mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
2ba9a04bf5
@Description: This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be. (+1 squashed commits)
563 lines
17 KiB
C++
563 lines
17 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
#pragma once
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
|
|
// Global parameter class.
|
|
//
|
|
class Parameters {
|
|
public:
|
|
|
|
/*
|
|
* The value of k_format_version determines whether the existing
|
|
* eeprom data is considered valid. You should only change this
|
|
* value under the following circumstances:
|
|
*
|
|
* 1) the meaning of an existing eeprom parameter changes
|
|
*
|
|
* 2) the value of an existing k_param_* enum value changes
|
|
*
|
|
* Adding a new parameter should _not_ require a change to
|
|
* k_format_version except under special circumstances. If you
|
|
* change it anyway then all ArduPlane users will need to reload all
|
|
* their parameters. We want that to be an extremely rare
|
|
* thing. Please do not just change it "just in case".
|
|
*
|
|
* To determine if a k_param_* value has changed, use the rules of
|
|
* C++ enums to work out the value of the neighboring enum
|
|
* values. If you don't know the C++ enum rules then please ask for
|
|
* help.
|
|
*/
|
|
|
|
//////////////////////////////////////////////////////////////////
|
|
// STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE
|
|
// COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!!
|
|
static const uint16_t k_format_version = 13;
|
|
//////////////////////////////////////////////////////////////////
|
|
|
|
|
|
// The parameter software_type is set up solely for ground station use
|
|
// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
|
|
// GCS will interpret values 0-9 as ArduPilotMega. Developers may use
|
|
// values within that range to identify different branches.
|
|
//
|
|
static const uint16_t k_software_type = 0; // 0 for APM trunk
|
|
|
|
enum {
|
|
// Layout version number, always key zero.
|
|
//
|
|
k_param_format_version = 0,
|
|
k_param_software_type,
|
|
k_param_num_resets,
|
|
|
|
// Misc
|
|
//
|
|
k_param_auto_trim = 10,
|
|
k_param_log_bitmask_old, // unused
|
|
k_param_pitch_trim_cd,
|
|
k_param_mix_mode,
|
|
k_param_reverse_elevons,
|
|
k_param_reverse_ch1_elevon,
|
|
k_param_reverse_ch2_elevon,
|
|
k_param_flap_1_percent,
|
|
k_param_flap_1_speed,
|
|
k_param_flap_2_percent,
|
|
k_param_flap_2_speed,
|
|
k_param_reset_switch_chan,
|
|
k_param_manual_level, // unused
|
|
k_param_land_pitch_cd,
|
|
k_param_ins_old, // *** Deprecated, remove with next eeprom number change
|
|
k_param_stick_mixing,
|
|
k_param_reset_mission_chan,
|
|
k_param_land_flare_alt,
|
|
k_param_land_flare_sec,
|
|
k_param_crosstrack_min_distance, // unused
|
|
k_param_rudder_steer, // unused
|
|
k_param_throttle_nudge,
|
|
k_param_alt_offset,
|
|
k_param_ins, // libraries/AP_InertialSensor variables
|
|
k_param_takeoff_throttle_min_speed,
|
|
k_param_takeoff_throttle_min_accel,
|
|
k_param_takeoff_heading_hold, // unused
|
|
k_param_level_roll_limit,
|
|
k_param_hil_servos,
|
|
k_param_vtail_output,
|
|
k_param_nav_controller,
