mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
676d75c391
This makes us look like Rover and Plane in terms of namespacing for the Mode classes, and removes a wart where we #include mode.h in the middle of the Mode class. This was done mechanically for the most part. I've had to remove the convenience reference for ap as part of this.
602 lines
18 KiB
C++
602 lines
18 KiB
C++
#pragma once
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#include <AP_Common/AP_Common.h>
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#if GRIPPER_ENABLED == ENABLED
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# include <AP_Gripper/AP_Gripper.h>
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#endif
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#if MODE_FOLLOW_ENABLED == ENABLED
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# include <AP_Follow/AP_Follow.h>
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#endif
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#if VISUAL_ODOMETRY_ENABLED == ENABLED
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# include <AP_VisualOdom/AP_VisualOdom.h>
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#endif
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// Global parameter class.
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//
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class Parameters {
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public:
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// The version of the layout as described by the parameter enum.
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//
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// When changing the parameter enum in an incompatible fashion, this
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// value should be incremented by one.
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//
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// The increment will prevent old parameters from being used incorrectly
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// by newer code.
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//
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static const uint16_t k_format_version = 120;
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// Parameter identities.
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//
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// The enumeration defined here is used to ensure that every parameter
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// or parameter group has a unique ID number. This number is used by
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// AP_Param to store and locate parameters in EEPROM.
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//
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// Note that entries without a number are assigned the next number after
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// the entry preceding them. When adding new entries, ensure that they
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// don't overlap.
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//
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// Try to group related variables together, and assign them a set
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// range in the enumeration. Place these groups in numerical order
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// at the end of the enumeration.
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//
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// WARNING: Care should be taken when editing this enumeration as the
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// AP_Param load/save code depends on the values here to identify
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// variables saved in EEPROM.
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//
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//
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enum {
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// Layout version number, always key zero.
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//
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k_param_format_version = 0,
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k_param_software_type, // deprecated
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k_param_ins_old, // *** Deprecated, remove with next eeprom number change
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k_param_ins, // libraries/AP_InertialSensor variables
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k_param_NavEKF2_old, // deprecated - remove
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k_param_NavEKF2,
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k_param_g2, // 2nd block of parameters
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k_param_NavEKF3,
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k_param_BoardConfig_CAN,
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k_param_osd,
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// simulation
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k_param_sitl = 10,
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// barometer object (needed for SITL)
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k_param_barometer,
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// scheduler object (for debugging)
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k_param_scheduler,
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// relay object
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k_param_relay,
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// (old) EPM object
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k_param_epm_unused,
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// BoardConfig object
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k_param_BoardConfig,
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// GPS object
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k_param_gps,
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// Parachute object
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k_param_parachute,
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// Landing gear object
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k_param_landinggear, // 18
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// Input Management object
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k_param_input_manager, // 19
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// Misc
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//
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k_param_log_bitmask_old = 20, // Deprecated
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k_param_log_last_filenumber, // *** Deprecated - remove
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// with next eeprom number
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// change
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k_param_toy_yaw_rate, // deprecated - remove
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k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change
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k_param_rssi_pin, // unused, replaced by rssi_ library parameters
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k_param_throttle_accel_enabled, // deprecated - remove
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k_param_wp_yaw_behavior,
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k_param_acro_trainer,
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k_param_pilot_speed_up, // renamed from k_param_pilot_velocity_z_max
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k_param_circle_rate, // deprecated - remove
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k_param_rangefinder_gain,
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k_param_ch8_option_old, // deprecated
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k_param_arming_check_old, // deprecated - remove
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k_param_sprayer,
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k_param_angle_max,
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k_param_gps_hdop_good,
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k_param_battery,
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k_param_fs_batt_mah, // unused - moved to AP_BattMonitor
