mirror of https://github.com/ArduPilot/ardupilot
433 lines
11 KiB
C++
433 lines
11 KiB
C++
#pragma once
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
|
|
#include "RC_Channel.h"
|
|
#include <AC_Avoidance/AC_Avoid.h>
|
|
#include "AC_Sprayer/AC_Sprayer.h"
|
|
#include <AP_AIS/AP_AIS.h>
|
|
#include <AP_Beacon/AP_Beacon.h>
|
|
#include <AP_Follow/AP_Follow.h>
|
|
#include "AP_Gripper/AP_Gripper.h"
|
|
#include <AP_Proximity/AP_Proximity.h>
|
|
#include "AP_Rally.h"
|
|
#include <AP_SmartRTL/AP_SmartRTL.h>
|
|
#include <AP_Stats/AP_Stats.h>
|
|
#include "AP_Torqeedo/AP_Torqeedo.h"
|
|
#include <AP_WindVane/AP_WindVane.h>
|
|
|
|
// Global parameter class.
|
|
//
|
|
class Parameters {
|
|
public:
|
|
// The version of the layout as described by the parameter enum.
|
|
//
|
|
// When changing the parameter enum in an incompatible fashion, this
|
|
// value should be incremented by one.
|
|
//
|
|
// The increment will prevent old parameters from being used incorrectly
|
|
// by newer code.
|
|
//
|
|
static const uint16_t k_format_version = 16;
|
|
|
|
enum {
|
|
// Layout version number, always key zero.
|
|
//
|
|
k_param_format_version = 0,
|
|
k_param_software_type, // unused
|
|
k_param_can_mgr,
|
|
|
|
// Misc
|
|
//
|
|
k_param_log_bitmask_old = 10, // unused
|
|
k_param_num_resets_old, // unused
|
|
k_param_reset_switch_chan,
|
|
k_param_initial_mode,
|
|
k_param_scheduler,
|
|
k_param_relay,
|
|
k_param_BoardConfig,
|
|
k_param_pivot_turn_angle_old, // unused
|
|
k_param_rc_13_old, // unused
|
|
k_param_rc_14_old, // unused
|
|
|
|
// IO pins
|
|
k_param_rssi_pin = 20, // unused, replaced by rssi_ library parameters
|
|
k_param_battery_volt_pin,
|
|
k_param_battery_curr_pin,
|
|
|
|
k_param_precland = 24,
|
|
|
|
// braking
|
|
k_param_braking_percent_old = 30, // unused
|
|
k_param_braking_speederr_old, // unused
|
|
|
|
// misc2
|
|
k_param_log_bitmask = 40,
|
|
k_param_gps,
|
|
k_param_serial0_baud, // deprecated, can be deleted
|
|
k_param_serial1_baud, // deprecated, can be deleted
|
|
k_param_serial2_baud, // deprecated, can be deleted
|
|
|
|
// 97: RSSI
|
|
k_param_rssi = 97,
|
|
k_param_rpm_sensor, // rpm sensor 98
|
|
|
|
// 100: Arming parameters
|
|
k_param_arming = 100,
|
|
|
|
// 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_serial0_baud_old, // unused
|
|
k_param_serial1_baud_old, // unused
|
|
k_param_telem_delay,
|
|
k_param_skip_gyro_cal, // unused
|
|
k_param_gcs2, // stream rates for uartD
|
|
k_param_serial2_baud_old, // unused
|
|
k_param_serial2_protocol, // deprecated, can be deleted
|
|
k_param_serial_manager, // serial manager library
|
|
k_param_cli_enabled_old, // unused
|
|
k_param_gcs3,
|
|
k_param_gcs_pid_mask,
|
|
k_param_gcs4,
|
|
k_param_gcs5,
|
|
k_param_gcs6,
|
|
|
|
//
|
|
// 130: Sensor parameters
|
|
//
|
|
k_param_compass_enabled_deprecated = 130,
|
|
k_param_steering_learn, // unused
|
|
k_param_NavEKF, // deprecated - remove
|
|
k_param_mission, // mission library
|
|
k_param_NavEKF2_old, // deprecated - remove
|
|
k_param_NavEKF2,
|
|
k_param_g2, // 2nd block of parameters
|
|
k_param_NavEKF3,
|
|
|
|
// 140: battery controls
|
|
k_param_battery_monitoring = 140, // deprecated, can be deleted
|
|
k_param_volt_div_ratio, // deprecated, can be deleted
|
|
k_param_curr_amp_per_volt, // deprecated, can be deleted
|
|
k_param_input_voltage, // deprecated, can be deleted
|
|
k_param_pack_capacity, // deprecated, can be deleted
|
|
k_param_battery,
|
|
|
|
//
|
|
// 150: Navigation parameters
|
|
//
|
|
k_param_crosstrack_gain = 150, // unused