|
|
k_param_elevon_output,
|
|
k_param_att_controller,
|
|
k_param_mixing_gain,
|
|
k_param_scheduler,
|
|
k_param_relay,
|
|
k_param_takeoff_throttle_delay,
|
|
k_param_skip_gyro_cal, // unused
|
|
k_param_auto_fbw_steer,
|
|
k_param_waypoint_max_radius,
|
|
k_param_ground_steer_alt,
|
|
k_param_ground_steer_dps,
|
|
k_param_rally_limit_km_old, //unused anymore -- just holding this index
|
|
k_param_hil_err_limit,
|
|
k_param_sonar_old, // unused
|
|
k_param_log_bitmask,
|
|
k_param_BoardConfig,
|
|
k_param_rssi_range, // unused, replaced by rssi_ library parameters
|
|
k_param_flapin_channel,
|
|
k_param_flaperon_output,
|
|
k_param_gps,
|
|
k_param_autotune_level,
|
|
k_param_rally,
|
|
k_param_serial0_baud, // deprecated
|
|
k_param_serial1_baud, // deprecated
|
|
k_param_serial2_baud, // deprecated
|
|
k_param_takeoff_tdrag_elevator,
|
|
k_param_takeoff_tdrag_speed1,
|
|
k_param_takeoff_rotate_speed,
|
|
k_param_takeoff_throttle_slewrate,
|
|
k_param_takeoff_throttle_max,
|
|
k_param_rangefinder,
|
|
k_param_terrain,
|
|
k_param_terrain_follow,
|
|
k_param_stab_pitch_down_cd_old, // deprecated
|
|
k_param_glide_slope_min,
|
|
k_param_stab_pitch_down,
|
|
k_param_terrain_lookahead,
|
|
k_param_fbwa_tdrag_chan,
|
|
k_param_rangefinder_landing,
|
|
k_param_land_flap_percent,
|
|
k_param_takeoff_flap_percent,
|
|
k_param_flap_slewrate,
|
|
k_param_rtl_autoland,
|
|
k_param_override_channel,
|
|
k_param_stall_prevention,
|
|
k_param_optflow,
|
|
k_param_cli_enabled,
|
|
k_param_trim_rc_at_start,
|
|
k_param_hil_mode,
|
|
k_param_land_disarm_delay,
|
|
k_param_glide_slope_threshold,
|
|
k_param_rudder_only,
|
|
k_param_gcs3, // 93
|
|
k_param_gcs_pid_mask,
|
|
k_param_crash_detection_enable,
|
|
k_param_land_abort_throttle_enable,
|
|
k_param_rssi = 97,
|
|
k_param_rpm_sensor,
|
|
k_param_parachute,
|
|
k_param_arming = 100,
|
|
k_param_parachute_channel,
|
|
k_param_crash_accel_threshold,
|
|
k_param_override_safety,
|
|
k_param_land_throttle_slewrate, // 104
|
|
|
|
// 105: Extra parameters
|
|
k_param_fence_retalt = 105,
|
|
k_param_fence_autoenable,
|
|
k_param_fence_ret_rally,
|
|
k_param_q_attitude_control,
|
|
k_param_takeoff_pitch_limit_reduction_sec,
|
|
|
|
// 110: Telemetry control
|
|
//
|
|
k_param_gcs0 = 110, // stream rates for uartA
|
|
k_param_gcs1, // stream rates for uartC
|
|
k_param_sysid_this_mav,
|
|
k_param_sysid_my_gcs,
|
|
k_param_serial1_baud_old, // deprecated
|
|
k_param_telem_delay,
|
|
k_param_serial0_baud_old, // deprecated
|
|
k_param_gcs2, // stream rates for uartD
|
|
k_param_serial2_baud_old, // deprecated
|
|
k_param_serial2_protocol, // deprecated
|
|
|
|
// 120: Fly-by-wire control
|
|
//
|
|
k_param_airspeed_min = 120,
|
|
k_param_airspeed_max,
|
|
k_param_FBWB_min_altitude_cm, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)
|
|
k_param_flybywire_elev_reverse,
|
|
k_param_alt_control_algorithm,
|
|
k_param_flybywire_climb_rate,
|
|
k_param_acro_roll_rate,
|
|
k_param_acro_pitch_rate,
|
|
k_param_acro_locking,
|
|
k_param_use_reverse_thrust = 129,
|
|
|
|
//
|
|
// 130: Sensor parameters
|
|
//
|
|
k_param_imu = 130, // unused
|
|