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k_param_angle_rate_max, // remove
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k_param_rssi_range, // unused, replaced by rssi_ library parameters
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k_param_rc_feel_rp, // deprecated
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k_param_NavEKF, // deprecated - remove
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k_param_mission, // mission library
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k_param_rc_13_old,
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k_param_rc_14_old,
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k_param_rally,
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k_param_poshold_brake_rate,
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k_param_poshold_brake_angle_max,
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k_param_pilot_accel_z,
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k_param_serial0_baud, // deprecated - remove
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k_param_serial1_baud, // deprecated - remove
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k_param_serial2_baud, // deprecated - remove
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k_param_land_repositioning,
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k_param_rangefinder, // rangefinder object
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k_param_fs_ekf_thresh,
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k_param_terrain,
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k_param_acro_rp_expo,
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k_param_throttle_deadzone,
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k_param_optflow,
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k_param_dcmcheck_thresh, // deprecated - remove
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k_param_log_bitmask,
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k_param_cli_enabled_old, // deprecated - remove
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k_param_throttle_filt,
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k_param_throttle_behavior,
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k_param_pilot_takeoff_alt, // 64
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// 65: AP_Limits Library
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k_param_limits = 65, // deprecated - remove
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k_param_gpslock_limit, // deprecated - remove
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k_param_geofence_limit, // deprecated - remove
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k_param_altitude_limit, // deprecated - remove
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k_param_fence,
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k_param_gps_glitch, // deprecated
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k_param_baro_glitch, // 71 - deprecated
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// AP_ADSB Library
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k_param_adsb, // 72
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k_param_notify, // 73
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// 74: precision landing object
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k_param_precland = 74,
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//
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// 75: Singlecopter, CoaxCopter
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//
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k_param_single_servo_1 = 75, // remove
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k_param_single_servo_2, // remove
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k_param_single_servo_3, // remove
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k_param_single_servo_4, // 78 - remove
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//
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// 80: Heli
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//
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k_param_heli_servo_1 = 80, // remove
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k_param_heli_servo_2, // remove
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k_param_heli_servo_3, // remove
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k_param_heli_servo_4, // remove
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k_param_heli_pitch_ff, // remove
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k_param_heli_roll_ff, // remove
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k_param_heli_yaw_ff, // remove
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k_param_heli_stab_col_min, // remove
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k_param_heli_stab_col_max, // remove
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k_param_heli_servo_rsc, // 89 = full! - remove
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//
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// 90: misc2
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//
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k_param_motors = 90,
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k_param_disarm_delay,
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k_param_fs_crash_check,
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k_param_throw_motor_start,
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k_param_terrain_follow, // 94
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k_param_avoid,
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k_param_avoidance_adsb,
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// 97: RSSI
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k_param_rssi = 97,
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//
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// 100: Inertial Nav
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//
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k_param_inertial_nav = 100, // deprecated
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k_param_wp_nav,
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k_param_attitude_control,
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k_param_pos_control,
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k_param_circle_nav,
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k_param_loiter_nav, // 105
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// 110: Telemetry control
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//
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k_param_gcs0 = 110,
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k_param_gcs1,
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k_param_sysid_this_mav,
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k_param_sysid_my_gcs,
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k_param_serial1_baud_old, // deprecated
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k_param_telem_delay,
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k_param_gcs2,
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k_param_serial2_baud_old, // deprecated
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k_param_serial2_protocol, // deprecated
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k_param_serial_manager,
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k_param_ch9_option_old,
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k_param_ch10_option_old,
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k_param_ch11_option_old,
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k_param_ch12_option_old,
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k_param_takeoff_trigger_dz_old,
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k_param_gcs3,
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k_param_gcs_pid_mask, // 126
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//
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// 135 : reserved for Solo until features merged with master
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//
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k_param_rtl_speed_cms = 135,
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k_param_fs_batt_curr_rtl,
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k_param_rtl_cone_slope, // 137
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//
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// 140: Sensor parameters
