SIMPLE", 0),
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// @Param: RTL_ALT_FINAL
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// @DisplayName: RTL Final Altitude
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// @Description: This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to zero to land.
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// @Units: Centimeters
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// @Range: -1 1000
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// @Increment: 1
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// @User: Standard
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GSCALAR(rtl_alt_final, "RTL_ALT_FINAL", RTL_ALT_FINAL),
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// @Param: RTL_CLIMB_MIN
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// @DisplayName: RTL minimum climb
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// @Description: The vehicle will climb this many cm during the initial climb portion of the RTL
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// @Units: Centimeters
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// @Range: 0 3000
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// @Increment: 10
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// @User: Standard
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GSCALAR(rtl_climb_min, "RTL_CLIMB_MIN", RTL_CLIMB_MIN_DEFAULT),
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// @Param: WP_YAW_BEHAVIOR
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// @DisplayName: Yaw behaviour during missions
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// @Description: Determines how the autopilot controls the yaw during missions and RTL
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// @Values: 0:Never change yaw, 1:Face next waypoint, 2:Face next waypoint except RTL, 3:Face along GPS course
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// @User: Standard
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GSCALAR(wp_yaw_behavior, "WP_YAW_BEHAVIOR", WP_YAW_BEHAVIOR_DEFAULT),
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// @Param: RTL_LOIT_TIME
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// @DisplayName: RTL loiter time
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// @Description: Time (in milliseconds) to loiter above home before beginning final descent
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// @Units: ms
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// @Range: 0 60000
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// @Increment: 1000
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// @User: Standard
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GSCALAR(rtl_loiter_time, "RTL_LOIT_TIME", RTL_LOITER_TIME),
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// @Param: LAND_SPEED
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// @DisplayName: Land speed
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// @Description: The descent speed for the final stage of landing in cm/s
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// @Units: cm/s
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// @Range: 30 200
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// @Increment: 10
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// @User: Standard
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GSCALAR(land_speed, "LAND_SPEED", LAND_SPEED),
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// @Param: PILOT_VELZ_MAX
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// @DisplayName: Pilot maximum vertical speed
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// @Description: The maximum vertical velocity the pilot may request in cm/s
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// @Units: Centimeters/Second
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// @Range: 50 500
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// @Increment: 10
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// @User: Standard
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GSCALAR(pilot_velocity_z_max, "PILOT_VELZ_MAX", PILOT_VELZ_MAX),
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// @Param: PILOT_ACCEL_Z
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// @DisplayName: Pilot vertical acceleration
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// @Description: The vertical acceleration used when pilot is controlling the altitude
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// @Units: cm/s/s
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// @Range: 50 500
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// @Increment: 10
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// @User: Standard
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GSCALAR(pilot_accel_z, "PILOT_ACCEL_Z", PILOT_ACCEL_Z_DEFAULT),
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// @Param: THR_MIN
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// @DisplayName: Throttle Minimum
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// @Description: The minimum throttle that will be sent to the motors to keep them spinning
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// @Units: Percent*10
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// @Range: 0 300
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// @Increment: 1
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// @User: Standard
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GSCALAR(throttle_min, "THR_MIN", THR_MIN_DEFAULT),
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// @Param: FS_THR_ENABLE
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// @DisplayName: Throttle Failsafe Enable
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// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
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// @Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode,3:Enabled always LAND
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// @User: Standard
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GSCALAR(failsafe_throttle, "FS_THR_ENABLE", FS_THR_DISABLED),
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// @Param: FS_THR_VALUE
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// @DisplayName: Throttle Failsafe Value
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// @Description: The PWM level on channel 3 below which throttle sailsafe triggers
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// @Range: 925 1100
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// @Units: pwm
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// @Increment: 1
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// @User: Standard
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GSCALAR(failsafe_throttle_value, "FS_THR_VALUE", FS_THR_VALUE_DEFAULT),
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// @Param: THR_MID
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// @DisplayName: Throttle Mid Position
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// @Description: The throttle output (0 ~ 1000) when throttle stick is in mid position. Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover
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// @User: Standard
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// @Range: 300 700
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// @Units: Percent*10
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// @Increment: 1
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GSCALAR(throttle_mid, "THR_MID", THR_MID_DEFAULT),
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// @Param: THR_DZ
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// @DisplayName: Throttle deadzone
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// @Description: The deadzone above and below mid throttle. Used in AltHold, Loiter, PosHold flight modes
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// @User: Standard
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// @Range: 0 300
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// @Units: pwm
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// @Increment: 1
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GSCALAR(throttle_deadzone, "THR_DZ", THR_DZ_DEFAULT),
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// @Param: FLTMODE1
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// @DisplayName: Flight Mode 1
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// @Description: Flight mode when Channel 5 pwm is <= 1230
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// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake
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// @User: Standard
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GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1),
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// @Param: FLTMODE2
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// @DisplayName: Flight Mode 2
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// @Description: Flight mode when Channel 5 pwm is >1230, <= 1360
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// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake
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// @User: Standard
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GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2),
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// @Param: FLTMODE3
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// @DisplayName: Flight Mode 3
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// @Description: Flight mode when Channel 5 pwm is >1360, <= 1490
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// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake
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// @User: Standard
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GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3),
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// @Param: FLTMODE4
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// @DisplayName: Flight Mode 4
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// @Description: Flight mode when Channel 5 pwm is >1490, <= 1620
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// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake
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// @User: Standard
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GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4),
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// @Param: FLTMODE5
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// @DisplayName: Flight Mode 5
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// @Description: Flight mode when Channel 5 pwm is >1620, <= 1749
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// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake
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// @User: Standard
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GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5),
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// @Param: FLTMODE6
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// @DisplayName: Flight Mode 6
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// @Description: Flight mode when Channel 5 pwm is >=1750
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// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake
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// @User: Standard
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GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6),
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// @Param: SIMPLE
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// @DisplayName: Simple mode bitmask
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// @Description: Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)
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// @User: Advanced
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GSCALAR(simple_modes, "SIMPLE", 0),
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// @Param: LOG_BITMASK
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// @DisplayName: Log bitmask
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// @Description: 4 byte bitmap of log types to enable
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// @Values: 830:Default,894:Default+RCIN,958:Default+IMU,1854:Default+Motors,-6146:NearlyAll-AC315,45054:NearlyAll,131070:All+DisarmedLogging,131071:All+FastATT,262142:All+MotBatt,393214:All+FastIMU,397310:All+FastIMU+PID,655358:All+FullIMU,0:Disabled
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// @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,16:WHEN_DISARMED,17:MOTBATT,18:IMU_FAST,19:IMU_RAW
|
|
// @User: Standard
|
|
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
|
|
|
|
// @Param: ESC_CALIBRATION
|
|
// @DisplayName: ESC Calibration
|
|
// @Description: Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.
