mirror of https://github.com/ArduPilot/ardupilot
607 lines
19 KiB
C++
607 lines
19 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
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|
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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|
|
|
// 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
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|
AP_Int8 frame_class;
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|
|
|
// RC input channels
|
|
RC_Channels_Copter rc_channels;
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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;
|
|
|
|
#if AC_OAPATHPLANNER_ENABLED == ENABLED
|
|
// object avoidance path planning
|
|
AP_OAPathPlanner oa;
|
|
#endif
|
|
};
|
|
|
|
extern const AP_Param::Info var_info[];
|