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//
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k_param_imu = 140, // deprecated - can be deleted
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k_param_battery_monitoring = 141, // deprecated - can be deleted
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k_param_volt_div_ratio, // deprecated - can be deleted
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k_param_curr_amp_per_volt, // deprecated - can be deleted
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k_param_input_voltage, // deprecated - can be deleted
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k_param_pack_capacity, // deprecated - can be deleted
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k_param_compass_enabled_deprecated,
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k_param_compass,
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k_param_rangefinder_enabled_old, // deprecated
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k_param_frame_type,
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k_param_optflow_enabled, // deprecated
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k_param_fs_batt_voltage, // unused - moved to AP_BattMonitor
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k_param_ch7_option_old,
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k_param_auto_slew_rate, // deprecated - can be deleted
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k_param_rangefinder_type_old, // deprecated
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k_param_super_simple = 155,
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k_param_axis_enabled = 157, // deprecated - remove with next eeprom number change
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k_param_copter_leds_mode, // deprecated - remove with next eeprom number change
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k_param_ahrs, // AHRS group // 159
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//
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// 160: Navigation parameters
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//
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k_param_rtl_altitude = 160,
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k_param_crosstrack_gain, // deprecated - remove with next eeprom number change
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k_param_rtl_loiter_time,
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k_param_rtl_alt_final,
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k_param_tilt_comp, //164 deprecated - remove with next eeprom number change
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//
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// Camera and mount parameters
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//
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k_param_camera = 165,
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k_param_camera_mount,
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k_param_camera_mount2, // deprecated
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//
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// Battery monitoring parameters
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//
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k_param_battery_volt_pin = 168, // deprecated - can be deleted
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k_param_battery_curr_pin, // 169 deprecated - can be deleted
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//
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// 170: Radio settings
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//
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k_param_rc_1_old = 170,
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k_param_rc_2_old,
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k_param_rc_3_old,
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k_param_rc_4_old,
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k_param_rc_5_old,
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k_param_rc_6_old,
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k_param_rc_7_old,
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k_param_rc_8_old,
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k_param_rc_10_old,
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k_param_rc_11_old,
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k_param_throttle_min, // remove
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k_param_throttle_max, // remove
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k_param_failsafe_throttle,
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k_param_throttle_fs_action, // remove
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k_param_failsafe_throttle_value,
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k_param_throttle_trim, // remove
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k_param_esc_calibrate,
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k_param_radio_tuning,
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k_param_radio_tuning_high_old, // unused
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k_param_radio_tuning_low_old, // unused
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k_param_rc_speed = 192,
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k_param_failsafe_battery_enabled, // unused - moved to AP_BattMonitor
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k_param_throttle_mid, // remove
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k_param_failsafe_gps_enabled, // remove
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k_param_rc_9_old,
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k_param_rc_12_old,
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k_param_failsafe_gcs,
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k_param_rcmap, // 199
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//
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// 200: flight modes
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//
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k_param_flight_mode1 = 200,
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k_param_flight_mode2,
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k_param_flight_mode3,
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k_param_flight_mode4,
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k_param_flight_mode5,
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k_param_flight_mode6,
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k_param_simple_modes,
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k_param_flight_mode_chan,
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//
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// 210: Waypoint data
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//
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k_param_waypoint_mode = 210, // remove
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k_param_command_total, // remove
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k_param_command_index, // remove
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k_param_command_nav_index, // remove
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k_param_waypoint_radius, // remove
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k_param_circle_radius, // remove
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k_param_waypoint_speed_max, // remove
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k_param_land_speed,
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k_param_auto_velocity_z_min, // remove
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k_param_auto_velocity_z_max, // remove - 219
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k_param_land_speed_high,
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//
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// 220: PI/D Controllers
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//
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k_param_acro_rp_p = 221,
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k_param_axis_lock_p, // remove
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k_param_pid_rate_roll, // remove
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k_param_pid_rate_pitch, // remove
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k_param_pid_rate_yaw, // remove