|
|
// @User: Advanced
|
|
// @Values: 0:Normal Start-up, 1:Start-up in ESC Calibration mode if throttle high, 2:Start-up in ESC Calibration mode regardless of throttle, 9:Disabled
|
|
GSCALAR(esc_calibrate, "ESC_CALIBRATION", 0),
|
|
|
|
// @Param: TUNE
|
|
// @DisplayName: Channel 6 Tuning
|
|
// @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
|
|
// @User: Standard
|
|
// @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,14:Altitude Hold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,42:Loiter Speed,12:Loiter Pos kP,22:Velocity XY kP,28:Velocity XY kI,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,13:Heli Ext Gyro,17:OF Loiter kP,18:OF Loiter kI,19:OF Loiter kD,38:Declination,39:Circle Rate,41:RangeFinder Gain,46:Rate Pitch kP,47:Rate Pitch kI,48:Rate Pitch kD,49:Rate Roll kP,50:Rate Roll kI,51:Rate Roll kD,52:Rate Pitch FF,53:Rate Roll FF,54:Rate Yaw FF
|
|
GSCALAR(radio_tuning, "TUNE", 0),
|
|
|
|
// @Param: TUNE_LOW
|
|
// @DisplayName: Tuning minimum
|
|
// @Description: The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob
|
|
// @User: Standard
|
|
// @Range: 0 32767
|
|
GSCALAR(radio_tuning_low, "TUNE_LOW", 0),
|
|
|
|
// @Param: TUNE_HIGH
|
|
// @DisplayName: Tuning maximum
|
|
// @Description: The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob
|
|
// @User: Standard
|
|
// @Range: 0 32767
|
|
GSCALAR(radio_tuning_high, "TUNE_HIGH", 1000),
|
|
|
|
// @Param: FRAME
|
|
// @DisplayName: Frame Orientation (+, X or V)
|
|
// @Description: Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.
|
|
// @Values: 0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 5:A-Tail, 10:Y6B (New)
|
|
// @User: Standard
|
|
GSCALAR(frame_orientation, "FRAME", AP_MOTORS_X_FRAME),
|
|
|
|
// @Param: CH7_OPT
|
|
// @DisplayName: Channel 7 option
|
|
// @Description: Select which function if performed when CH7 is above 1800 pwm
|
|
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake
|
|
// @User: Standard
|
|
GSCALAR(ch7_option, "CH7_OPT", AUXSW_DO_NOTHING),
|
|
|
|
// @Param: CH8_OPT
|
|
// @DisplayName: Channel 8 option
|
|
// @Description: Select which function if performed when CH8 is above 1800 pwm
|
|
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake
|
|
// @User: Standard
|
|
GSCALAR(ch8_option, "CH8_OPT", AUXSW_DO_NOTHING),
|
|
|
|
// @Param: CH9_OPT
|
|
// @DisplayName: Channel 9 option
|
|
// @Description: Select which function if performed when CH9 is above 1800 pwm
|
|
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake
|
|
// @User: Standard
|
|
GSCALAR(ch9_option, "CH9_OPT", AUXSW_DO_NOTHING),
|
|
|
|
// @Param: CH10_OPT
|
|
// @DisplayName: Channel 10 option
|
|
// @Description: Select which function if performed when CH10 is above 1800 pwm
|
|
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake
|
|
// @User: Standard
|
|
GSCALAR(ch10_option, "CH10_OPT", AUXSW_DO_NOTHING),
|
|
|
|
// @Param: CH11_OPT
|
|
// @DisplayName: Channel 11 option
|
|
// @Description: Select which function if performed when CH11 is above 1800 pwm
|
|
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake
|
|
// @User: Standard
|
|
GSCALAR(ch11_option, "CH11_OPT", AUXSW_DO_NOTHING),
|
|
|
|
// @Param: CH12_OPT
|
|
// @DisplayName: Channel 12 option
|
|
// @Description: Select which function if performed when CH12 is above 1800 pwm
|
|
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake
|
|
// @User: Standard
|
|
GSCALAR(ch12_option, "CH12_OPT", AUXSW_DO_NOTHING),
|
|
|
|
// @Param: ARMING_CHECK
|
|
// @DisplayName: Arming check
|
|
// @Description: Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS
|
|
// @Values: 0:Disabled, 1:Enabled, -3:Skip Baro, -5:Skip Compass, -9:Skip GPS, -17:Skip INS, -33:Skip Params/Sonar, -65:Skip RC, 127:Skip Voltage
|
|
// @Bitmask: 0:All,1:Baro,2:Compass,3:GPS,4:INS,5:Parameters+Sonar,6:RC,7:Voltage
|
|
// @User: Standard
|
|
GSCALAR(arming_check, "ARMING_CHECK", ARMING_CHECK_ALL),
|
|
|
|
// @Param: DISARM_DELAY
|
|
// @DisplayName: Disarm delay
|
|
// @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm.
