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ardupilot/ArduPlane/Parameters.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/*
ArduPlane parameter definitions
This firmware is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#define GSCALAR(v, name) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, class::var_info }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, class::var_info }
static const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(format_version, "FORMAT_VERSION"),
GSCALAR(software_type, "SYSID_SW_TYPE"),
GSCALAR(sysid_this_mav, "SYSID_THISMAV"),
GSCALAR(sysid_my_gcs, "SYSID_MYGCS"),
// @Param: SERIAL3_BAUD
// @DisplayName: Telemetry Baud Rate
// @Description: The baud rate used on the telemetry port
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
// @User: Standard
GSCALAR(serial3_baud, "SERIAL3_BAUD"),
// @Param: KFF_PTCHCOMP
// @DisplayName: Pitch Compensation
// @Description: Adds pitch input to compensate for the loss of lift due to roll control. 0 = 0 %, 1 = 100%
// @Range: 0 1
// @Increment: 0.01
// @User: Advanced
GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP"),
// @Param: KFF_RDDRMIX
// @DisplayName: Rudder Mix
// @Description: The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%
// @Range: 0 1
// @Increment: 0.01
// @User: Standard
GSCALAR(kff_rudder_mix, "KFF_RDDRMIX"),
// @Param: KFF_PTCH2THR
// @DisplayName: Pitch to Throttle Mix
// @Description: Pitch to throttle feed-forward gain.
// @Range: 0 5
// @Increment: 0.01
// @User: Advanced
GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR"),
// @Param: KFF_THR2PTCH
// @DisplayName: Throttle to Pitch Mix
// @Description: Throttle to pitch feed-forward gain.
// @Range: 0 5
// @Increment: 0.01
// @User: Advanced
GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH"),
// @Param: MANUAL_LEVEL
// @DisplayName: Manual Level
// @Description: Setting this to Disabled(0) will enable autolevel on every boot. Setting it to Enabled(1) will do a calibration only when you tell it to
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
GSCALAR(manual_level, "MANUAL_LEVEL"),
// @Param: XTRK_GAIN_SC
// @DisplayName: Crosstrack Gain
// @Description: The scale between distance off the line and angle to meet the line (in Degrees * 100)
// @Range: 0 2000
// @Increment: 1
// @User: Standard
GSCALAR(crosstrack_gain, "XTRK_GAIN_SC"),
// @Param: XTRK_ANGLE_CD
// @DisplayName: Crosstrack Entry Angle
// @Description: Maximum angle used to correct for track following.
// @Units: centi-Degrees
// @Range: 0 9000
// @Increment: 1
// @User: Standard
GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD"),
// @Param: ALT_MIX
// @DisplayName: Gps to Baro Mix
// @Description: The percent of mixing between gps altitude and baro altitude. 0 = 100% gps, 1 = 100% baro
// @Units: Percent
// @Range: 0 1
// @Increment: 0.1
// @User: Advanced
GSCALAR(altitude_mix, "ALT_MIX"),
// @Param: ARSPD_RATIO
// @DisplayName: Airspeed Ratio
// @Description: Used to scale raw adc airspeed sensor to a SI Unit (m/s)
// @Units: Scale
// @Range: 0 5
// @Increment: 0.001
// @User: Advanced
GSCALAR(airspeed_ratio, "ARSPD_RATIO"),
GSCALAR(airspeed_offset, "ARSPD_OFFSET"),
GSCALAR(command_total, "CMD_TOTAL"),
GSCALAR(command_index, "CMD_INDEX"),
// @Param: WP_RADIUS
// @DisplayName: Waypoint Radius
// @Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit.
// @Units: Meters
// @Range: 1 127
// @Increment: 1
// @User: Standard
GSCALAR(waypoint_radius, "WP_RADIUS"),
// @Param: WP_LOITER_RAD
// @DisplayName: Waypoint Loiter Radius
// @Description: Defines the distance from the waypoint center, the plane will maintain during a loiter
// @Units: Meters
// @Range: 1 127
// @Increment: 1
// @User: Standard
GSCALAR(loiter_radius, "WP_LOITER_RAD"),
#if GEOFENCE_ENABLED == ENABLED
// @Param: FENCE_ACTION
// @DisplayName: Action on geofence breach
// @Description: Defines the distance from the waypoint center, the plane will maintain during a loiter
// @Values: 0:None,1:GuidedMode
// @User: Standard
GSCALAR(fence_action, "FENCE_ACTION"),
// @Param: FENCE_TOTAL
// @DisplayName: Fence Total
// @Description: Number of geofence points currently loaded
// @User: Standard
GSCALAR(fence_total, "FENCE_TOTAL"),
// @Param: FENCE_CHANNEL
// @DisplayName: Fence Channel
// @Description: RC Channel to use to enable geofence. PWM input above 1750 enables the geofence
// @User: Standard
GSCALAR(fence_channel, "FENCE_CHANNEL"),
// @Param: FENCE_MINALT
// @DisplayName: Fence Minimum Altitude
// @Description: Minimum altitude allowed before geofence triggers
// @Units: meters
// @Range: 0 32767
// @Increment: 1
// @User: Standard
GSCALAR(fence_minalt, "FENCE_MINALT"),
// @Param: FENCE_MAXALT
// @DisplayName: Fence Maximum Altitude
// @Description: Maximum altitude allowed before geofence triggers
// @Units: meters
// @Range: 0 32767
// @Increment: 1
// @User: Standard
GSCALAR(fence_maxalt, "FENCE_MAXALT"),
#endif
// @Param: ARSPD_FBW_MIN
// @DisplayName: Fly By Wire Minimum Airspeed
// @Description: Airspeed corresponding to minimum throttle in Fly By Wire B mode.