k_param_altitude_mix,
|
|
|
|
k_param_compass_enabled,
|
|
k_param_compass,
|
|
k_param_battery_monitoring, // unused
|
|
k_param_volt_div_ratio, // unused
|
|
k_param_curr_amp_per_volt, // unused
|
|
k_param_input_voltage, // deprecated, can be deleted
|
|
k_param_pack_capacity, // unused
|
|
k_param_sonar_enabled_old, // unused
|
|
k_param_ahrs, // AHRS group
|
|
k_param_barometer, // barometer ground calibration
|
|
k_param_airspeed, // AP_Airspeed parameters
|
|
k_param_curr_amp_offset,
|
|
k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group
|
|
k_param_mission, // mission library
|
|
k_param_serial_manager, // serial manager library
|
|
k_param_NavEKF2, // EKF2
|
|
k_param_land_pre_flare_alt,
|
|
k_param_land_pre_flare_airspeed = 149,
|
|
|
|
//
|
|
// 150: Navigation parameters
|
|
//
|
|
k_param_crosstrack_gain = 150, // unused
|
|
k_param_crosstrack_entry_angle, // unused
|
|
k_param_roll_limit_cd,
|
|
k_param_pitch_limit_max_cd,
|
|
k_param_pitch_limit_min_cd,
|
|
k_param_airspeed_cruise_cm,
|
|
k_param_RTL_altitude_cm,
|
|
k_param_inverted_flight_ch,
|
|
k_param_min_gndspeed_cm,
|
|
k_param_crosstrack_use_wind, // unused
|
|
|
|
|
|
//
|
|
// Camera and mount parameters
|
|
//
|
|
k_param_camera = 160,
|
|
k_param_camera_mount,
|
|
k_param_camera_mount2, // unused
|
|
k_param_adsb,
|
|
k_param_notify,
|
|
k_param_land_pre_flare_sec = 165,
|
|
|
|
//
|
|
// Battery monitoring parameters
|
|
//
|
|
k_param_battery = 166,
|
|
k_param_rssi_pin, // unused, replaced by rssi_ library parameters - 167
|
|
k_param_battery_volt_pin, // unused - 168
|
|
k_param_battery_curr_pin, // unused - 169
|
|
|
|
//
|
|
// 170: Radio settings
|
|
//
|
|
k_param_rc_1 = 170,
|
|
k_param_rc_2,
|
|
k_param_rc_3,
|
|
k_param_rc_4,
|
|
k_param_rc_5,
|
|
k_param_rc_6,
|
|
k_param_rc_7,
|
|
k_param_rc_8,
|
|
k_param_rc_9,
|
|
k_param_rc_10,
|
|
k_param_rc_11,
|
|
|
|
k_param_throttle_min,
|
|
k_param_throttle_max,
|
|
k_param_throttle_fs_enabled,
|
|
k_param_throttle_fs_value,
|
|
k_param_throttle_cruise,
|
|
|
|
k_param_short_fs_action,
|
|
k_param_long_fs_action,
|
|
k_param_gcs_heartbeat_fs_enabled,
|
|
k_param_throttle_slewrate,
|
|
k_param_throttle_suppress_manual,
|
|
k_param_throttle_passthru_stabilize,
|
|
k_param_rc_12,
|
|
k_param_fs_batt_voltage,
|
|
k_param_fs_batt_mah,
|
|
k_param_short_fs_timeout,
|
|
k_param_long_fs_timeout,
|
|
k_param_rc_13,
|
|
k_param_rc_14,
|
|
k_param_tuning,
|
|
|
|
//
|
|
// 200: Feed-forward gains
|
|
//
|
|
k_param_kff_pitch_compensation = 200, // unused
|
|
k_param_kff_rudder_mix,
|
|
k_param_kff_pitch_to_throttle, // unused
|
|
k_param_kff_throttle_to_pitch,
|
|
k_param_scaling_speed,
|
|
k_param_quadplane,
|
|
k_param_rtl_radius,
|
|
k_param_land_then_servos_neutral,
|
|
k_param_rc_15,
|
|
k_param_rc_16,
|
|
|
|
//
|
|
// 210: flight modes
|
|
//
|
|
k_param_flight_mode_channel = 210,
|
|
k_param_flight_mode1,
|
|
k_param_flight_mode2,
|
|
k_param_flight_mode3,
|
|
k_param_flight_mode4,
|
|
k_param_flight_mode5,
|
|
k_param_flight_mode6,
|
|
k_param_initial_mode,
|
|
|
|
//
|
|
// 220: Waypoint data
|
|
//
|
|
k_param_waypoint_mode = 220,
|
|
k_param_command_total, // unused
