mirror of https://github.com/ArduPilot/ardupilot
429 lines
11 KiB
C++
429 lines
11 KiB
C++
#pragma once
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#include <AP_Common/AP_Common.h>
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#include "RC_Channel.h"
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#include <AC_Avoidance/AC_Avoid.h>
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#include "AC_Sprayer/AC_Sprayer.h"
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#include <AP_AIS/AP_AIS.h>
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#include <AP_Beacon/AP_Beacon.h>
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#include <AP_Follow/AP_Follow.h>
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#include "AP_Gripper/AP_Gripper.h"
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#include <AP_Proximity/AP_Proximity.h>
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#include "AP_Rally.h"
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#include <AP_SmartRTL/AP_SmartRTL.h>
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#include <AP_Stats/AP_Stats.h>
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#include "AP_Torqeedo/AP_Torqeedo.h"
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#include <AP_WindVane/AP_WindVane.h>
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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 = 16;
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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, // unused
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k_param_can_mgr,
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// Misc
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//
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k_param_log_bitmask_old = 10, // unused
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k_param_num_resets_old, // unused
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k_param_reset_switch_chan,
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k_param_initial_mode,
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k_param_scheduler,
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k_param_relay,
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k_param_BoardConfig,
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k_param_pivot_turn_angle_old, // unused
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k_param_rc_13_old, // unused
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k_param_rc_14_old, // unused
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// IO pins
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k_param_rssi_pin = 20, // unused, replaced by rssi_ library parameters
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k_param_battery_volt_pin,
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k_param_battery_curr_pin,
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// braking
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k_param_braking_percent_old = 30, // unused
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k_param_braking_speederr_old, // unused
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// misc2
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k_param_log_bitmask = 40,
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k_param_gps,
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k_param_serial0_baud, // deprecated, can be deleted
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k_param_serial1_baud, // deprecated, can be deleted
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k_param_serial2_baud, // deprecated, can be deleted
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// 97: RSSI
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k_param_rssi = 97,
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k_param_rpm_sensor, // rpm sensor 98
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// 100: Arming parameters
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k_param_arming = 100,
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// 110: Telemetry control
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//
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k_param_gcs0 = 110, // stream rates for uartA
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k_param_gcs1, // stream rates for uartC
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k_param_sysid_this_mav,
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k_param_sysid_my_gcs,
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k_param_serial0_baud_old, // unused
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k_param_serial1_baud_old, // unused
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k_param_telem_delay,
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k_param_skip_gyro_cal, // unused
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k_param_gcs2, // stream rates for uartD
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k_param_serial2_baud_old, // unused
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k_param_serial2_protocol, // deprecated, can be deleted
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k_param_serial_manager, // serial manager library
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k_param_cli_enabled_old, // unused
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k_param_gcs3,
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k_param_gcs_pid_mask,
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k_param_gcs4,
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k_param_gcs5,
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k_param_gcs6,
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//
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// 130: Sensor parameters
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//
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k_param_compass_enabled_deprecated = 130,
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k_param_steering_learn, // unused
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k_param_NavEKF, // deprecated - remove
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k_param_mission, // mission library
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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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// 140: battery controls
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k_param_battery_monitoring = 140, // 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_battery,
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//
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// 150: Navigation parameters
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//
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k_param_crosstrack_gain = 150, // unused
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k_param_crosstrack_entry_angle, // unused
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k_param_speed_cruise,
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k_param_speed_turn_gain, // unused
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k_param_speed_turn_dist, // unused
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k_param_ch7_option, // unused
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k_param_auto_trigger_pin,
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k_param_auto_kickstart,
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k_param_turn_circle, // unused
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k_param_turn_max_g_old, // unused
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//
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// 160: Radio settings
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//
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k_param_rc_1_old = 160, // unused
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k_param_rc_2_old, // unused
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k_param_rc_3_old, // unused
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k_param_rc_4_old, // unused
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k_param_rc_5_old, // unused
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k_param_rc_6_old, // unused
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k_param_rc_7_old, // unused
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k_param_rc_8_old, // unused
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// throttle control
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k_param_throttle_min_old = 170, // unused
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k_param_throttle_max_old, // unused
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k_param_throttle_cruise,
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k_param_throttle_slewrate_old, // unused
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k_param_throttle_reduction, // unused
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k_param_pilot_steer_type,
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k_param_skid_steer_out_old, // unused
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// failsafe control
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k_param_fs_action = 180,
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k_param_fs_timeout,
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k_param_fs_throttle_enabled,
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k_param_fs_throttle_value,
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k_param_fs_gcs_enabled,
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k_param_fs_crash_check,
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k_param_fs_ekf_action,
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k_param_fs_ekf_thresh, // 187
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// obstacle control
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k_param_sonar_enabled = 190, // deprecated, can be removed
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k_param_sonar_old, // unused
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k_param_rangefinder_trigger_cm, // unused
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k_param_rangefinder_turn_angle, // unused
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k_param_rangefinder_turn_time, // unused
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k_param_sonar2_old, // unused
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k_param_rangefinder_debounce, // unused
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k_param_rangefinder, // rangefinder object
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//
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// 210: driving modes
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//
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k_param_mode_channel = 210,
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k_param_mode1,
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k_param_mode2,
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k_param_mode3,
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k_param_mode4,
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k_param_mode5,
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k_param_mode6,
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k_param_aux_channel_old,
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//
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// 220: Waypoint data
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//
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k_param_command_total = 220, // unused
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k_param_command_index, // unused
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k_param_waypoint_radius_old, // unused
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k_param_waypoint_overshoot_old, // unused
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//
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// camera control
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//
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k_param_camera,