// @Units: m/s
// @Range: 5 50
// @Increment: 1
// @User: Standard
GSCALAR(flybywire_airspeed_min, "ARSPD_FBW_MIN"),
// @Param: ARSPD_FBW_MAX
// @DisplayName: Fly By Wire Maximum Airspeed
// @Description: Airspeed corresponding to maximum throttle in Fly By Wire B mode.
// @Units: m/s
// @Range: 5 50
// @Increment: 1
// @User: Standard
GSCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX"),
// @Param: THR_MIN
// @DisplayName: Minimum Throttle
// @Description: The minimum throttle setting to which the autopilot will apply.
// @Units: Percent
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_min, "THR_MIN"),
// @Param: THR_MAX
// @DisplayName: Maximum Throttle
// @Description: The maximum throttle setting to which the autopilot will apply.
// @Units: Percent
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_max, "THR_MAX"),
// @Param: THR_SLEWRATE
// @DisplayName: Throttlw slew rate
// @Description: maximum percentage change in throttle per second
// @Units: Percent
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_slewrate, "THR_SLEWRATE"),
// @Param: THR_FAILSAFE
// @DisplayName: Throttle Failsafe Enable
// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(throttle_fs_enabled, "THR_FAILSAFE"),
// @Param: THR_FS_VALUE
// @DisplayName: Throttle Failsafe Value
// @Description: The PWM level on channel 3 below which throttle sailsafe triggers
// @User: Standard
GSCALAR(throttle_fs_value, "THR_FS_VALUE"),
// @Param: TRIM_THROTTLE
// @DisplayName: Throttle cruise percentage
// @Description: The target percentage of throttle to apply for normal flight
// @Units: Percent
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_cruise, "TRIM_THROTTLE"),
// @Param: FS_SHORT_ACTN
// @DisplayName: Short failsafe action
// @Description: The action to take on a short (1 second) failsafe event
// @Values: 0:None,1:ReturnToLaunch
// @User: Standard
GSCALAR(short_fs_action, "FS_SHORT_ACTN"),
// @Param: FS_LONG_ACTN
// @DisplayName: Long failsafe action
// @Description: The action to take on a long (20 second) failsafe event
// @Values: 0:None,1:ReturnToLaunch
// @User: Standard
GSCALAR(long_fs_action, "FS_LONG_ACTN"),
// @Param: FS_GCS_ENABL
// @DisplayName: GCS failsafe enable
// @Description: Enable ground control station telemetry failsafe. Failsafe will trigger after 20 seconds of no MAVLink heartbeat messages
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL"),
// @Param: FLTMODE_CH
// @DisplayName: Flightmode channel
// @Description: RC Channel to use for flight mode control
// @User: Advanced
GSCALAR(flight_mode_channel, "FLTMODE_CH"),
// @Param: FLTMODE1
// @DisplayName: FlightMode1
// @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
// @User: Standard
// @Description: Flight mode for switch position 1 (910 to 1230 and above 2049)
GSCALAR(flight_mode1, "FLTMODE1"),
// @Param: FLTMODE2
// @DisplayName: FlightMode2
// @Description: Flight mode for switch position 2 (1231 to 1360)
// @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
// @User: Standard
GSCALAR(flight_mode2, "FLTMODE2"),
// @Param: FLTMODE3
// @DisplayName: FlightMode3
// @Description: Flight mode for switch position 3 (1361 to 1490)
// @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
// @User: Standard
GSCALAR(flight_mode3, "FLTMODE3"),
// @Param: FLTMODE4
// @DisplayName: FlightMode4
// @Description: Flight mode for switch position 4 (1491 to 1620)
// @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
// @User: Standard
GSCALAR(flight_mode4, "FLTMODE4"),
// @Param: FLTMODE5
// @DisplayName: FlightMode5
// @Description: Flight mode for switch position 5 (1621 to 1749)
// @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
// @User: Standard
