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ardupilot/ArduCopter/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 = 120;
// The parameter software_type is set up solely for ground station use
// and identifies the software type (eg ArduPilotMega versus
// ArduCopterMega)
// GCS will interpret values 0-9 as ArduPilotMega. Developers may use
// values within that range to identify different branches.
//
static const uint16_t k_software_type = 10; // 0 for APM
// trunk
// 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_Param 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_Param 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,
k_param_software_type,
k_param_ins_old, // *** Deprecated, remove with next eeprom number change
k_param_ins, // libraries/AP_InertialSensor variables
// simulation
k_param_sitl = 10,
// barometer object (needed for SITL)
k_param_barometer,
// scheduler object (for debugging)
k_param_scheduler,
// Misc
//
k_param_log_bitmask = 20,
k_param_log_last_filenumber, // *** Deprecated - remove
// with next eeprom number
// change
k_param_toy_yaw_rate, // THOR The memory
// location for the
// Yaw Rate 1 = fast,
// 2 = med, 3 = slow
k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change
k_param_rssi_pin,
k_param_throttle_accel_enabled,
k_param_wp_yaw_behavior,
k_param_acro_trainer_enabled,
k_param_pilot_velocity_z_max,
k_param_circle_rate,
k_param_sonar_gain,
k_param_ch8_option,
k_param_arming_check_enabled, // 32
// 65: AP_Limits Library
k_param_limits = 65, // deprecated - remove
k_param_gpslock_limit, // deprecated - remove
k_param_geofence_limit, // deprecated - remove
k_param_altitude_limit, // deprecated - remove
k_param_fence, // 69
//
// 80: Heli
//
k_param_heli_servo_1 = 80,
k_param_heli_servo_2,
k_param_heli_servo_3,
k_param_heli_servo_4,
k_param_heli_pitch_ff,
k_param_heli_roll_ff,
k_param_heli_yaw_ff,
//
// 90: Motors
//
k_param_motors = 90,
//
// 100: Inertial Nav
//
k_param_inertial_nav = 100,
k_param_wp_nav = 101,
// 110: Telemetry control
//
k_param_gcs0 = 110,
k_param_gcs3,
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial3_baud,
k_param_telem_delay,
//
// 140: Sensor parameters
//
k_param_imu = 140, // deprecated - can be deleted
k_param_battery_monitoring = 141,
k_param_volt_div_ratio,
k_param_curr_amp_per_volt,
k_param_input_voltage, // deprecated - can be deleted
k_param_pack_capacity,
k_param_compass_enabled,
k_param_compass,
k_param_sonar_enabled,
k_param_frame_orientation,
k_param_optflow_enabled,
k_param_low_voltage,
k_param_ch7_option,
k_param_auto_slew_rate, // deprecated - can be deleted
k_param_sonar_type,
k_param_super_simple = 155,
k_param_axis_enabled = 157,
k_param_copter_leds_mode,
k_param_ahrs, // AHRS group
//
// 160: Navigation parameters
//
k_param_rtl_altitude = 160,
k_param_crosstrack_gain, // deprecated - remove with next eeprom number change
k_param_rtl_loiter_time,
k_param_rtl_alt_final,
k_param_tilt_comp, //164 deprecated - remove with next eeprom number change
//
// Camera and mount parameters
//
k_param_camera = 165,
k_param_camera_mount,
k_param_camera_mount2,
//
// Batery monitoring parameters
//
k_param_battery_volt_pin = 168,
k_param_battery_curr_pin, // 169
//
// 170: Radio settings
//
k_param_rc_1 = 170,