|
|
// @Units: Seconds
|
|
// @Range: 0 127
|
|
// @User: Advanced
|
|
GSCALAR(disarm_delay, "DISARM_DELAY", AUTO_DISARMING_DELAY),
|
|
|
|
// @Param: ANGLE_MAX
|
|
// @DisplayName: Angle Max
|
|
// @Description: Maximum lean angle in all flight modes
|
|
// @Units: Centi-degrees
|
|
// @Range: 1000 8000
|
|
// @User: Advanced
|
|
ASCALAR(angle_max, "ANGLE_MAX", DEFAULT_ANGLE_MAX),
|
|
|
|
// @Param: RC_FEEL_RP
|
|
// @DisplayName: RC Feel Roll/Pitch
|
|
// @Description: RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp
|
|
// @Range: 0 100
|
|
// @Increment: 1
|
|
// @User: Standard
|
|
// @Values: 0:Very Soft, 25:Soft, 50:Medium, 75:Crisp, 100:Very Crisp
|
|
GSCALAR(rc_feel_rp, "RC_FEEL_RP", RC_FEEL_RP_MEDIUM),
|
|
|
|
#if POSHOLD_ENABLED == ENABLED
|
|
// @Param: PHLD_BRAKE_RATE
|
|
// @DisplayName: PosHold braking rate
|
|
// @Description: PosHold flight mode's rotation rate during braking in deg/sec
|
|
// @Units: deg/sec
|
|
// @Range: 4 12
|
|
// @User: Advanced
|
|
GSCALAR(poshold_brake_rate, "PHLD_BRAKE_RATE", POSHOLD_BRAKE_RATE_DEFAULT),
|
|
|
|
// @Param: PHLD_BRAKE_ANGLE
|
|
// @DisplayName: PosHold braking angle max
|
|
// @Description: PosHold flight mode's max lean angle during braking in centi-degrees
|
|
// @Units: Centi-degrees
|
|
// @Range: 2000 4500
|
|
// @User: Advanced
|
|
GSCALAR(poshold_brake_angle_max, "PHLD_BRAKE_ANGLE", POSHOLD_BRAKE_ANGLE_DEFAULT),
|
|
#endif
|
|
|
|
// @Param: LAND_REPOSITION
|
|
// @DisplayName: Land repositioning
|
|
// @Description: Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.
|
|
// @Values: 0:No repositioning, 1:Repositioning
|
|
// @User: Advanced
|
|
GSCALAR(land_repositioning, "LAND_REPOSITION", LAND_REPOSITION_DEFAULT),
|
|
|
|
// @Param: FS_EKF_ACTION
|
|
// @DisplayName: EKF Failsafe Action
|
|
// @Description: Controls the action that will be taken when an EKF failsafe is invoked
|
|
// @Values: 1:Land, 2:AltHold, 3:Land even in Stabilize
|
|
// @User: Advanced
|
|
GSCALAR(fs_ekf_action, "FS_EKF_ACTION", FS_EKF_ACTION_DEFAULT),
|
|
|
|
// @Param: FS_EKF_THRESH
|
|
// @DisplayName: EKF failsafe variance threshold
|
|
// @Description: Allows setting the maximum acceptable compass and velocity variance
|
|
// @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
|
|
// @User: Advanced
|
|
GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH", FS_EKF_THRESHOLD_DEFAULT),
|
|
|
|
// @Param: FS_CRASH_CHECK
|
|
// @DisplayName: Crash check enable
|
|
// @Description: This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
|
|
// @Values: 0:Disabled, 1:Enabled
|
|
// @User: Advanced
|
|
GSCALAR(fs_crash_check, "FS_CRASH_CHECK", 1),
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
// @Group: HS1_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
|
|
GGROUP(heli_servo_1, "HS1_", RC_Channel),
|
|
// @Group: HS2_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
|
|
GGROUP(heli_servo_2, "HS2_", RC_Channel),
|
|
// @Group: HS3_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
|
|
GGROUP(heli_servo_3, "HS3_", RC_Channel),
|
|
// @Group: HS4_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
|
|
GGROUP(heli_servo_4, "HS4_", RC_Channel),
|
|
// @Group: H_RSC_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
|
|
GGROUP(heli_servo_rsc, "H_RSC_", RC_Channel),
|
|
#endif
|
|
|
|
// RC channel
|
|
//-----------
|
|
// @Group: RC1_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
|
|
GGROUP(rc_1, "RC1_", RC_Channel),
|
|
// @Group: RC2_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
|
|
GGROUP(rc_2, "RC2_", RC_Channel),
|
|
// @Group: RC3_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
|
|
GGROUP(rc_3, "RC3_", RC_Channel),
|
|
// @Group: RC4_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
|
|
GGROUP(rc_4, "RC4_", RC_Channel),
|
|
// @Group: RC5_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
|
|
GGROUP(rc_5, "RC5_", RC_Channel_aux),
|
|
// @Group: RC6_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
|
|
GGROUP(rc_6, "RC6_", RC_Channel_aux),
|
|
// @Group: RC7_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
|
|
GGROUP(rc_7, "RC7_", RC_Channel_aux),
|
|
// @Group: RC8_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
|
|
GGROUP(rc_8, "RC8_", RC_Channel_aux),
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
