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ardupilot/ArduCopterMega/Parameters.h

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// -*- 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 = 9;
//
// Parameter identities.
//
// The enumeration defined here is used to ensure that every parameter
// or parameter group has a unique ID number. This number is used by
// AP_Var to store and locate parameters in EEPROM.
//
// Note that entries without a number are assigned the next number after
// the entry preceding them. When adding new entries, ensure that they
// don't overlap.
//
// Try to group related variables together, and assign them a set
// range in the enumeration. Place these groups in numerical order
// at the end of the enumeration.
//
// WARNING: Care should be taken when editing this enumeration as the
// AP_Var load/save code depends on the values here to identify
// variables saved in EEPROM.
//
//
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
// Misc
//
k_param_log_bitmask,
// 110: Telemetry control
//
k_param_streamrates_port0 = 110,
k_param_streamrates_port3,
//
// 140: Sensor parameters
//
k_param_IMU_calibration = 140,
k_param_ground_temperature,
k_param_ground_pressure,
k_param_battery_monitoring,
k_param_pack_capacity,
k_param_compass_enabled,
k_param_compass,
k_param_sonar,
k_param_frame_orientation,
//
// 160: Navigation parameters
//
k_param_crosstrack_gain = 160,
k_param_crosstrack_entry_angle,
k_param_pitch_max,
k_param_RTL_altitude,
//
// 180: Radio settings
//
k_param_rc_1 = 180,
k_param_rc_2,
k_param_rc_3,
k_param_rc_4,
k_param_rc_5,
k_param_rc_6,
k_param_rc_7,
k_param_rc_8,
k_param_rc_9,
k_param_rc_10,
k_param_throttle_min,
k_param_throttle_max,
k_param_throttle_fs_enabled,
k_param_throttle_fs_action,
k_param_throttle_fs_value,
k_param_throttle_cruise,
k_param_flight_modes,
k_param_esc_calibrate,
//
// 200: Heli
//
k_param_heli_servo_1 = 200,
k_param_heli_servo_2,
k_param_heli_servo_3,
k_param_heli_servo_4,
k_param_heli_servo1_pos ,
k_param_heli_servo2_pos,
k_param_heli_servo3_pos,
k_param_heli_roll_max,
k_param_heli_pitch_max,
k_param_heli_collective_min,
k_param_heli_collective_max,
k_param_heli_collective_mid,
k_param_heli_ext_gyro_enabled,
k_param_heli_ext_gyro_gain, // 213
//
// 220: Waypoint data
//
k_param_waypoint_mode = 220,
k_param_waypoint_total,
k_param_waypoint_index,
k_param_command_must_index,
k_param_waypoint_radius,
k_param_loiter_radius,
//
// 240: PID Controllers
//
// Heading-to-roll PID:
// heading error from commnd to roll command deviation from trim
// (bank to turn strategy)
//
k_param_pid_acro_rate_roll = 240,
k_param_pid_acro_rate_pitch,
k_param_pid_acro_rate_yaw,
k_param_pid_stabilize_roll,
k_param_pid_stabilize_pitch,
k_param_pid_yaw,
k_param_pid_nav_lat,
k_param_pid_nav_lon,
k_param_pid_nav_wp,
k_param_pid_baro_throttle,
k_param_pid_sonar_throttle,
// 255: reserved
};
AP_Int16 format_version;
// Crosstrack navigation
//
AP_Float crosstrack_gain;
AP_Int16 crosstrack_entry_angle;
// Waypoints
//
AP_Int8 waypoint_mode;
AP_Int8 waypoint_total;
AP_Int8 waypoint_index;
AP_Int8 command_must_index;
AP_Int8 waypoint_radius;
AP_Int8 loiter_radius;
// Throttle
//
AP_Int16 throttle_min;
AP_Int16 throttle_max;
AP_Int8 throttle_fs_enabled;
AP_Int8 throttle_fs_action;
AP_Int16 throttle_fs_value;
AP_Int16 throttle_cruise;
// Flight modes
//
AP_VarA<uint8_t,6> flight_modes;
// Radio settings