|
|
k_param_command_index, // unused
|
|
k_param_waypoint_radius,
|
|
k_param_loiter_radius,
|
|
k_param_fence_action,
|
|
k_param_fence_total,
|
|
k_param_fence_channel,
|
|
k_param_fence_minalt,
|
|
k_param_fence_maxalt,
|
|
|
|
// other objects
|
|
k_param_sitl = 230,
|
|
k_param_obc,
|
|
k_param_rollController,
|
|
k_param_pitchController,
|
|
k_param_yawController,
|
|
k_param_L1_controller,
|
|
k_param_rcmap,
|
|
k_param_TECS_controller,
|
|
k_param_rally_total_old, //unused
|
|
k_param_steerController,
|
|
|
|
//
|
|
// 240: PID Controllers
|
|
k_param_pidNavRoll = 240, // unused
|
|
k_param_pidServoRoll, // unused
|
|
k_param_pidServoPitch, // unused
|
|
k_param_pidNavPitchAirspeed, // unused
|
|
k_param_pidServoRudder, // unused
|
|
k_param_pidTeThrottle, // unused
|
|
k_param_pidNavPitchAltitude, // unused
|
|
k_param_pidWheelSteer, // unused
|
|
|
|
k_param_DataFlash = 253, // Logging Group
|
|
|
|
// 254,255: reserved
|
|
};
|
|
|
|
AP_Int16 format_version;
|
|
AP_Int8 software_type;
|
|
|
|
// Telemetry control
|
|
//
|
|
AP_Int16 sysid_this_mav;
|
|
AP_Int16 sysid_my_gcs;
|
|
AP_Int8 telem_delay;
|
|
#if CLI_ENABLED == ENABLED
|
|
AP_Int8 cli_enabled;
|
|
#endif
|
|
|
|
AP_Float hil_err_limit;
|
|
|
|
AP_Int8 rtl_autoland;
|
|
|
|
AP_Int8 trim_rc_at_start;
|
|
AP_Int8 crash_accel_threshold;
|
|
AP_Int8 crash_detection_enable;
|
|
|
|
// Feed-forward gains
|
|
//
|
|
AP_Float kff_rudder_mix;
|
|
AP_Float kff_pitch_to_throttle;
|
|
AP_Float kff_throttle_to_pitch;
|
|
AP_Float ground_steer_alt;
|
|
AP_Int16 ground_steer_dps;
|
|
AP_Float stab_pitch_down;
|
|
|
|
// speed used for speed scaling
|
|
AP_Float scaling_speed;
|
|
|
|
// navigation controller type. See AP_Navigation::ControllerType
|
|
AP_Int8 nav_controller;
|
|
|
|
// attitude controller type.
|
|
AP_Int8 att_controller;
|
|
|
|
AP_Int8 auto_fbw_steer;
|
|
|
|
// Estimation
|
|
//
|
|
AP_Float altitude_mix;
|
|
AP_Int8 alt_control_algorithm;
|
|
|
|
// Waypoints
|
|
//
|
|
AP_Int8 waypoint_mode;
|
|
AP_Int16 waypoint_radius;
|
|
AP_Int16 waypoint_max_radius;
|
|
AP_Int16 loiter_radius;
|
|
AP_Int16 rtl_radius;
|
|
|
|
#if GEOFENCE_ENABLED == ENABLED
|
|
AP_Int8 fence_action;
|
|
AP_Int8 fence_total;
|
|
AP_Int8 fence_channel;
|
|
AP_Int16 fence_minalt; // meters
|
|
AP_Int16 fence_maxalt; // meters
|
|
AP_Int16 fence_retalt; // meters
|
|
AP_Int8 fence_autoenable;
|
|
AP_Int8 fence_ret_rally;
|
|
#endif
|
|
|
|
// Fly-by-wire
|
|
//
|
|
AP_Int8 flybywire_elev_reverse;
|
|
AP_Int8 flybywire_climb_rate;
|
|
|
|
// Throttle
|
|
//
|
|
AP_Int8 throttle_suppress_manual;
|
|
AP_Int8 throttle_passthru_stabilize;
|
|
AP_Int8 throttle_fs_enabled;
|
|
AP_Int16 throttle_fs_value;
|
|
AP_Int8 throttle_nudge;
|
|
AP_Int16 use_reverse_thrust;
|
|
|
|
// Failsafe
|
|
AP_Int8 short_fs_action;
|
|
AP_Int8 long_fs_action;
|
|
AP_Float short_fs_timeout;
|
|
AP_Float long_fs_timeout;
|
|
AP_Int8 gcs_heartbeat_fs_enabled;
|
|
AP_Float fs_batt_voltage;
|
|
AP_Float fs_batt_mah;
|
|
|
|
// Flight modes
|
|
//
|
|
AP_Int8 flight_mode_channel;
|
|
AP_Int8 flight_mode1;
|
|
AP_Int8 flight_mode2;
|
|
AP_Int8 flight_mode3;
|
|