|
|
// @Group: RC9_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
|
|
GGROUP(rc_9, "RC9_", RC_Channel_aux),
|
|
#endif
|
|
|
|
// @Group: RC10_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
|
|
GGROUP(rc_10, "RC10_", RC_Channel_aux),
|
|
// @Group: RC11_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
|
|
GGROUP(rc_11, "RC11_", RC_Channel_aux),
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
|
|
// @Group: RC12_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
|
|
GGROUP(rc_12, "RC12_", RC_Channel_aux),
|
|
|
|
// @Group: RC13_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
|
|
GGROUP(rc_13, "RC13_", RC_Channel_aux),
|
|
|
|
// @Group: RC14_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
|
|
GGROUP(rc_14, "RC14_", RC_Channel_aux),
|
|
#endif
|
|
|
|
// @Param: RC_SPEED
|
|
// @DisplayName: ESC Update Speed
|
|
// @Description: This is the speed in Hertz that your ESCs will receive updates
|
|
// @Units: Hz
|
|
// @Range: 50 490
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
GSCALAR(rc_speed, "RC_SPEED", RC_FAST_SPEED),
|
|
|
|
// @Param: ACRO_RP_P
|
|
// @DisplayName: Acro Roll and Pitch P gain
|
|
// @Description: Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode. Higher values mean faster rate of rotation.
|
|
// @Range: 1 10
|
|
// @User: Standard
|
|
GSCALAR(acro_rp_p, "ACRO_RP_P", ACRO_RP_P),
|
|
|
|
// @Param: ACRO_YAW_P
|
|
// @DisplayName: Acro Yaw P gain
|
|
// @Description: Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes. Higher values mean faster rate of rotation.
|
|
// @Range: 1 10
|
|
// @User: Standard
|
|
GSCALAR(acro_yaw_p, "ACRO_YAW_P", ACRO_YAW_P),
|
|
|
|
// @Param: ACRO_BAL_ROLL
|
|
// @DisplayName: Acro Balance Roll
|
|
// @Description: rate at which roll angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.
|
|
// @Range: 0 3
|
|
// @Increment: 0.1
|
|
// @User: Advanced
|
|
GSCALAR(acro_balance_roll, "ACRO_BAL_ROLL", ACRO_BALANCE_ROLL),
|
|
|
|
// @Param: ACRO_BAL_PITCH
|
|
// @DisplayName: Acro Balance Pitch
|
|
// @Description: rate at which pitch angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.
|
|
// @Range: 0 3
|
|
// @Increment: 0.1
|
|
// @User: Advanced
|
|
GSCALAR(acro_balance_pitch, "ACRO_BAL_PITCH", ACRO_BALANCE_PITCH),
|
|
|
|
// @Param: ACRO_TRAINER
|
|
// @DisplayName: Acro Trainer
|
|
// @Description: Type of trainer used in acro mode
|
|
// @Values: 0:Disabled,1:Leveling,2:Leveling and Limited
|
|
// @User: Advanced
|
|
GSCALAR(acro_trainer, "ACRO_TRAINER", ACRO_TRAINER_LIMITED),
|
|
|
|
// @Param: ACRO_EXPO
|
|
// @DisplayName: Acro Expo
|
|
// @Description: Acro roll/pitch Expo to allow faster rotation when stick at edges
|
|
// @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
|
|
// @User: Advanced
|
|
GSCALAR(acro_expo, "ACRO_EXPO", ACRO_EXPO_DEFAULT),
|
|
|
|
// PID controller
|
|
//---------------
|
|
|
|
// @Param: RATE_RLL_P
|
|
// @DisplayName: Roll axis rate controller P gain
|
|
// @Description: Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output
|
|
// @Range: 0.08 0.30
|
|
// @Increment: 0.005
|
|
// @User: Standard
|
|
|
|
// @Param: RATE_RLL_I
|
|
// @DisplayName: Roll axis rate controller I gain
|
|
// @Description: Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
|
|
// @Range: 0.01 0.5
|
|
// @Increment: 0.01
|
|
// @User: Standard
|
|
|
|
// @Param: RATE_RLL_IMAX
|
|
// @DisplayName: Roll axis rate controller I gain maximum
|
|
// @Description: Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
|
|
// @Range: 0 4500
|
|
// @Increment: 10
|
|
// @Units: Percent*10
|
|
// @User: Standard
|
|
|
|
// @Param: RATE_RLL_D
|
|
// @DisplayName: Roll axis rate controller D gain
|
|
// @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
|
|
// @Range: 0.001 0.02
|
|
// @Increment: 0.001
|
|
// @User: Standard
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
GGROUP(pid_rate_roll, "RATE_RLL_", AC_HELI_PID),
|
|
#else
|
|
GGROUP(pid_rate_roll, "RATE_RLL_", AC_PID),
|
|
#endif
|
|
|
|
// @Param: RATE_PIT_P
|
|
// @DisplayName: Pitch axis rate controller P gain
|
|
// @Description: Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
|
|
// @Range: 0.08 0.30
|
|
// @Increment: 0.005
|
|
// @User: Standard
|
|
|
|
// @Param: RATE_PIT_I
|
|
// @DisplayName: Pitch axis rate controller I gain