//
//AP_Var_group pwm_roll;
//AP_Var_group pwm_pitch;
//AP_Var_group pwm_throttle;
//AP_Var_group pwm_yaw;
AP_Int16 pitch_max;
// Misc
//
AP_Int16 log_bitmask;
AP_Int16 ground_temperature;
AP_Int16 ground_pressure;
AP_Int16 RTL_altitude;
AP_Int8 sonar_enabled;
AP_Int8 battery_monitoring; // 0=disabled, 1=3 cell lipo, 2=4 cell lipo, 3=total voltage only, 4=total voltage and current
AP_Int16 pack_capacity; // Battery pack capacity less reserve
AP_Int8 compass_enabled;
AP_Int8 esc_calibrate;
AP_Int8 frame_orientation;
// Heli
RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail
AP_Int16 heli_servo1_pos, heli_servo2_pos, heli_servo3_pos; // servo positions (3 because we don't need pos for tail servo)
AP_Int16 heli_roll_max, heli_pitch_max; // maximum allowed roll and pitch of swashplate
AP_Int16 heli_coll_min, heli_coll_max, heli_coll_mid; // min and max collective. mid = main blades at zero pitch
AP_Int8 heli_ext_gyro_enabled; // 0 = no external tail gyro, 1 = external tail gyro
AP_Int16 heli_ext_gyro_gain; // radio output 1000~2000 (value output on CH_7)
// RC channels
RC_Channel rc_1;
RC_Channel rc_2;
RC_Channel rc_3;
RC_Channel rc_4;
RC_Channel rc_5;
RC_Channel rc_6;
RC_Channel rc_7;
RC_Channel rc_8;
RC_Channel rc_camera_pitch;
RC_Channel rc_camera_roll;
// PID controllers
PID pid_acro_rate_roll;
PID pid_acro_rate_pitch;
PID pid_acro_rate_yaw;
PID pid_stabilize_roll;
PID pid_stabilize_pitch;
PID pid_yaw;
PID pid_nav_lat;
PID pid_nav_lon;
PID pid_nav_wp;
PID pid_baro_throttle;
PID pid_sonar_throttle;
uint8_t junk;
Parameters() :
// variable default key name
//-------------------------------------------------------------------------------------------------------------------
format_version (k_format_version, k_param_format_version, NULL),
crosstrack_gain (XTRACK_GAIN * 100, k_param_crosstrack_gain, PSTR("XTRK_GAIN")),
crosstrack_entry_angle (XTRACK_ENTRY_ANGLE * 100, k_param_crosstrack_entry_angle, PSTR("XTRACK_ANGLE")),
sonar_enabled (DISABLED, k_param_sonar, PSTR("SONAR_ENABLE")),
battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")),
pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")),
compass_enabled (MAGNETOMETER, k_param_compass_enabled, PSTR("MAG_ENABLE")),
waypoint_mode (0, k_param_waypoint_mode, PSTR("WP_MODE")),
waypoint_total (0, k_param_waypoint_total, PSTR("WP_TOTAL")),
waypoint_index (0, k_param_waypoint_index, PSTR("WP_INDEX")),
command_must_index (0, k_param_command_must_index, PSTR("WP_MUST_INDEX")),
waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")),
loiter_radius (LOITER_RADIUS_DEFAULT, k_param_loiter_radius, PSTR("LOITER_RADIUS")),
throttle_min (0, k_param_throttle_min, PSTR("THR_MIN")),
throttle_max (1000, k_param_throttle_max, PSTR("THR_MAX")),
throttle_fs_enabled (THROTTLE_FAILSAFE, k_param_throttle_fs_enabled, PSTR("THR_FAILSAFE")),
throttle_fs_action (THROTTLE_FAILSAFE_ACTION, k_param_throttle_fs_action, PSTR("THR_FS_ACTION")),
throttle_fs_value (THROTTLE_FS_VALUE, k_param_throttle_fs_value, PSTR("THR_FS_VALUE")),
throttle_cruise (100, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")),
flight_modes (k_param_flight_modes, PSTR("FLTMODE")),
pitch_max (PITCH_MAX * 100, k_param_pitch_max, PSTR("PITCH_MAX")),
log_bitmask (MASK_LOG_SET_DEFAULTS, k_param_log_bitmask, PSTR("LOG_BITMASK")),
ground_temperature (0, k_param_ground_temperature, PSTR("GND_TEMP")),
ground_pressure (0, k_param_ground_pressure, PSTR("GND_ABS_PRESS")),
RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")),
esc_calibrate (0, k_param_esc_calibrate, PSTR("ESC")),
frame_orientation (FRAME_ORIENTATION, k_param_frame_orientation, PSTR("FRAME")),
heli_servo_1 (k_param_heli_servo_1, PSTR("HS1_")),
heli_servo_2 (k_param_heli_servo_2, PSTR("HS2_")),
heli_servo_3 (k_param_heli_servo_3, PSTR("HS3_")),
heli_servo_4 (k_param_heli_servo_4, PSTR("HS4_")),
heli_servo1_pos (-60, k_param_heli_servo1_pos, PSTR("SV1_POS_")),
heli_servo2_pos (60, k_param_heli_servo2_pos, PSTR("SV2_POS_")),
heli_servo3_pos (180, k_param_heli_servo3_pos, PSTR("SV3_POS_")),
heli_roll_max (4500, k_param_heli_roll_max, PSTR("ROL_MAX_")),
heli_pitch_max (4500, k_param_heli_pitch_max, PSTR("PIT_MAX_")),
heli_coll_min (1000, k_param_heli_collective_min, PSTR("COL_MIN_")),
heli_coll_max (2000, k_param_heli_collective_max, PSTR("COL_MAX_")),
heli_coll_mid (1500, k_param_heli_collective_mid, PSTR("COL_MID_")),
heli_ext_gyro_enabled (0, k_param_heli_ext_gyro_enabled, PSTR("GYR_ENABLE_")),
heli_ext_gyro_gain (1000, k_param_heli_ext_gyro_gain, PSTR("GYR_GAIN_")),
// RC channel group key name
//----------------------------------------------------------------------
rc_1 (k_param_rc_1, PSTR("RC1_")),
rc_2 (k_param_rc_2, PSTR("RC2_")),
rc_3 (k_param_rc_3, PSTR("RC3_")),
rc_4 (k_param_rc_4, PSTR("RC4_")),
rc_5 (k_param_rc_5, PSTR("RC5_")),
rc_6 (k_param_rc_6, PSTR("RC6_")),
rc_7 (k_param_rc_7, PSTR("RC7_")),
rc_8 (k_param_rc_8, PSTR("RC8_")),
rc_camera_pitch (k_param_rc_9, NULL),
rc_camera_roll (k_param_rc_10, NULL),
// PID controller group key name initial P initial I initial D initial imax
//--------------------------------------------------------------------------------------------------------------------------------------------------------------------
pid_acro_rate_roll (k_param_pid_acro_rate_roll, PSTR("ACR_RLL_"), ACRO_RATE_ROLL_P, ACRO_RATE_ROLL_I, ACRO_RATE_ROLL_D, ACRO_RATE_ROLL_IMAX * 100),
pid_acro_rate_pitch (k_param_pid_acro_rate_pitch, PSTR("ACR_PIT_"), ACRO_RATE_PITCH_P, ACRO_RATE_PITCH_I, ACRO_RATE_PITCH_D, ACRO_RATE_PITCH_IMAX * 100),
pid_acro_rate_yaw (k_param_pid_acro_rate_yaw, PSTR("ACR_YAW_"), ACRO_RATE_YAW_P, ACRO_RATE_YAW_I, ACRO_RATE_YAW_D, ACRO_RATE_YAW_IMAX * 100),
pid_stabilize_roll (k_param_pid_stabilize_roll, PSTR("STB_RLL_"), STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_D, STABILIZE_ROLL_IMAX * 100),
pid_stabilize_pitch (k_param_pid_stabilize_pitch, PSTR("STB_PIT_"), STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_D, STABILIZE_PITCH_IMAX * 100),
pid_yaw (k_param_pid_yaw, PSTR("STB_YAW_"), YAW_P, YAW_I, YAW_D, YAW_IMAX * 100),
pid_nav_lat (k_param_pid_nav_lat, PSTR("NAV_LAT_"), NAV_LOITER_P, NAV_LOITER_I, NAV_LOITER_D, NAV_LOITER_IMAX * 100),
pid_nav_lon (k_param_pid_nav_lon, PSTR("NAV_LON_"), NAV_LOITER_P, NAV_LOITER_I, NAV_LOITER_D, NAV_LOITER_IMAX * 100),
pid_nav_wp (k_param_pid_nav_wp, PSTR("NAV_WP_"), NAV_WP_P, NAV_WP_I, NAV_WP_D, NAV_WP_IMAX * 100),
pid_baro_throttle (k_param_pid_baro_throttle, PSTR("THR_BAR_"), THROTTLE_BARO_P, THROTTLE_BARO_I, THROTTLE_BARO_D, THROTTLE_BARO_IMAX),
pid_sonar_throttle (k_param_pid_sonar_throttle, PSTR("THR_SON_"), THROTTLE_SONAR_P, THROTTLE_SONAR_I, THROTTLE_SONAR_D, THROTTLE_SONAR_IMAX),
junk(0) // XXX just so that we can add things without worrying about the trailing comma
{
}
};
#endif // PARAMETERS_H
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