GSCALAR(flight_mode5, "FLTMODE5"),
// @Param: FLTMODE6
// @DisplayName: FlightMode6
// @Description: Flight mode for switch position 6 (1750 to 2049)
// @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
// @User: Standard
GSCALAR(flight_mode6, "FLTMODE6"),
// @Param: LIM_ROLL_CD
// @DisplayName: Maximum Bank Angle
// @Description: The maximum commanded bank angle in either direction
// @Units: centi-Degrees
// @Range: 0 9000
// @Increment: 1
// @User: Standard
GSCALAR(roll_limit, "LIM_ROLL_CD"),
// @Param: LIM_PITCH_MAX
// @DisplayName: Maximum Pitch Angle
// @Description: The maximum commanded pitch up angle
// @Units: centi-Degrees
// @Range: 0 9000
// @Increment: 1
// @User: Standard
GSCALAR(pitch_limit_max, "LIM_PITCH_MAX"),
// @Param: LIM_PITCH_MIN
// @DisplayName: Minimum Pitch Angle
// @Description: The minimum commanded pitch down angle
// @Units: centi-Degrees
// @Range: 0 9000
// @Increment: 1
// @User: Standard
GSCALAR(pitch_limit_min, "LIM_PITCH_MIN"),
// @Param: AUTO_TRIM
// @DisplayName: Auto trim
// @Description: Set RC trim PWM levels to current levels when switching away from manual mode
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(auto_trim, "TRIM_AUTO"),
// @Param: SWITCH_ENABLE
// @DisplayName: Switch enable
// @Description: Enable dip switches on APM1
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
GSCALAR(switch_enable, "SWITCH_ENABLE"),
// @Param: MIX_MODE
// @DisplayName: Elevon mixing
// @Description: Enable elevon mixing
// @Values: 0:Disabled,1:Enabled
// @User: User
GSCALAR(mix_mode, "ELEVON_MIXING"),
// @Param: ELEVON_REVERSE
// @DisplayName: Elevon reverse
// @Description: Reverse elevon mixing
// @Values: 0:Disabled,1:Enabled
// @User: User
GSCALAR(reverse_elevons, "ELEVON_REVERSE"),
// @Param: ELEVON_REVERSE
// @DisplayName: Elevon reverse
// @Description: Reverse elevon channel 1
// @Values: 0:Disabled,1:Enabled
// @User: User
GSCALAR(reverse_ch1_elevon, "ELEVON_CH1_REV"),
// @Param: ELEVON_REVERSE
// @DisplayName: Elevon reverse
// @Description: Reverse elevon channel 2
// @Values: 0:Disabled,1:Enabled
// @User: User
GSCALAR(reverse_ch2_elevon, "ELEVON_CH2_REV"),
// @Param: SYS_NUM_RESETS
// @DisplayName: Num Resets
// @Description: Number of APM board resets
// @User: Advanced
GSCALAR(num_resets, "SYS_NUM_RESETS"),
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: bitmap of log fields to enable
// @User: Advanced
GSCALAR(log_bitmask, "LOG_BITMASK"),
GSCALAR(log_last_filenumber, "LOG_LASTFILE"),
// @Param: RST_SWITCH_CH
// @DisplayName: Reset Switch Channel
// @Description: RC channel to use to reset to last flight mode after geofence takeover
// @User: Advanced
GSCALAR(reset_switch_chan, "RST_SWITCH_CH"),
// @Param: TRIM_ARSPD_CM
// @DisplayName: Target airspeed
// @Description: Airspeed in cm/s to aim for when airspeed is enabled in auto mode
// @Units: cm/s
// @User: User
GSCALAR(airspeed_cruise, "TRIM_ARSPD_CM"),
// @Param: MIN_GNDSPD_CM
// @DisplayName: Minimum ground speed
// @Description: Minimum ground speed in cm/s when under airspeed control
// @Units: cm/s
// @User: Advanced
GSCALAR(min_gndspeed, "MIN_GNDSPD_CM"),
// @Param: TRIM_PITCH_CD
// @DisplayName: Pitch angle offset
// @Description: offset to add to pitch - used for trimming tail draggers
// @Units: centi-Degrees
// @User: Advanced
GSCALAR(pitch_trim, "TRIM_PITCH_CD"),
// @Param: ALT_HOLD_RTL
// @DisplayName: RTL altitude
// @Description: Return to launch target altitude
// @Units: centimeters
// @User: User
GSCALAR(RTL_altitude, "ALT_HOLD_RTL"),
GSCALAR(FBWB_min_altitude, "ALT_HOLD_FBWCM"),
// @Param: MAG_ENABLE
// @DisplayName: Enable Compass
// @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(compass_enabled, "MAG_ENABLE"),