|
|
// @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
|
|
// @Range: 0.01 0.5
|
|
// @Increment: 0.01
|
|
// @User: Standard
|
|
|
|
// @Param: RATE_PIT_IMAX
|
|
// @DisplayName: Pitch axis rate controller I gain maximum
|
|
// @Description: Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
|
|
// @Range: 0 4500
|
|
// @Increment: 10
|
|
// @Units: Percent*10
|
|
// @User: Standard
|
|
|
|
// @Param: RATE_PIT_D
|
|
// @DisplayName: Pitch axis rate controller D gain
|
|
// @Description: Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate
|
|
// @Range: 0.001 0.02
|
|
// @Increment: 0.001
|
|
// @User: Standard
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
GGROUP(pid_rate_pitch, "RATE_PIT_", AC_HELI_PID),
|
|
#else
|
|
GGROUP(pid_rate_pitch, "RATE_PIT_", AC_PID),
|
|
#endif
|
|
|
|
// @Param: RATE_YAW_P
|
|
// @DisplayName: Yaw axis rate controller P gain
|
|
// @Description: Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
|
|
// @Range: 0.150 0.50
|
|
// @Increment: 0.005
|
|
// @User: Standard
|
|
|
|
// @Param: RATE_YAW_I
|
|
// @DisplayName: Yaw axis rate controller I gain
|
|
// @Description: Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate
|
|
// @Range: 0.010 0.05
|
|
// @Increment: 0.01
|
|
// @User: Standard
|
|
|
|
// @Param: RATE_YAW_IMAX
|
|
// @DisplayName: Yaw axis rate controller I gain maximum
|
|
// @Description: Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
|
|
// @Range: 0 4500
|
|
// @Increment: 10
|
|
// @Units: Percent*10
|
|
// @User: Standard
|
|
|
|
// @Param: RATE_YAW_D
|
|
// @DisplayName: Yaw axis rate controller D gain
|
|
// @Description: Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate
|
|
// @Range: 0.000 0.02
|
|
// @Increment: 0.001
|
|
// @User: Standard
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
GGROUP(pid_rate_yaw, "RATE_YAW_", AC_HELI_PID),
|
|
#else
|
|
GGROUP(pid_rate_yaw, "RATE_YAW_", AC_PID),
|
|
#endif
|
|
|
|
// @Param: VEL_XY_P
|
|
// @DisplayName: Velocity (horizontal) P gain
|
|
// @Description: Velocity (horizontal) P gain. Converts the difference between desired velocity to a target acceleration
|
|
// @Range: 0.1 6.0
|
|
// @Increment: 0.1
|
|
// @User: Advanced
|
|
|
|
// @Param: VEL_XY_I
|
|
// @DisplayName: Velocity (horizontal) I gain
|
|
// @Description: Velocity (horizontal) I gain. Corrects long-term difference in desired velocity to a target acceleration
|
|
// @Range: 0.02 1.00
|
|
// @Increment: 0.01
|
|
// @User: Advanced
|
|
|
|
// @Param: VEL_XY_IMAX
|
|
// @DisplayName: Velocity (horizontal) integrator maximum
|
|
// @Description: Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output
|
|
// @Range: 0 4500
|
|
// @Increment: 10
|
|
// @Units: cm/s/s
|
|
// @User: Advanced
|
|
GGROUP(pi_vel_xy, "VEL_XY_", AC_PI_2D),
|
|
|
|
// @Param: VEL_Z_P
|
|
// @DisplayName: Velocity (vertical) P gain
|
|
// @Description: Velocity (vertical) P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
|
|
// @Range: 1.000 8.000
|
|
// @User: Standard
|
|
GGROUP(p_vel_z, "VEL_Z_", AC_P),
|
|
|
|
// @Param: ACCEL_Z_P
|
|
// @DisplayName: Throttle acceleration controller P gain
|
|
// @Description: Throttle acceleration controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output
|
|
// @Range: 0.500 1.500
|
|
// @User: Standard
|
|
|
|
// @Param: ACCEL_Z_I
|
|
// @DisplayName: Throttle acceleration controller I gain
|
|
// @Description: Throttle acceleration controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration
|
|
// @Range: 0.000 3.000
|
|
// @User: Standard
|
|
|
|
// @Param: ACCEL_Z_IMAX
|
|
// @DisplayName: Throttle acceleration controller I gain maximum
|
|
// @Description: Throttle acceleration controller I gain maximum. Constrains the maximum pwm that the I term will generate
|
|
// @Range: 0 1000
|
|
// @Units: Percent*10
|
|
// @User: Standard
|
|
|
|
// @Param: ACCEL_Z_D
|
|
// @DisplayName: Throttle acceleration controller D gain
|
|
// @Description: Throttle acceleration controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration
|
|
// @Range: 0.000 0.400
|
|
// @User: Standard
|
|
|
|
// @Param: ACCEL_Z_FILT_HZ
|
|
// @DisplayName: Throttle acceleration filter
|
|
// @Description: Filter applied to acceleration to reduce noise. Lower values reduce noise but add delay.
