mirror of https://github.com/ArduPilot/ardupilot
450 lines
14 KiB
C++
450 lines
14 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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// 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 = 12;
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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 = 0; // 0 for APM trunk
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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_auto_trim,
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k_param_switch_enable,
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k_param_log_bitmask,
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k_param_pitch_trim,
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k_param_mix_mode,
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k_param_reverse_elevons,
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k_param_reverse_ch1_elevon,
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k_param_reverse_ch2_elevon,
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k_param_flap_1_percent,
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k_param_flap_1_speed,
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k_param_flap_2_percent,
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k_param_flap_2_speed,
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k_param_num_resets,
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k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change
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k_param_reset_switch_chan,
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// 110: Telemetry control
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//
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k_param_streamrates_port0 = 110,
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k_param_streamrates_port3,
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k_param_sysid_this_mav,
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k_param_sysid_my_gcs,
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k_param_serial3_baud,
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// 120: Fly-by-wire control
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//
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k_param_flybywire_airspeed_min = 120,
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k_param_flybywire_airspeed_max,
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k_param_FBWB_min_altitude, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)
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//
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// 130: Sensor parameters
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//
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k_param_IMU_calibration = 130,
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k_param_altitude_mix,
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k_param_airspeed_ratio,
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k_param_ground_temperature,
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k_param_ground_pressure,
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k_param_compass_enabled,
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k_param_compass,
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k_param_battery_monitoring,
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k_param_volt_div_ratio,
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k_param_curr_amp_per_volt,
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k_param_input_voltage,
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k_param_pack_capacity,
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k_param_airspeed_offset,
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k_param_sonar_enabled,
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k_param_airspeed_enabled,
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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_roll_limit,
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k_param_pitch_limit_max,
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k_param_pitch_limit_min,
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k_param_airspeed_cruise,
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k_param_RTL_altitude,
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k_param_inverted_flight_ch,
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k_param_min_gndspeed,
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//
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// 170: Radio settings
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//
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k_param_channel_roll = 170,
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k_param_channel_pitch,
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k_param_channel_throttle,
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k_param_channel_rudder,
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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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k_param_throttle_min,
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k_param_throttle_max,
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k_param_throttle_fs_enabled,
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k_param_throttle_fs_value,
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k_param_throttle_cruise,
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k_param_short_fs_action,
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k_param_long_fs_action,
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k_param_gcs_heartbeat_fs_enabled,
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k_param_throttle_slewrate,
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//
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// 200: Feed-forward gains
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//
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k_param_kff_pitch_compensation = 200,
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k_param_kff_rudder_mix,
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k_param_kff_pitch_to_throttle,
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k_param_kff_throttle_to_pitch,
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//
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// 210: flight modes
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//
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k_param_flight_mode_channel = 210,
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k_param_flight_mode1,
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k_param_flight_mode2,
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k_param_flight_mode3,
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k_param_flight_mode4,
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k_param_flight_mode5,
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k_param_flight_mode6,
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//
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// 220: Waypoint data
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//
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k_param_waypoint_mode = 220,
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k_param_command_total,
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k_param_command_index,
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k_param_waypoint_radius,
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k_param_loiter_radius,
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k_param_fence_action,
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k_param_fence_total,
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k_param_fence_channel,
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k_param_fence_minalt,
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k_param_fence_maxalt,
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//
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// 240: PID Controllers
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//
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// Heading-to-roll PID:
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// heading error from command to roll command deviation from trim
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// (bank to turn strategy)
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//
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k_param_pidNavRoll = 240,
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// Roll-to-servo PID:
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// roll error from command to roll servo deviation from trim
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// (tracks commanded bank angle)
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//
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k_param_pidServoRoll,
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//
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// Pitch control
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//
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// Pitch-to-servo PID:
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// pitch error from command to pitch servo deviation from trim
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// (front-side strategy)
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//
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k_param_pidServoPitch,
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// Airspeed-to-pitch PID:
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// airspeed error from command to pitch servo deviation from trim
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// (back-side strategy)
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//
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k_param_pidNavPitchAirspeed,
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//
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// Yaw control
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//
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// Yaw-to-servo PID:
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// yaw rate error from command to yaw servo deviation from trim
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// (stabilizes dutch roll)
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//
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k_param_pidServoRudder,
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//
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// Throttle control
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//
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// Energy-to-throttle PID:
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// total energy error from command to throttle servo deviation from trim
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// (throttle back-side strategy alternative)
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//
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k_param_pidTeThrottle,
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// Altitude-to-pitch PID:
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// altitude error from command to pitch servo deviation from trim
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// (throttle front-side strategy alternative)
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//
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k_param_pidNavPitchAltitude,
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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 serial3_baud;
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// Feed-forward gains
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//
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AP_Float kff_pitch_compensation;
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AP_Float kff_rudder_mix;
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AP_Float kff_pitch_to_throttle;
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AP_Float kff_throttle_to_pitch;
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// Crosstrack navigation
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//
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AP_Float crosstrack_gain;
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AP_Int16 crosstrack_entry_angle;
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// Estimation
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//
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AP_Float altitude_mix;
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AP_Float airspeed_ratio;
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AP_Int16 airspeed_offset;
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// Waypoints
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//
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AP_Int8 waypoint_mode;
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AP_Int8 command_total;
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AP_Int8 command_index;
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AP_Int8 waypoint_radius;
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AP_Int8 loiter_radius;
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#if GEOFENCE_ENABLED == ENABLED
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AP_Int8 fence_action;
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AP_Int8 fence_total;
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AP_Int8 fence_channel;
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AP_Int16 fence_minalt; // meters
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AP_Int16 fence_maxalt; // meters
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#endif
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// Fly-by-wire
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//
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AP_Int8 flybywire_airspeed_min;
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AP_Int8 flybywire_airspeed_max;
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AP_Int16 FBWB_min_altitude;
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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_slewrate;
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AP_Int8 throttle_fs_enabled;
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AP_Int16 throttle_fs_value;
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AP_Int8 throttle_cruise;
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// Failsafe
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AP_Int8 short_fs_action;
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AP_Int8 long_fs_action;
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AP_Int8 gcs_heartbeat_fs_enabled;
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// Flight modes
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//
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AP_Int8 flight_mode_channel;
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AP_Int8 flight_mode1;
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AP_Int8 flight_mode2;
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AP_Int8 flight_mode3;
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AP_Int8 flight_mode4;
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AP_Int8 flight_mode5;
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AP_Int8 flight_mode6;
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// Navigational maneuvering limits
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//
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AP_Int16 roll_limit;
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AP_Int16 pitch_limit_max;
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AP_Int16 pitch_limit_min;
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// Misc
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//
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AP_Int8 auto_trim;
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AP_Int8 switch_enable;
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AP_Int8 mix_mode;
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AP_Int8 reverse_elevons;
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AP_Int8 reverse_ch1_elevon;
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AP_Int8 reverse_ch2_elevon;
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AP_Int16 num_resets;
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AP_Int16 log_bitmask;
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AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change
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AP_Int8 reset_switch_chan;
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AP_Int16 airspeed_cruise;
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AP_Int16 min_gndspeed;
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AP_Int16 pitch_trim;
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AP_Int16 RTL_altitude;
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AP_Int16 ground_temperature;
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AP_Int32 ground_pressure;
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AP_Int8 compass_enabled;
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AP_Int16 angle_of_attack;
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AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
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AP_Float volt_div_ratio;
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AP_Float curr_amp_per_volt;
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AP_Float input_voltage;
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AP_Int16 pack_capacity; // Battery pack capacity less reserve
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AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
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AP_Int8 sonar_enabled;
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AP_Int8 airspeed_enabled;
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AP_Int8 flap_1_percent;
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AP_Int8 flap_1_speed;
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AP_Int8 flap_2_percent;