|
|
k_param_crosstrack_entry_angle, // unused
|
|
k_param_speed_cruise,
|
|
k_param_speed_turn_gain, // unused
|
|
k_param_speed_turn_dist, // unused
|
|
k_param_ch7_option, // unused
|
|
k_param_auto_trigger_pin,
|
|
k_param_auto_kickstart,
|
|
k_param_turn_circle, // unused
|
|
k_param_turn_max_g_old, // unused
|
|
|
|
//
|
|
// 160: Radio settings
|
|
//
|
|
k_param_rc_1_old = 160, // unused
|
|
k_param_rc_2_old, // unused
|
|
k_param_rc_3_old, // unused
|
|
k_param_rc_4_old, // unused
|
|
k_param_rc_5_old, // unused
|
|
k_param_rc_6_old, // unused
|
|
k_param_rc_7_old, // unused
|
|
k_param_rc_8_old, // unused
|
|
|
|
// throttle control
|
|
k_param_throttle_min_old = 170, // unused
|
|
k_param_throttle_max_old, // unused
|
|
k_param_throttle_cruise,
|
|
k_param_throttle_slewrate_old, // unused
|
|
k_param_throttle_reduction, // unused
|
|
k_param_pilot_steer_type,
|
|
k_param_skid_steer_out_old, // unused
|
|
|
|
// failsafe control
|
|
k_param_fs_action = 180,
|
|
k_param_fs_timeout,
|
|
k_param_fs_throttle_enabled,
|
|
k_param_fs_throttle_value,
|
|
k_param_fs_gcs_enabled,
|
|
k_param_fs_crash_check,
|
|
k_param_fs_ekf_action,
|
|
k_param_fs_ekf_thresh, // 187
|
|
|
|
// obstacle control
|
|
k_param_sonar_enabled = 190, // deprecated, can be removed
|
|
k_param_sonar_old, // unused
|
|
k_param_rangefinder_trigger_cm, // unused
|
|
k_param_rangefinder_turn_angle, // unused
|
|
k_param_rangefinder_turn_time, // unused
|
|
k_param_sonar2_old, // unused
|
|
k_param_rangefinder_debounce, // unused
|
|
k_param_rangefinder, // rangefinder object
|
|
|
|
//
|
|
// 210: driving modes
|
|
//
|
|
k_param_mode_channel = 210,
|
|
k_param_mode1,
|
|
k_param_mode2,
|
|
k_param_mode3,
|
|
k_param_mode4,
|
|
k_param_mode5,
|
|
k_param_mode6,
|
|
k_param_aux_channel_old,
|
|
|
|
//
|
|
// 220: Waypoint data
|
|
//
|
|
k_param_command_total = 220, // unused
|
|
k_param_command_index, // unused
|
|
k_param_waypoint_radius_old, // unused
|
|
k_param_waypoint_overshoot_old, // unused
|
|
|
|
//
|
|
// camera control
|
|
//
|
|
k_param_camera,
|
|
k_param_camera_mount,
|
|
k_param_camera_mount2, // unused
|
|
|
|
//
|
|
// 230: PID Controllers
|
|
k_param_pidNavSteer = 230,
|
|
k_param_pidServoSteer, // unused
|
|
k_param_pidSpeedThrottle_old, // unused
|
|
|
|
// high RC channels
|
|
k_param_rc_9_old = 235, // unused
|
|
k_param_rc_10_old, // unused
|
|
k_param_rc_11_old, // unused
|
|
k_param_rc_12_old, // unusedS
|
|
|
|
// other objects
|
|
k_param_sitl = 240,
|
|
k_param_ahrs,
|
|
k_param_ins,
|
|
k_param_compass,
|
|
k_param_rcmap,
|
|
k_param_L1_controller, // unused
|
|
k_param_steerController_old, // unused
|
|
k_param_barometer,
|
|
k_param_notify,
|
|
k_param_button,
|
|
k_param_osd,
|
|
|
|
k_param_logger = 253, // Logging Group
|
|
|
|
// 254,255: reserved
|
|
|
|
k_param_vehicle = 257, // vehicle common block of parameters
|
|
};
|
|
|
|
AP_Int16 format_version;
|
|
|
|
// Misc
|
|
//
|
|
AP_Int32 log_bitmask;
|
|
AP_Int8 reset_switch_chan;
|
|
AP_Int8 initial_mode;
|
|
|
|
// Telemetry control
|
|
//
|
|
AP_Int16 sysid_this_mav;
|
|
AP_Int16 sysid_my_gcs;
|
|
AP_Int8 telem_delay;
|
|
|
|
// navigation parameters
|
|
//
|
|
AP_Float speed_cruise;
|
|
AP_Int8 ch7_option;
|
|
AP_Int8 auto_trigger_pin;
|
|
AP_Float auto_kickstart;
|
|
AP_Int16 gcs_pid_mask;
|
|
|
|
// Throttle
|
|
//
|
|
AP_Int8 throttle_cruise;
|
|
AP_Int8 pilot_steer_type;
|
|
|
|
// failsafe control
|
|
AP_Int8 fs_action;
|
|
AP_Float fs_timeout;
|
|
AP_Int8 fs_throttle_enabled;
|
|
AP_Int16 fs_throttle_value;
|
|