|
|
// @Range: 1.000 100.000
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
GGROUP(pid_accel_z, "ACCEL_Z_", AC_PID),
|
|
|
|
// P controllers
|
|
//--------------
|
|
// @Param: STB_RLL_P
|
|
// @DisplayName: Roll axis stabilize controller P gain
|
|
// @Description: Roll axis stabilize (i.e. angle) controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate
|
|
// @Range: 3.000 12.000
|
|
// @User: Standard
|
|
GGROUP(p_stabilize_roll, "STB_RLL_", AC_P),
|
|
|
|
// @Param: STB_PIT_P
|
|
// @DisplayName: Pitch axis stabilize controller P gain
|
|
// @Description: Pitch axis stabilize (i.e. angle) controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate
|
|
// @Range: 3.000 12.000
|
|
// @User: Standard
|
|
GGROUP(p_stabilize_pitch, "STB_PIT_", AC_P),
|
|
|
|
// @Param: STB_YAW_P
|
|
// @DisplayName: Yaw axis stabilize controller P gain
|
|
// @Description: Yaw axis stabilize (i.e. angle) controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate
|
|
// @Range: 3.000 6.000
|
|
// @User: Standard
|
|
GGROUP(p_stabilize_yaw, "STB_YAW_", AC_P),
|
|
|
|
// @Param: POS_Z_P
|
|
// @DisplayName: Position (vertical) controller P gain
|
|
// @Description: Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller
|
|
// @Range: 1.000 3.000
|
|
// @User: Standard
|
|
GGROUP(p_alt_hold, "POS_Z_", AC_P),
|
|
|
|
// @Param: POS_XY_P
|
|
// @DisplayName: Position (horizonal) controller P gain
|
|
// @Description: Loiter position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller
|
|
// @Range: 0.500 2.000
|
|
// @User: Standard
|
|
GGROUP(p_pos_xy, "POS_XY_", AC_P),
|
|
|
|
#if PRECISION_LANDING == ENABLED
|
|
// @Param: PRECLNDVEL_P
|
|
// @DisplayName: Precision landing velocity controller P gain
|
|
// @Description: Precision landing velocity controller P gain
|
|
// @Range: 0.100 5.000
|
|
// @User: Advanced
|
|
|
|
// @Param: PRECLNDVEL_I
|
|
// @DisplayName: Precision landing velocity controller I gain
|
|
// @Description: Precision landing velocity controller I gain
|
|
// @Range: 0.100 5.000
|
|
// @User: Advanced
|
|
|
|
// @Param: PRECLNDVEL_IMAX
|
|
// @DisplayName: Precision landing velocity controller I gain maximum
|
|
// @Description: Precision landing velocity controller I gain maximum
|
|
// @Range: 0 1000
|
|
// @Units: cm/s
|
|
// @User: Standard
|
|
GGROUP(pi_precland, "PLAND_", AC_PI_2D),
|
|
#endif
|
|
|
|
// variables not in the g class which contain EEPROM saved variables
|
|
|
|
#if CAMERA == ENABLED
|
|
// @Group: CAM_
|
|
// @Path: ../libraries/AP_Camera/AP_Camera.cpp
|
|
GOBJECT(camera, "CAM_", AP_Camera),
|
|
#endif
|
|
|
|
// @Group: RELAY_
|
|
// @Path: ../libraries/AP_Relay/AP_Relay.cpp
|
|
GOBJECT(relay, "RELAY_", AP_Relay),
|
|
|
|
#if EPM_ENABLED == ENABLED
|
|
// @Group: EPM_
|
|
// @Path: ../libraries/AP_EPM/AP_EPM.cpp
|
|
GOBJECT(epm, "EPM_", AP_EPM),
|
|
#endif
|
|
|
|
#if PARACHUTE == ENABLED
|
|
// @Group: CHUTE_
|
|
// @Path: ../libraries/AP_Parachute/AP_Parachute.cpp
|
|
GOBJECT(parachute, "CHUTE_", AP_Parachute),
|
|
#endif
|
|
|
|
// @Group: LGR_
|
|
// @Path: ../libraries/AP_LandingGear/AP_LandingGear.cpp
|
|
GOBJECT(landinggear, "LGR_", AP_LandingGear),
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
// @Group: IM_
|
|
// @Path: ../libraries/AC_InputManager/AC_InputManager_Heli.cpp
|
|
GOBJECT(input_manager, "IM_", AC_InputManager_Heli),
|
|
#endif
|
|
|
|
// @Group: COMPASS_
|
|
// @Path: ../libraries/AP_Compass/Compass.cpp
|
|
GOBJECT(compass, "COMPASS_", Compass),
|
|
|
|
// @Group: INS_
|
|
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
|
|
GOBJECT(ins, "INS_", AP_InertialSensor),
|
|
|
|
// @Group: WPNAV_
|
|
// @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
|
|
GOBJECT(wp_nav, "WPNAV_", AC_WPNav),
|
|
|
|
// @Group: CIRCLE_
|
|
// @Path: ../libraries/AC_WPNav/AC_Circle.cpp
|
|
GOBJECT(circle_nav, "CIRCLE_", AC_Circle),
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
GOBJECT(attitude_control, "ATC_", AC_AttitudeControl_Heli),
|
|
#else
|
|
// @Group: ATC_
|
|
// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
|
|
GOBJECT(attitude_control, "ATC_", AC_AttitudeControl),
|
|
#endif
|
|
|
|
// @Group: POSCON_
|
|
// @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
|
|
GOBJECT(pos_control, "PSC", AC_PosControl),
|
|
|
|
// @Group: SR0_
|
|
// @Path: GCS_Mavlink.cpp
|
|
GOBJECTN(gcs[0], gcs0, "SR0_", GCS_MAVLINK),
|
|
|
|
// @Group: SR1_
|
|
// @Path: GCS_Mavlink.cpp
|
|
GOBJECTN(gcs[1], gcs1, "SR1_", GCS_MAVLINK),
|
|
|
|
// @Group: SR2_
|
|
// @Path: GCS_Mavlink.cpp
|
|
GOBJECTN(gcs[2], gcs2, "SR2_", GCS_MAVLINK),
|
|
|
|
// @Group: SR3_
|
|
// @Path: GCS_Mavlink.cpp
|
|
GOBJECTN(gcs[3], gcs3, "SR3_", GCS_MAVLINK),
|
|
|
|
// @Group: AHRS_
|
|
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
|
|
GOBJECT(ahrs, "AHRS_", AP_AHRS),