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k_param_p_stabilize_roll, // remove
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k_param_p_stabilize_pitch, // remove
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k_param_p_stabilize_yaw, // remove
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k_param_p_pos_xy, // remove
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k_param_p_loiter_lon, // remove
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k_param_pid_loiter_rate_lat, // remove
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k_param_pid_loiter_rate_lon, // remove
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k_param_pid_nav_lat, // remove
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k_param_pid_nav_lon, // remove
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k_param_p_alt_hold, // remove
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k_param_p_vel_z, // remove
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k_param_pid_optflow_roll, // remove
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k_param_pid_optflow_pitch, // remove
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k_param_acro_balance_roll_old, // remove
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k_param_acro_balance_pitch_old, // remove
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k_param_pid_accel_z, // remove
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k_param_acro_balance_roll,
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k_param_acro_balance_pitch,
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k_param_acro_yaw_p,
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k_param_autotune_axis_bitmask, // remove
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k_param_autotune_aggressiveness, // remove
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k_param_pi_vel_xy, // remove
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k_param_fs_ekf_action,
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k_param_rtl_climb_min,
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k_param_rpm_sensor,
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k_param_autotune_min_d, // remove
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k_param_arming, // 252 - AP_Arming
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k_param_logger = 253, // 253 - Logging Group
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// 254,255: reserved
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// the k_param_* space is 9-bits in size
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// 511: reserved
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};
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AP_Int16 format_version;
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// Telemetry control
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//
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AP_Int16 sysid_this_mav;
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AP_Int16 sysid_my_gcs;
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AP_Int8 telem_delay;
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AP_Float throttle_filt;
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AP_Int16 throttle_behavior;
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AP_Float pilot_takeoff_alt;
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AP_Int16 rtl_altitude;
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AP_Int16 rtl_speed_cms;
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AP_Float rtl_cone_slope;
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#if RANGEFINDER_ENABLED == ENABLED
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AP_Float rangefinder_gain;
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#endif
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AP_Int8 failsafe_gcs; // ground station failsafe behavior
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AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position
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AP_Int8 super_simple;
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AP_Int16 rtl_alt_final;
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AP_Int16 rtl_climb_min; // rtl minimum climb in cm
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AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
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AP_Int16 poshold_brake_rate; // PosHold flight mode's rotation rate during braking in deg/sec
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AP_Int16 poshold_brake_angle_max; // PosHold flight mode's max lean angle during braking in centi-degrees
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// Waypoints
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//
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AP_Int32 rtl_loiter_time;
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AP_Int16 land_speed;
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AP_Int16 land_speed_high;
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AP_Int16 pilot_speed_up; // maximum vertical ascending velocity the pilot may request
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AP_Int16 pilot_accel_z; // vertical acceleration the pilot may request
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// Throttle
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//
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AP_Int8 failsafe_throttle;
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AP_Int16 failsafe_throttle_value;
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AP_Int16 throttle_deadzone;
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// Flight modes
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//
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AP_Int8 flight_mode1;
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AP_Int8 flight_mode2;
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AP_Int8 flight_mode3;
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AP_Int8 flight_mode4;
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AP_Int8 flight_mode5;
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AP_Int8 flight_mode6;
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AP_Int8 simple_modes;
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AP_Int8 flight_mode_chan;
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// Misc
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//
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AP_Int32 log_bitmask;
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AP_Int8 esc_calibrate;
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AP_Int8 radio_tuning;
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AP_Int8 frame_type;
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AP_Int8 disarm_delay;
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AP_Int8 land_repositioning;
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AP_Int8 fs_ekf_action;
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AP_Int8 fs_crash_check;
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AP_Float fs_ekf_thresh;
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AP_Int16 gcs_pid_mask;
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#if MODE_THROW_ENABLED == ENABLED
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AP_Int8 throw_motor_start;
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#endif
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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AP_Int8 terrain_follow;
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#endif
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AP_Int16 rc_speed; // speed of fast RC Channels in Hz
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// Acro parameters
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AP_Float acro_rp_p;
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AP_Float acro_yaw_p;
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AP_Float acro_balance_roll;
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AP_Float acro_balance_pitch;
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AP_Int8 acro_trainer;
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AP_Float acro_rp_expo;
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// Note: keep initializers here in the same order as they are declared
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// above.