GSCALAR(flap_1_percent, "FLAP_1_PERCNT"),
GSCALAR(flap_1_speed, "FLAP_1_SPEED"),
GSCALAR(flap_2_percent, "FLAP_2_PERCNT"),
GSCALAR(flap_2_speed, "FLAP_2_SPEED"),
GSCALAR(battery_monitoring, "BATT_MONITOR"),
GSCALAR(volt_div_ratio, "VOLT_DIVIDER"),
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT"),
GSCALAR(input_voltage, "INPUT_VOLTS"),
GSCALAR(pack_capacity, "BATT_CAPACITY"),
GSCALAR(inverted_flight_ch, "INVERTEDFLT_CH"),
// @Param: SONAR_ENABLE
// @DisplayName: Enable Sonar
// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(sonar_enabled, "SONAR_ENABLE"),
// @Param: ARSPD_ENABLE
// @DisplayName: Enable Airspeed
// @Description: Setting this to Enabled(1) will enable the Airspeed sensor. Setting this to Disabled(0) will disable the Airspeed sensor
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(airspeed_enabled, "ARSPD_ENABLE"),
// @Param: ARSPD_USE
// @DisplayName: Use Airspeed if enabled
// @Description: Setting this to Enabled(1) will enable use of the Airspeed sensor for flight control when ARSPD_ENABLE is also true. This is separate from ARSPD_ENABLE to allow for the airspeed value to be logged without it being used for flight control
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
GSCALAR(airspeed_use, "ARSPD_USE"),
// barometer ground calibration. The GND_ prefix is chosen for
// compatibility with previous releases of ArduPlane
GOBJECT(barometer, "GND_", AP_Baro),
#if CAMERA == ENABLED
// @Group: CAM_
// @Path: ../libraries/AP_Camera/AP_Camera.cpp
GGROUP(camera, "CAM_", AP_Camera),
#endif
// RC channel
//-----------
GGROUP(channel_roll, "RC1_", RC_Channel),
GGROUP(channel_pitch, "RC2_", RC_Channel),
GGROUP(channel_throttle, "RC3_", RC_Channel),
GGROUP(channel_rudder, "RC4_", RC_Channel),
// @Group: RC5_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_5, "RC5_", RC_Channel_aux),
// @Group: RC6_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_6, "RC6_", RC_Channel_aux),
// @Group: RC7_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_7, "RC7_", RC_Channel_aux),
// @Group: RC8_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_8, "RC8_", RC_Channel_aux),
GGROUP(pidNavRoll, "HDNG2RLL_", PID),
GGROUP(pidServoRoll, "RLL2SRV_", PID),
GGROUP(pidServoPitch, "PTCH2SRV_", PID),
GGROUP(pidNavPitchAirspeed, "ARSP2PTCH_", PID),
GGROUP(pidServoRudder, "YW2SRV_", PID),
GGROUP(pidTeThrottle, "ENRGY2THR_", PID),
GGROUP(pidNavPitchAltitude, "ALT2PTCH_", PID),
// variables not in the g class which contain EEPROM saved variables
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
GOBJECT(gcs0, "SR0_", GCS_MAVLINK),
GOBJECT(gcs3, "SR3_", GCS_MAVLINK),
// @Group: IMU_
// @Path: ../libraries/AP_IMU/IMU.cpp
GOBJECT(imu, "IMU_", IMU),
// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp
GOBJECT(ahrs, "AHRS_", AP_AHRS),
#if MOUNT == ENABLED
// @Group: MNT_
// @Path: ../libraries/AP_Mount/AP_Mount.cpp
GOBJECT(camera_mount, "MNT_", AP_Mount),
#endif
#ifdef DESKTOP_BUILD
// @Group: SIM_
// @Path: ../libraries/SITL/SITL.cpp
GOBJECT(sitl, "SIM_", SITL),
#endif
};
static void load_parameters(void)
{
// setup the AP_Var subsystem for storage to EEPROM
if (!AP_Param::setup(var_info, sizeof(var_info)/sizeof(var_info[0]), WP_START_BYTE)) {
// this can only happen on startup, and its a definate coding
// error. Best not to continue so the programmer catches it
while (1) {
Serial.println_P(PSTR("ERROR: Failed to setup AP_Param"));
delay(1000);
}
}
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
Serial.println_P(PSTR("done."));
} else {
unsigned long before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before);
}
}
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