|
|
|
|
#if MOUNT == ENABLED
|
|
// @Group: MNT
|
|
// @Path: ../libraries/AP_Mount/AP_Mount.cpp
|
|
GOBJECT(camera_mount, "MNT", AP_Mount),
|
|
#endif
|
|
|
|
// @Group: BATT
|
|
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
|
|
GOBJECT(battery, "BATT", AP_BattMonitor),
|
|
|
|
// @Group: BRD_
|
|
// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
|
|
GOBJECT(BoardConfig, "BRD_", AP_BoardConfig),
|
|
|
|
#if SPRAYER == ENABLED
|
|
// @Group: SPRAY_
|
|
// @Path: ../libraries/AC_Sprayer/AC_Sprayer.cpp
|
|
GOBJECT(sprayer, "SPRAY_", AC_Sprayer),
|
|
#endif
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
GOBJECT(sitl, "SIM_", SITL::SITL),
|
|
#endif
|
|
|
|
// @Group: GND_
|
|
// @Path: ../libraries/AP_Baro/AP_Baro.cpp
|
|
GOBJECT(barometer, "GND_", AP_Baro),
|
|
|
|
// GPS driver
|
|
// @Group: GPS_
|
|
// @Path: ../libraries/AP_GPS/AP_GPS.cpp
|
|
GOBJECT(gps, "GPS_", AP_GPS),
|
|
|
|
// @Group: SCHED_
|
|
// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
|
|
GOBJECT(scheduler, "SCHED_", AP_Scheduler),
|
|
|
|
#if AC_FENCE == ENABLED
|
|
// @Group: FENCE_
|
|
// @Path: ../libraries/AC_Fence/AC_Fence.cpp
|
|
GOBJECT(fence, "FENCE_", AC_Fence),
|
|
#endif
|
|
|
|
#if AC_RALLY == ENABLED
|
|
// @Group: RALLY_
|
|
// @Path: ../libraries/AP_Rally/AP_Rally.cpp
|
|
GOBJECT(rally, "RALLY_", AP_Rally),
|
|
#endif
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
// @Group: H_
|
|
// @Path: ../libraries/AP_Motors/AP_MotorsHeli_Single.cpp
|
|
GOBJECT(motors, "H_", AP_MotorsHeli_Single),
|
|
|
|
#elif FRAME_CONFIG == SINGLE_FRAME
|
|
// @Group: SS1_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
|
|
GGROUP(single_servo_1, "SS1_", RC_Channel),
|
|
// @Group: SS2_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
|
|
GGROUP(single_servo_2, "SS2_", RC_Channel),
|
|
// @Group: SS3_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
|
|
GGROUP(single_servo_3, "SS3_", RC_Channel),
|
|
// @Group: SS4_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
|
|
GGROUP(single_servo_4, "SS4_", RC_Channel),
|
|
// @Group: MOT_
|
|
// @Path: ../libraries/AP_Motors/AP_MotorsSingle.cpp
|
|
GOBJECT(motors, "MOT_", AP_MotorsSingle),
|
|
|
|
#elif FRAME_CONFIG == COAX_FRAME
|
|
// @Group: SS1_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
|
|
GGROUP(single_servo_1, "SS1_", RC_Channel),
|
|
// @Group: SS2_
|
|
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
|
|
GGROUP(single_servo_2, "SS2_", RC_Channel),
|
|
// @Group: MOT_
|
|
// @Path: ../libraries/AP_Motors/AP_MotorsCoax.cpp
|
|
GOBJECT(motors, "MOT_", AP_MotorsCoax),
|
|
|
|
#elif FRAME_CONFIG == TRI_FRAME
|
|
// @Group: MOT_
|
|
// @Path: ../libraries/AP_Motors/AP_MotorsTri.cpp
|
|
GOBJECT(motors, "MOT_", AP_MotorsTri),
|
|
|
|
#else
|
|
// @Group: MOT_
|
|
// @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
|
|
GOBJECT(motors, "MOT_", AP_MotorsMulticopter),
|
|
#endif
|
|
|
|
// @Group: RCMAP_
|
|
// @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
|
|
GOBJECT(rcmap, "RCMAP_", RCMapper),
|
|
|
|
// @Group: EKF_
|
|
// @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
|
|
GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
|
|
|
|
// @Group: EK2_
|
|
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
|
|
GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
|
|
|
|
// @Group: MIS_
|
|
// @Path: ../libraries/AP_Mission/AP_Mission.cpp
|
|
GOBJECT(mission, "MIS_", AP_Mission),
|
|
|
|
// @Group: RSSI_
|
|
// @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
|
|
GOBJECT(rssi, "RSSI_", AP_RSSI),
|
|
|
|
#if CONFIG_SONAR == ENABLED
|
|
// @Group: RNGFND
|
|
// @Path: ../libraries/AP_RangeFinder/RangeFinder.cpp
|
|
GOBJECT(sonar, "RNGFND", RangeFinder),
|
|
#endif
|
|
|
|
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
|
|
// @Group: TERRAIN_
|
|
// @Path: ../libraries/AP_Terrain/AP_Terrain.cpp
|
|
GOBJECT(terrain, "TERRAIN_", AP_Terrain),
|
|
#endif
|
|
|
|
#if OPTFLOW == ENABLED
|
|
// @Group: FLOW
|
|
// @Path: ../libraries/AP_OpticalFlow/OpticalFlow.cpp
|
|
GOBJECT(optflow, "FLOW", OpticalFlow),
|
|
#endif
|
|
|
|
#if PRECISION_LANDING == ENABLED
|
|
// @Group: PRECLAND_
|
|
// @Path: ../libraries/AC_PrecLand/AC_PrecLand.cpp
|
|
GOBJECT(precland, "PLAND_", AC_PrecLand),
|
|
#endif
|
|
|
|
// @Group: RPM
|
|
// @Path: ../libraries/AP_RPM/AP_RPM.cpp
|
|
GOBJECT(rpm_sensor, "RPM", AP_RPM),
|
|
|
|
// @Group: ADSB_
|
|
// @Path: ../libraries/AP_ADSB/AP_ADSB.cpp
|
|
GOBJECT(adsb, "ADSB_", AP_ADSB),
|
|
|
|
// @Param: AUTOTUNE_AXES
|
|
// @DisplayName: Autotune axis bitmask
|
|
// @Description: 1-byte bitmap of axes to autotune
|
|
// @Values: 7:All,1:Roll Only,2:Pitch Only,4:Yaw Only,3:Roll and Pitch,5:Roll and Yaw,6:Pitch and Yaw
|
|
// @Bitmask: 0:Roll,1:Pitch,2:Yaw
|
|
// @User: Standard
|
|