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Parameters()
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{
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}
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};
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/*
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2nd block of parameters, to avoid going past 256 top level keys
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*/
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class ParametersG2 {
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public:
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ParametersG2(void);
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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// altitude at which nav control can start in takeoff
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AP_Float wp_navalt_min;
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// button checking
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AP_Button button;
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#if STATS_ENABLED == ENABLED
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// vehicle statistics
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AP_Stats stats;
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#endif
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#if GRIPPER_ENABLED
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AP_Gripper gripper;
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#endif
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#if MODE_THROW_ENABLED == ENABLED
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// Throw mode parameters
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AP_Int8 throw_nextmode;
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AP_Int8 throw_type;
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#endif
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// ground effect compensation enable/disable
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AP_Int8 gndeffect_comp_enabled;
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// temperature calibration handling
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AP_TempCalibration temp_calibration;
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#if BEACON_ENABLED == ENABLED
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// beacon (non-GPS positioning) library
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AP_Beacon beacon;
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#endif
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#if VISUAL_ODOMETRY_ENABLED == ENABLED
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// Visual Odometry camera
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AP_VisualOdom visual_odom;
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#endif
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#if PROXIMITY_ENABLED == ENABLED
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// proximity (aka object avoidance) library
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AP_Proximity proximity;
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#endif
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|
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// whether to enforce acceptance of packets only from sysid_my_gcs
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AP_Int8 sysid_enforce;
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|
|
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#if ADVANCED_FAILSAFE == ENABLED
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// advanced failsafe library
|
|
AP_AdvancedFailsafe_Copter afs;
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#endif
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|
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// developer options
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AP_Int32 dev_options;
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|
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// acro exponent parameters
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AP_Float acro_y_expo;
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#if MODE_ACRO_ENABLED == ENABLED
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AP_Float acro_thr_mid;
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#endif
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|
|
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// frame class
|
|
AP_Int8 frame_class;
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|
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// RC input channels
|
|
RC_Channels_Copter rc_channels;
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|
|
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// control over servo output ranges
|
|
SRV_Channels servo_channels;
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|
|
|
#if MODE_SMARTRTL_ENABLED == ENABLED
|
|
// Safe RTL library
|
|
AP_SmartRTL smart_rtl;
|
|
#endif
|
|
|
|
// wheel encoder and winch
|
|
#if WINCH_ENABLED == ENABLED
|
|
AP_WheelEncoder wheel_encoder;
|
|
AP_Winch winch;
|
|
#endif
|
|
|
|
// Additional pilot velocity items
|
|
AP_Int16 pilot_speed_dn;
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|
|
|
// Land alt final stage
|
|
AP_Int16 land_alt_low;
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|
|
|
#if TOY_MODE_ENABLED == ENABLED
|
|
ToyMode toy_mode;
|
|
#endif
|
|
|
|
#if OPTFLOW == ENABLED
|
|
// we need a pointer to the mode for the G2 table
|
|
void *mode_flowhold_ptr;
|
|
#endif
|
|
|
|
#if MODE_FOLLOW_ENABLED == ENABLED
|
|
// follow
|
|
AP_Follow follow;
|
|
#endif
|
|
|
|
#ifdef USER_PARAMS_ENABLED
|
|
// User custom parameters
|
|
UserParameters user_parameters;
|
|
#endif
|
|
|
|
#if AUTOTUNE_ENABLED == ENABLED
|
|
// we need a pointer to autotune for the G2 table
|
|
void *autotune_ptr;
|
|
#endif
|
|
|
|
#ifdef ENABLE_SCRIPTING
|
|
AP_Scripting scripting;
|
|
#endif // ENABLE_SCRIPTING
|
|
|
|
AP_Float tuning_min;
|
|
AP_Float tuning_max;
|
|
};
|
|
|
|
extern const AP_Param::Info var_info[];
|