ardupilot/APMrover2/Parameters.h

265 lines
6.6 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef PARAMETERS_H
#define PARAMETERS_H
#include <AP_Common.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;
static const uint16_t k_software_type = 20;
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type,
// Misc
//
k_param_log_bitmask = 10,
k_param_num_resets,
k_param_reset_switch_chan,
// IO pins
k_param_rssi_pin = 20,
k_param_battery_volt_pin,
k_param_battery_curr_pin,
// 110: Telemetry control
//
k_param_gcs0 = 110, // stream rates for port0
k_param_gcs3, // stream rates for port3
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial0_baud,
k_param_serial3_baud,
k_param_telem_delay,
//
// 130: Sensor parameters
//
k_param_compass_enabled = 130,
// 140: battery controls
k_param_battery_monitoring = 140,
k_param_volt_div_ratio,
k_param_curr_amp_per_volt,
k_param_input_voltage, // deprecated, can be deleted
k_param_pack_capacity,
//
// 150: Navigation parameters
//
k_param_crosstrack_gain = 150,
k_param_crosstrack_entry_angle,
k_param_speed_cruise,
k_param_speed_turn_gain,
k_param_speed_turn_dist,
k_param_ch7_option,
k_param_auto_trigger_pin,
k_param_auto_kickstart,
//
// 160: Radio settings
//
k_param_channel_steer = 160,
k_param_rc_2,
k_param_channel_throttle,
k_param_rc_4,
k_param_rc_5,
k_param_rc_6,
k_param_rc_7,
k_param_rc_8,
// throttle control
k_param_throttle_min = 170,
k_param_throttle_max,
k_param_throttle_cruise,
k_param_throttle_slewrate,
k_param_throttle_reduction,
k_param_skid_steer_in,
k_param_skid_steer_out,
// 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,
// obstacle control
k_param_sonar_enabled = 190, // deprecated, can be removed
k_param_sonar, // sonar object
k_param_sonar_trigger_cm,
k_param_sonar_turn_angle,
k_param_sonar_turn_time,
k_param_sonar2, // sonar2 object
k_param_sonar_debounce,
//
// 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,
//
// 220: Waypoint data
//
k_param_command_total = 220,
k_param_command_index,
k_param_waypoint_radius,
//
// 240: PID Controllers
k_param_pidNavSteer = 230,
k_param_pidServoSteer,
k_param_pidSpeedThrottle,
// other objects
k_param_sitl = 240,
k_param_ahrs,
k_param_ins,
k_param_compass,
// 254,255: reserved
};
AP_Int16 format_version;
AP_Int8 software_type;
// Misc
//
AP_Int16 log_bitmask;
AP_Int16 num_resets;
AP_Int8 reset_switch_chan;
// IO pins
AP_Int8 rssi_pin;
AP_Int8 battery_volt_pin;
AP_Int8 battery_curr_pin;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int8 serial0_baud;
AP_Int8 serial3_baud;
AP_Int8 telem_delay;
// sensor parameters
AP_Int8 compass_enabled;
// battery controls
AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
AP_Float volt_div_ratio;
AP_Float curr_amp_per_volt;
AP_Int16 pack_capacity; // Battery pack capacity less reserve
// navigation parameters
//
AP_Float crosstrack_gain;
AP_Int16 crosstrack_entry_angle;
AP_Float speed_cruise;
AP_Int8 speed_turn_gain;
AP_Float speed_turn_dist;
AP_Int8 ch7_option;
AP_Int8 auto_trigger_pin;
AP_Float auto_kickstart;
// RC channels
RC_Channel channel_steer;
RC_Channel_aux rc_2;
RC_Channel channel_throttle;
RC_Channel_aux rc_4;
RC_Channel_aux rc_5;
RC_Channel_aux rc_6;
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
// Throttle
//
AP_Int8 throttle_min;
AP_Int8 throttle_max;
AP_Int8 throttle_cruise;
AP_Int8 throttle_slewrate;
AP_Int8 skid_steer_in;
AP_Int8 skid_steer_out;
// 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;
// obstacle control
AP_Int16 sonar_trigger_cm;
AP_Float sonar_turn_angle;
AP_Float sonar_turn_time;
AP_Int8 sonar_debounce;
// driving modes
//
AP_Int8 mode_channel;
AP_Int8 mode1;
AP_Int8 mode2;
AP_Int8 mode3;
AP_Int8 mode4;
AP_Int8 mode5;
AP_Int8 mode6;
// Waypoints
//
AP_Int8 command_total;
AP_Int8 command_index;
AP_Float waypoint_radius;
// PID controllers
//
PID pidNavSteer;
PID pidServoSteer;
PID pidSpeedThrottle;
Parameters() :
// RC channels
channel_steer(CH_1),
rc_2(CH_2),
channel_throttle(CH_3),
rc_4(CH_4),
rc_5(CH_5),
rc_6(CH_6),
rc_7(CH_7),
rc_8(CH_8),
// PID controller initial P initial I initial D initial imax
//-----------------------------------------------------------------------------------
pidNavSteer (0.7, 0.1, 0.2, 2000),
pidServoSteer (0.5, 0.1, 0.2, 2000),
pidSpeedThrottle (0.7, 0.2, 0.2, 4000)
{}
};
extern const AP_Param::Info var_info[];
#endif // PARAMETERS_H