mirror of https://github.com/ArduPilot/ardupilot
345 lines
9.0 KiB
C++
345 lines
9.0 KiB
C++
#pragma once
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#include <AP_Common/AP_Common.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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static const uint16_t k_software_type = 20;
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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,
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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,
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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,
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k_param_rc_13,
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k_param_rc_14,
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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 = 30,
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k_param_braking_speederr,
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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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// 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,
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k_param_serial1_baud_old,
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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,
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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,
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k_param_gcs3,
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k_param_gcs_pid_mask,
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//
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// 130: Sensor parameters
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//
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k_param_compass_enabled = 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,
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k_param_crosstrack_entry_angle,
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k_param_speed_cruise,
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k_param_speed_turn_gain,
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k_param_speed_turn_dist,
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k_param_ch7_option,
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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,
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//
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// 160: Radio settings
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//
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k_param_rc_1 = 160,
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k_param_rc_2,
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k_param_rc_3,
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k_param_rc_4,
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k_param_rc_5,
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k_param_rc_6,
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k_param_rc_7,
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k_param_rc_8,
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// throttle control
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k_param_throttle_min = 170,
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k_param_throttle_max,
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k_param_throttle_cruise,
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k_param_throttle_slewrate,
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k_param_throttle_reduction,
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k_param_skid_steer_in,
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k_param_skid_steer_out,
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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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// 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_sonar_trigger_cm,
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k_param_sonar_turn_angle,
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k_param_sonar_turn_time,
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k_param_sonar2_old, // unused
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k_param_sonar_debounce,
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k_param_sonar, // sonar 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_learn_channel,
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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,
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//
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// 230: 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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// 240: 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,
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// high RC channels
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k_param_rc_9 = 235,
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k_param_rc_10,
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k_param_rc_11,
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k_param_rc_12,
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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,
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k_param_steerController,
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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_DataFlash = 253, // Logging Group
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// 254,255: reserved
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};
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AP_Int16 format_version;
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AP_Int8 software_type;
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// Misc
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//
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AP_Int32 log_bitmask;
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AP_Int16 num_resets;
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AP_Int8 reset_switch_chan;
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AP_Int8 initial_mode;
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// braking
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AP_Int8 braking_percent;
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AP_Float braking_speederr;
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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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#if CLI_ENABLED == ENABLED
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AP_Int8 cli_enabled;
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#endif
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// sensor parameters
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AP_Int8 compass_enabled;
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// navigation parameters
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//
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AP_Float speed_cruise;
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AP_Int8 speed_turn_gain;
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AP_Float speed_turn_dist;
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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_Float turn_max_g;
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AP_Int16 pivot_turn_angle;
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AP_Int16 gcs_pid_mask;
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// RC channels
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RC_Channel rc_1;
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RC_Channel_aux rc_2;
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RC_Channel rc_3;
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RC_Channel_aux rc_4;
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RC_Channel_aux rc_5;
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RC_Channel_aux rc_6;
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RC_Channel_aux rc_7;
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RC_Channel_aux rc_8;
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RC_Channel_aux rc_9;
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RC_Channel_aux rc_10;
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RC_Channel_aux rc_11;
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RC_Channel_aux rc_12;
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RC_Channel_aux rc_13;
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RC_Channel_aux rc_14;
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// Throttle
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//
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AP_Int8 throttle_min;
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AP_Int8 throttle_max;
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AP_Int8 throttle_cruise;
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AP_Int8 throttle_slewrate;
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AP_Int8 skid_steer_in;
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AP_Int8 skid_steer_out;
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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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// obstacle control
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AP_Int16 sonar_trigger_cm;
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AP_Float sonar_turn_angle;
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AP_Float sonar_turn_time;
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AP_Int8 sonar_debounce;
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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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AP_Int8 learn_channel;
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// Waypoints
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//
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AP_Float waypoint_radius;
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// PID controllers
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//
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PID pidSpeedThrottle;
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Parameters() :
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// RC channels
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rc_1(CH_1),
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rc_2(CH_2),
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rc_3(CH_3),
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rc_4(CH_4),
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rc_5(CH_5),
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rc_6(CH_6),
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rc_7(CH_7),
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rc_8(CH_8),
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rc_9(CH_9),
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rc_10(CH_10),
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rc_11(CH_11),
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rc_12(CH_12),
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rc_13(CH_13),
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rc_14(CH_14),
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// PID controller initial P initial I initial D initial imax
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//-----------------------------------------------------------------------------------
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pidSpeedThrottle (0.7, 0.2, 0.2, 4000)
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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) { AP_Param::setup_object_defaults(this, var_info); }
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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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// vehicle statistics
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AP_Stats stats;
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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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extern const AP_Param::Info var_info[];
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