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AP_Int8 flap_2_speed;
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// RC channels
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RC_Channel channel_roll;
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RC_Channel channel_pitch;
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RC_Channel channel_throttle;
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RC_Channel channel_rudder;
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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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// PID controllers
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//
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PID pidNavRoll;
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PID pidServoRoll;
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PID pidServoPitch;
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PID pidNavPitchAirspeed;
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PID pidServoRudder;
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PID pidTeThrottle;
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PID pidNavPitchAltitude;
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Parameters() :
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format_version (k_format_version),
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software_type (k_software_type),
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sysid_this_mav (MAV_SYSTEM_ID),
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sysid_my_gcs (255),
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serial3_baud (SERIAL3_BAUD/1000),
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kff_pitch_compensation (PITCH_COMP),
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kff_rudder_mix (RUDDER_MIX),
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kff_pitch_to_throttle (P_TO_T),
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kff_throttle_to_pitch (T_TO_P),
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crosstrack_gain (XTRACK_GAIN_SCALED),
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crosstrack_entry_angle (XTRACK_ENTRY_ANGLE_CENTIDEGREE),
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altitude_mix (ALTITUDE_MIX),
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airspeed_ratio (AIRSPEED_RATIO),
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airspeed_offset (0),
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/* XXX waypoint_mode missing here */
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command_total (0),
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command_index (0),
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waypoint_radius (WP_RADIUS_DEFAULT),
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loiter_radius (LOITER_RADIUS_DEFAULT),
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#if GEOFENCE_ENABLED == ENABLED
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fence_action (0),
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fence_total (0),
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fence_channel (0),
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fence_minalt (0),
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fence_maxalt (0),
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#endif
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flybywire_airspeed_min (AIRSPEED_FBW_MIN),
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flybywire_airspeed_max (AIRSPEED_FBW_MAX),
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throttle_min (THROTTLE_MIN),
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throttle_max (THROTTLE_MAX),
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throttle_slewrate (THROTTLE_SLEW_LIMIT),
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throttle_fs_enabled (THROTTLE_FAILSAFE),
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throttle_fs_value (THROTTLE_FS_VALUE),
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throttle_cruise (THROTTLE_CRUISE),
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short_fs_action (SHORT_FAILSAFE_ACTION),
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long_fs_action (LONG_FAILSAFE_ACTION),
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gcs_heartbeat_fs_enabled(GCS_HEARTBEAT_FAILSAFE),
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flight_mode_channel (FLIGHT_MODE_CHANNEL),
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flight_mode1 (FLIGHT_MODE_1),
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flight_mode2 (FLIGHT_MODE_2),
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flight_mode3 (FLIGHT_MODE_3),
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flight_mode4 (FLIGHT_MODE_4),
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flight_mode5 (FLIGHT_MODE_5),
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flight_mode6 (FLIGHT_MODE_6),
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roll_limit (HEAD_MAX_CENTIDEGREE),
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pitch_limit_max (PITCH_MAX_CENTIDEGREE),
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pitch_limit_min (PITCH_MIN_CENTIDEGREE),
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auto_trim (AUTO_TRIM),
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switch_enable (REVERSE_SWITCH),
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mix_mode (ELEVON_MIXING),
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reverse_elevons (ELEVON_REVERSE),
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reverse_ch1_elevon (ELEVON_CH1_REVERSE),
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reverse_ch2_elevon (ELEVON_CH2_REVERSE),
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num_resets (0),
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log_bitmask (DEFAULT_LOG_BITMASK),
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log_last_filenumber (0),
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reset_switch_chan (0),
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airspeed_cruise (AIRSPEED_CRUISE_CM),
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min_gndspeed (MIN_GNDSPEED_CM),
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pitch_trim (0),
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RTL_altitude (ALT_HOLD_HOME_CM),
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FBWB_min_altitude (ALT_HOLD_FBW_CM),
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ground_temperature (0),
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ground_pressure (0),
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compass_enabled (MAGNETOMETER),
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flap_1_percent (FLAP_1_PERCENT),
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flap_1_speed (FLAP_1_SPEED),
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flap_2_percent (FLAP_2_PERCENT),
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flap_2_speed (FLAP_2_SPEED),
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battery_monitoring (DISABLED),
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volt_div_ratio (VOLT_DIV_RATIO),
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curr_amp_per_volt (CURR_AMP_PER_VOLT),
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input_voltage (INPUT_VOLTAGE),
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pack_capacity (HIGH_DISCHARGE),
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inverted_flight_ch (0),
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sonar_enabled (SONAR_ENABLED),
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airspeed_enabled (AIRSPEED_SENSOR),
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// PID controller initial P initial I initial D initial imax
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//---------------------------------------------------------------------------------------------------------------------------------------
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pidNavRoll (NAV_ROLL_P, NAV_ROLL_I, NAV_ROLL_D, NAV_ROLL_INT_MAX_CENTIDEGREE),
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pidServoRoll (SERVO_ROLL_P, SERVO_ROLL_I, SERVO_ROLL_D, SERVO_ROLL_INT_MAX_CENTIDEGREE),
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pidServoPitch (SERVO_PITCH_P, SERVO_PITCH_I, SERVO_PITCH_D, SERVO_PITCH_INT_MAX_CENTIDEGREE),
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pidNavPitchAirspeed (NAV_PITCH_ASP_P, NAV_PITCH_ASP_I, NAV_PITCH_ASP_D, NAV_PITCH_ASP_INT_MAX_CMSEC),
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pidServoRudder (SERVO_YAW_P, SERVO_YAW_I, SERVO_YAW_D, SERVO_YAW_INT_MAX),
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pidTeThrottle (THROTTLE_TE_P, THROTTLE_TE_I, THROTTLE_TE_D, THROTTLE_TE_INT_MAX),
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pidNavPitchAltitude (NAV_PITCH_ALT_P, NAV_PITCH_ALT_I, NAV_PITCH_ALT_D, NAV_PITCH_ALT_INT_MAX_CM)
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{}
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};
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#endif // PARAMETERS_H
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