AP_Int8 flight_mode4;
|
|
AP_Int8 flight_mode5;
|
|
AP_Int8 flight_mode6;
|
|
AP_Int8 initial_mode;
|
|
|
|
// Navigational maneuvering limits
|
|
//
|
|
AP_Int16 roll_limit_cd;
|
|
AP_Int16 alt_offset;
|
|
AP_Int16 acro_roll_rate;
|
|
AP_Int16 acro_pitch_rate;
|
|
AP_Int8 acro_locking;
|
|
|
|
// Misc
|
|
//
|
|
AP_Int8 auto_trim;
|
|
AP_Int8 mix_mode;
|
|
AP_Int8 vtail_output;
|
|
AP_Int8 elevon_output;
|
|
AP_Int8 rudder_only;
|
|
AP_Float mixing_gain;
|
|
AP_Int8 reverse_elevons;
|
|
AP_Int8 reverse_ch1_elevon;
|
|
AP_Int8 reverse_ch2_elevon;
|
|
AP_Int16 num_resets;
|
|
AP_Int32 log_bitmask;
|
|
AP_Int8 reset_switch_chan;
|
|
AP_Int8 reset_mission_chan;
|
|
AP_Int32 airspeed_cruise_cm;
|
|
AP_Int32 RTL_altitude_cm;
|
|
AP_Float land_flare_alt;
|
|
AP_Int8 land_disarm_delay;
|
|
AP_Int8 land_then_servos_neutral;
|
|
AP_Int8 land_abort_throttle_enable;
|
|
AP_Float land_pre_flare_alt;
|
|
AP_Float land_pre_flare_sec;
|
|
AP_Int32 min_gndspeed_cm;
|
|
AP_Int16 pitch_trim_cd;
|
|
AP_Int16 FBWB_min_altitude_cm;
|
|
AP_Int8 hil_servos;
|
|
#if HIL_SUPPORT
|
|
AP_Int8 hil_mode;
|
|
#endif
|
|
|
|
AP_Int8 compass_enabled;
|
|
AP_Int8 flap_1_percent;
|
|
AP_Int8 flap_1_speed;
|
|
AP_Int8 flap_2_percent;
|
|
AP_Int8 flap_2_speed;
|
|
AP_Int8 land_flap_percent;
|
|
AP_Int8 takeoff_flap_percent;
|
|
AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
|
|
AP_Int8 stick_mixing;
|
|
AP_Float takeoff_throttle_min_speed;
|
|
AP_Float takeoff_throttle_min_accel;
|
|
AP_Int8 takeoff_throttle_delay;
|
|
AP_Int8 takeoff_tdrag_elevator;
|
|
AP_Float takeoff_tdrag_speed1;
|
|
AP_Float takeoff_rotate_speed;
|
|
AP_Int8 takeoff_throttle_slewrate;
|
|
AP_Float takeoff_pitch_limit_reduction_sec;
|
|
AP_Int8 land_throttle_slewrate;
|
|
AP_Int8 level_roll_limit;
|
|
AP_Int8 flapin_channel;
|
|
AP_Int8 flaperon_output;
|
|
#if AP_TERRAIN_AVAILABLE
|
|
AP_Int8 terrain_follow;
|
|
AP_Int16 terrain_lookahead;
|
|
#endif
|
|
AP_Int16 glide_slope_min;
|
|
AP_Float glide_slope_threshold;
|
|
AP_Int8 fbwa_tdrag_chan;
|
|
AP_Int8 rangefinder_landing;
|
|
AP_Int8 flap_slewrate;
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
AP_Int8 override_channel;
|
|
AP_Int8 override_safety;
|
|
#endif
|
|
AP_Int16 gcs_pid_mask;
|
|
AP_Int8 parachute_channel;
|
|
|
|
// RC channels
|
|
RC_Channel rc_1;
|
|
RC_Channel rc_2;
|
|
RC_Channel rc_3;
|
|
RC_Channel rc_4;
|
|
RC_Channel_aux rc_5;
|
|
RC_Channel_aux rc_6;
|
|
RC_Channel_aux rc_7;
|
|
RC_Channel_aux rc_8;
|
|
RC_Channel_aux rc_9;
|
|
RC_Channel_aux rc_10;
|
|
RC_Channel_aux rc_11;
|
|
RC_Channel_aux rc_12;
|
|
RC_Channel_aux rc_13;
|
|
RC_Channel_aux rc_14;
|
|
RC_Channel_aux rc_15;
|
|
RC_Channel_aux rc_16;
|
|
uint8_t _dummy;
|
|
|
|
Parameters() :
|
|
// variable default
|
|
//----------------------------------------
|
|
rc_1 (CH_1),
|
|
rc_2 (CH_2),
|
|
rc_3 (CH_3),
|
|
rc_4 (CH_4),
|
|
rc_5 (CH_5),
|
|
rc_6 (CH_6),
|
|
rc_7 (CH_7),
|
|
rc_8 (CH_8),
|
|
rc_9 (CH_9),
|
|
rc_10 (CH_10),
|
|
rc_11 (CH_11),
|
|
rc_12 (CH_12),
|
|
rc_13 (CH_13),
|
|
rc_14 (CH_14),
|
|
rc_15 (CH_15),
|
|
rc_16 (CH_16),
|
|
_dummy(0)
|
|
{}
|
|
};
|
|
|
|
extern const AP_Param::Info var_info[];
|