GSCALAR(autotune_axis_bitmask, "AUTOTUNE_AXES", 7), // AUTOTUNE_AXIS_BITMASK_DEFAULT
|
|
|
|
// @Param: AUTOTUNE_AGGR
|
|
// @DisplayName: Autotune aggressiveness
|
|
// @Description: Autotune aggressiveness. Defines the bounce back used to detect size of the D term.
|
|
// @Range: 0.05 0.10
|
|
// @User: Standard
|
|
GSCALAR(autotune_aggressiveness, "AUTOTUNE_AGGR", 0.1f),
|
|
|
|
// @Param: AUTOTUNE_MIN_D
|
|
// @DisplayName: AutoTune minimum D
|
|
// @Description: Defines the minimum D gain
|
|
// @Range: 0.001 0.006
|
|
// @User: Standard
|
|
GSCALAR(autotune_min_d, "AUTOTUNE_MIN_D", 0.004f),
|
|
|
|
AP_VAREND
|
|
};
|
|
|
|
/*
|
|
This is a conversion table from old parameter values to new
|
|
parameter names. The startup code looks for saved values of the old
|
|
parameters and will copy them across to the new parameters if the
|
|
new parameter does not yet have a saved value. It then saves the new
|
|
value.
|
|
|
|
Note that this works even if the old parameter has been removed. It
|
|
relies on the old k_param index not being removed
|
|
|
|
The second column below is the index in the var_info[] table for the
|
|
old object. This should be zero for top level parameters.
|
|
*/
|
|
const AP_Param::ConversionInfo conversion_table[] = {
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{ Parameters::k_param_battery_monitoring, 0, AP_PARAM_INT8, "BATT_MONITOR" },
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{ Parameters::k_param_battery_volt_pin, 0, AP_PARAM_INT8, "BATT_VOLT_PIN" },
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{ Parameters::k_param_battery_curr_pin, 0, AP_PARAM_INT8, "BATT_CURR_PIN" },
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{ Parameters::k_param_volt_div_ratio, 0, AP_PARAM_FLOAT, "BATT_VOLT_MULT" },
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{ Parameters::k_param_curr_amp_per_volt, 0, AP_PARAM_FLOAT, "BATT_AMP_PERVOLT" },
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{ Parameters::k_param_pack_capacity, 0, AP_PARAM_INT32, "BATT_CAPACITY" },
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{ Parameters::k_param_log_bitmask_old, 0, AP_PARAM_INT16, "LOG_BITMASK" },
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{ Parameters::k_param_serial0_baud, 0, AP_PARAM_INT16, "SERIAL0_BAUD" },
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{ Parameters::k_param_serial1_baud, 0, AP_PARAM_INT16, "SERIAL1_BAUD" },
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{ Parameters::k_param_serial2_baud, 0, AP_PARAM_INT16, "SERIAL2_BAUD" },
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};
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void Copter::load_parameters(void)
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{
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if (!AP_Param::check_var_info()) {
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cliSerial->printf("Bad var table\n");
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AP_HAL::panic("Bad var table");
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}
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// disable centrifugal force correction, it will be enabled as part of the arming process
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ahrs.set_correct_centrifugal(false);
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hal.util->set_soft_armed(false);
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if (!g.format_version.load() ||
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g.format_version != Parameters::k_format_version) {
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// erase all parameters
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cliSerial->printf("Firmware change: erasing EEPROM...\n");
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AP_Param::erase_all();
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// save the current format version
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g.format_version.set_and_save(Parameters::k_format_version);
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cliSerial->println("done.");
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} else {
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uint32_t before = micros();
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// Load all auto-loaded EEPROM variables
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AP_Param::load_all();
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AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
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cliSerial->printf("load_all took %uus\n", micros() - before);
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}
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}
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