mirror of https://github.com/ArduPilot/ardupilot
153 lines
4.2 KiB
C++
153 lines
4.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef PARAMETERS_H
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#define PARAMETERS_H
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#include <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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/*
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* The value of k_format_version determines whether the existing
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* eeprom data is considered valid. You should only change this
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* value under the following circumstances:
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*
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* 1) the meaning of an existing eeprom parameter changes
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*
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* 2) the value of an existing k_param_* enum value changes
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*
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* Adding a new parameter should _not_ require a change to
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* k_format_version except under special circumstances. If you
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* change it anyway then all ArduPlane users will need to reload all
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* their parameters. We want that to be an extremely rare
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* thing. Please do not just change it "just in case".
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*
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* To determine if a k_param_* value has changed, use the rules of
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* C++ enums to work out the value of the neighboring enum
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* values. If you don't know the C++ enum rules then please ask for
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* help.
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*/
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//////////////////////////////////////////////////////////////////
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// STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE
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// COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!!
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static const uint16_t k_format_version = 1;
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//////////////////////////////////////////////////////////////////
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// The parameter software_type is set up solely for ground station use
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// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
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// GCS will interpret values 0-9 as ArduPilotMega. Developers may use
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// values within that range to identify different branches.
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//
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static const uint16_t k_software_type = 4;
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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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k_param_gcs0 = 100, // 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,
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k_param_serial1_baud,
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k_param_imu,
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k_param_compass_enabled,
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k_param_compass,
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k_param_ahrs, // AHRS group
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k_param_barometer,
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k_param_scheduler,
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k_param_ins,
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k_param_sitl,
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k_param_pidPitch2Srv,
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k_param_pidYaw2Srv,
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k_param_gcs2, // stream rates for uartD
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k_param_serial2_baud,
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k_param_yaw_slew_time,
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k_param_pitch_slew_time,
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k_param_min_reverse_time,
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k_param_start_latitude,
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k_param_start_longitude,
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k_param_startup_delay,
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k_param_BoardConfig,
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k_param_gps,
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k_param_scan_speed,
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k_param_proxy_mode,
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k_param_servo_type,
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k_param_onoff_yaw_rate,
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k_param_onoff_pitch_rate,
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k_param_onoff_yaw_mintime,
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k_param_onoff_pitch_mintime,
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k_param_yaw_trim,
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k_param_pitch_trim,
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k_param_channel_yaw = 200,
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k_param_channel_pitch,
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//
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// 220: Waypoint data
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//
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k_param_command_total = 220,
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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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// 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 serial0_baud;
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AP_Int8 serial1_baud;
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#if MAVLINK_COMM_NUM_BUFFERS > 2
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AP_Int8 serial2_baud;
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#endif
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AP_Int8 compass_enabled;
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AP_Float yaw_slew_time;
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AP_Float pitch_slew_time;
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AP_Float min_reverse_time;
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AP_Float scan_speed;
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AP_Float start_latitude;
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AP_Float start_longitude;
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AP_Float startup_delay;
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AP_Int8 proxy_mode;
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AP_Int8 servo_type;
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AP_Float onoff_yaw_rate;
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AP_Float onoff_pitch_rate;
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AP_Float onoff_yaw_mintime;
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AP_Float onoff_pitch_mintime;
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AP_Float yaw_trim;
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AP_Float pitch_trim;
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// Waypoints
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//
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AP_Int8 command_total; // 1 if HOME is set
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// PID controllers
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PID pidPitch2Srv;
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PID pidYaw2Srv;
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Parameters() :
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pidPitch2Srv(0.2, 0, 0.05f, 4000.0f),
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pidYaw2Srv (0.2, 0, 0.05f, 4000.0f)
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{}
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};
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extern const AP_Param::Info var_info[];
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#endif // PARAMETERS_H
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