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k_param_camera_mount,
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k_param_camera_mount2, // unused
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//
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// 230: PID Controllers
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k_param_pidNavSteer = 230,
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k_param_pidServoSteer, // unused
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k_param_pidSpeedThrottle_old, // unused
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// high RC channels
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k_param_rc_9_old = 235, // unused
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k_param_rc_10_old, // unused
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k_param_rc_11_old, // unused
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k_param_rc_12_old, // unusedS
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// other objects
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k_param_sitl = 240,
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k_param_ahrs,
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k_param_ins,
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k_param_compass,
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k_param_rcmap,
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k_param_L1_controller, // unused
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k_param_steerController_old, // unused
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k_param_barometer,
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k_param_notify,
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k_param_button,
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k_param_osd,
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k_param_logger = 253, // Logging Group
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// 254,255: reserved
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k_param_vehicle = 257, // vehicle common block of parameters
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};
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AP_Int16 format_version;
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// Misc
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//
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AP_Int32 log_bitmask;
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AP_Int8 reset_switch_chan;
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AP_Int8 initial_mode;
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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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// navigation parameters
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//
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AP_Float speed_cruise;
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AP_Int8 ch7_option;
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AP_Int8 auto_trigger_pin;
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AP_Float auto_kickstart;
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AP_Int16 gcs_pid_mask;
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// Throttle
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//
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AP_Int8 throttle_cruise;
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AP_Int8 pilot_steer_type;
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// failsafe control
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AP_Int8 fs_action;
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AP_Float fs_timeout;
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AP_Int8 fs_throttle_enabled;
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AP_Int16 fs_throttle_value;
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AP_Int8 fs_gcs_enabled;
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AP_Int8 fs_crash_check;
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AP_Int8 fs_ekf_action;
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AP_Float fs_ekf_thresh;
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// driving modes
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//
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AP_Int8 mode_channel;
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AP_Int8 mode1;
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AP_Int8 mode2;
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AP_Int8 mode3;
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AP_Int8 mode4;
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AP_Int8 mode5;
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AP_Int8 mode6;
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Parameters() {}
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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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#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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// whether to enforce acceptance of packets only from sysid_my_gcs
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AP_Int8 sysid_enforce;
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// RC input channels
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RC_Channels_Rover rc_channels;
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// control over servo output ranges
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SRV_Channels servo_channels;
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#if ADVANCED_FAILSAFE == ENABLED
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// advanced failsafe library
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AP_AdvancedFailsafe_Rover afs;
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#endif
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AP_Beacon beacon;
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// Motor library
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AP_MotorsUGV motors;
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// wheel encoders
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AP_WheelEncoder wheel_encoder;
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AP_WheelRateControl wheel_rate_control;
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// steering and throttle controller
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AR_AttitudeControl attitude_control;
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// turn radius of vehicle (only used in steering mode)
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AP_Float turn_radius;
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// acro mode turn rate maximum
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AP_Float acro_turn_rate;
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// Safe RTL library
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AP_SmartRTL smart_rtl;
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// default speed for rtl
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AP_Float rtl_speed;
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// frame class for vehicle
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AP_Int8 frame_class;
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// fence library
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AC_Fence fence;
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#if HAL_PROXIMITY_ENABLED
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// proximity library
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AP_Proximity proximity;
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#endif
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// avoidance library
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AC_Avoid avoid;
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// pitch angle at 100% throttle
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AP_Float bal_pitch_max;
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// pitch/roll angle for crash check
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AP_Int8 crash_angle;
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// follow mode library
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AP_Follow follow;
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// frame type for vehicle (used for vectored motor vehicles and custom motor configs)
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AP_Int8 frame_type;
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// loiter type
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AP_Int8 loit_type;
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AP_Float loit_radius;
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#if HAL_SPRAYER_ENABLED
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// Sprayer
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AC_Sprayer sprayer;
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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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// Rally point library
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AP_Rally_Rover rally;
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// Simple mode types
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AP_Int8 simple_type;
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// windvane
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AP_WindVane windvane;
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// mission behave
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AP_Int8 mis_done_behave;
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// balance both pitch trim
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AP_Float bal_pitch_trim;
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// stick mixing for auto modes
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AP_Int8 stick_mixing;
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#if AP_SCRIPTING_ENABLED
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AP_Scripting scripting;
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#endif // AP_SCRIPTING_ENABLED
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// waypoint navigation
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AR_WPNav_OA wp_nav;
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// Sailboat functions
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Sailboat sailboat;
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// object avoidance path planning
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AP_OAPathPlanner oa;
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// maximum speed for vehicle
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AP_Float speed_max;
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// gain for speed of correction in loiter
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AP_Float loiter_speed_gain;
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// FS options
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AP_Int32 fs_options;
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#if HAL_TORQEEDO_ENABLED
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// torqeedo motor driver
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AP_Torqeedo torqeedo;
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#endif
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// position controller
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AR_PosControl pos_control;
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// guided options bitmask
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AP_Int32 guided_options;
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// Rover options
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AP_Int32 manual_options;
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};
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extern const AP_Param::Info var_info[];
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