AP_Int8 fs_gcs_enabled;
|
|
AP_Int8 fs_crash_check;
|
|
AP_Int8 fs_ekf_action;
|
|
AP_Float fs_ekf_thresh;
|
|
|
|
// driving modes
|
|
//
|
|
AP_Int8 mode_channel;
|
|
AP_Int8 mode1;
|
|
AP_Int8 mode2;
|
|
AP_Int8 mode3;
|
|
AP_Int8 mode4;
|
|
AP_Int8 mode5;
|
|
AP_Int8 mode6;
|
|
|
|
Parameters() {}
|
|
};
|
|
|
|
/*
|
|
2nd block of parameters, to avoid going past 256 top level keys
|
|
*/
|
|
class ParametersG2 {
|
|
public:
|
|
ParametersG2(void);
|
|
|
|
// var_info for holding Parameter information
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
#if STATS_ENABLED == ENABLED
|
|
// vehicle statistics
|
|
AP_Stats stats;
|
|
#endif
|
|
|
|
// whether to enforce acceptance of packets only from sysid_my_gcs
|
|
AP_Int8 sysid_enforce;
|
|
|
|
// RC input channels
|
|
RC_Channels_Rover rc_channels;
|
|
|
|
// control over servo output ranges
|
|
SRV_Channels servo_channels;
|
|
|
|
#if ADVANCED_FAILSAFE == ENABLED
|
|
// advanced failsafe library
|
|
AP_AdvancedFailsafe_Rover afs;
|
|
#endif
|
|
|
|
AP_Beacon beacon;
|
|
|
|
// Motor library
|
|
AP_MotorsUGV motors;
|
|
|
|
// wheel encoders
|
|
AP_WheelEncoder wheel_encoder;
|
|
AP_WheelRateControl wheel_rate_control;
|
|
|
|
// steering and throttle controller
|
|
AR_AttitudeControl attitude_control;
|
|
|
|
// turn radius of vehicle (only used in steering mode)
|
|
AP_Float turn_radius;
|
|
|
|
// acro mode turn rate maximum
|
|
AP_Float acro_turn_rate;
|
|
|
|
// Safe RTL library
|
|
AP_SmartRTL smart_rtl;
|
|
|
|
// default speed for rtl
|
|
AP_Float rtl_speed;
|
|
|
|
// frame class for vehicle
|
|
AP_Int8 frame_class;
|
|
|
|
#if HAL_PROXIMITY_ENABLED
|
|
// proximity library
|
|
AP_Proximity proximity;
|
|
#endif
|
|
|
|
#if MODE_DOCK_ENABLED == ENABLED
|
|
// we need a pointer to the mode for the G2 table
|
|
class ModeDock *mode_dock_ptr;
|
|
#endif
|
|
|
|
// avoidance library
|
|
AC_Avoid avoid;
|
|
|
|
// pitch angle at 100% throttle
|
|
AP_Float bal_pitch_max;
|
|
|
|
// pitch/roll angle for crash check
|
|
AP_Int8 crash_angle;
|
|
|
|
// follow mode library
|
|
AP_Follow follow;
|
|
|
|
// frame type for vehicle (used for vectored motor vehicles and custom motor configs)
|
|
AP_Int8 frame_type;
|
|
|
|
// loiter type
|
|
AP_Int8 loit_type;
|
|
AP_Float loit_radius;
|
|
|
|
#if HAL_SPRAYER_ENABLED
|
|
// Sprayer
|
|
AC_Sprayer sprayer;
|
|
#endif
|
|
|
|
#if AP_GRIPPER_ENABLED
|
|
AP_Gripper gripper;
|
|
#endif
|
|
|
|
// Rally point library
|
|
AP_Rally_Rover rally;
|
|
|
|
// Simple mode types
|
|
AP_Int8 simple_type;
|
|
|
|
// windvane
|
|
AP_WindVane windvane;
|
|
|
|
// mission behave
|
|
AP_Int8 mis_done_behave;
|
|
|
|
// balance both pitch trim
|
|
AP_Float bal_pitch_trim;
|
|
|
|
// stick mixing for auto modes
|
|
AP_Int8 stick_mixing;
|
|
|
|
#if AP_SCRIPTING_ENABLED
|
|
AP_Scripting scripting;
|
|
#endif // AP_SCRIPTING_ENABLED
|
|
|
|
// waypoint navigation
|
|
AR_WPNav_OA wp_nav;
|
|
|
|
// Sailboat functions
|
|
Sailboat sailboat;
|
|
|
|
// object avoidance path planning
|
|
AP_OAPathPlanner oa;
|
|
|
|
// maximum speed for vehicle
|
|
AP_Float speed_max;
|
|
|
|
// gain for speed of correction in loiter
|
|
AP_Float loiter_speed_gain;
|
|
|
|
// FS options
|
|
AP_Int32 fs_options;
|
|
|
|
#if HAL_TORQEEDO_ENABLED
|
|
// torqeedo motor driver
|
|
AP_Torqeedo torqeedo;
|
|
#endif
|
|
|
|
// position controller
|
|
AR_PosControl pos_control;
|
|
|
|
// guided options bitmask
|
|
AP_Int32 guided_options;
|
|
|
|
// Rover options
|
|
AP_Int32 manual_options;
|
|
};
|
|
|
|
extern const AP_Param::Info var_info[];
|