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_10,
k_param_rc_11,
k_param_throttle_min,
k_param_throttle_max,
k_param_failsafe_throttle,
k_param_throttle_fs_action, // remove
k_param_failsafe_throttle_value,
k_param_throttle_cruise,
k_param_esc_calibrate,
k_param_radio_tuning,
k_param_radio_tuning_high,
k_param_radio_tuning_low,
k_param_rc_speed = 192,
k_param_failsafe_battery_enabled,
k_param_throttle_mid,
k_param_failsafe_gps_enabled,
k_param_rc_9,
k_param_rc_12,
k_param_failsafe_gcs, // 198
k_param_rcmap,
//
// 200: flight modes
//
k_param_flight_mode1 = 200,
k_param_flight_mode2,
k_param_flight_mode3,
k_param_flight_mode4,
k_param_flight_mode5,
k_param_flight_mode6,
k_param_simple_modes,
//
// 210: Waypoint data
//
k_param_waypoint_mode = 210, // remove
k_param_command_total,
k_param_command_index,
k_param_command_nav_index, // remove
k_param_waypoint_radius, // remove
k_param_circle_radius,
k_param_waypoint_speed_max, // remove
k_param_land_speed,
k_param_auto_velocity_z_min, // remove
k_param_auto_velocity_z_max, // remove - 219
//
// 220: PI/D Controllers
//
k_param_acro_p = 221,
k_param_axis_lock_p, // remove
k_param_pid_rate_roll,
k_param_pid_rate_pitch,
k_param_pid_rate_yaw,
k_param_pi_stabilize_roll,
k_param_pi_stabilize_pitch,
k_param_pi_stabilize_yaw,
k_param_pi_loiter_lat,
k_param_pi_loiter_lon,
k_param_pid_loiter_rate_lat,
k_param_pid_loiter_rate_lon,
k_param_pid_nav_lat, // 233 - remove
k_param_pid_nav_lon, // 234 - remove
k_param_pi_alt_hold,
k_param_pid_throttle,
k_param_pid_optflow_roll,
k_param_pid_optflow_pitch,
k_param_acro_balance_roll, // scalar (not PID)
k_param_acro_balance_pitch, // scalar (not PID)
k_param_pid_throttle_accel, // 241
// 254,255: reserved
};
AP_Int16 format_version;
AP_Int8 software_type;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int8 serial3_baud;
AP_Int8 telem_delay;
AP_Int16 rtl_altitude;
AP_Int8 sonar_enabled;
AP_Int8 sonar_type; // 0 = XL, 1 = LV,
// 2 = XLL (XL with 10m range)
// 3 = HRLV
AP_Float sonar_gain;
AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only,
// 4=voltage and current
AP_Float volt_div_ratio;
AP_Float curr_amp_per_volt;
AP_Int16 pack_capacity; // Battery pack capacity less reserve
AP_Int8 failsafe_battery_enabled; // battery failsafe enabled
AP_Int8 failsafe_gps_enabled; // gps failsafe enabled
AP_Int8 failsafe_gcs; // ground station failsafe behavior
AP_Int8 compass_enabled;
AP_Int8 optflow_enabled;
AP_Float low_voltage;
AP_Int8 super_simple;
AP_Int16 rtl_alt_final;
AP_Int8 axis_enabled;
AP_Int8 copter_leds_mode; // Operating mode of LED
// lighting system
AP_Int8 battery_volt_pin;
AP_Int8 battery_curr_pin;
AP_Int8 rssi_pin;
AP_Int8 throttle_accel_enabled; // enable/disable accel based throttle controller
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
// Waypoints
//
AP_Int8 command_total;
AP_Int8 command_index;
AP_Int16 circle_radius;
AP_Float circle_rate; // Circle mode's turn rate in deg/s. positive to rotate clockwise, negative for counter clockwise
AP_Int32 rtl_loiter_time;
AP_Int16 land_speed;
AP_Int16 pilot_velocity_z_max; // maximum vertical velocity the pilot may request
// Throttle
//
AP_Int16 throttle_min;
AP_Int16 throttle_max;
AP_Int8 failsafe_throttle;
AP_Int16 failsafe_throttle_value;
AP_Int16 throttle_cruise;
AP_Int16 throttle_mid;
// Flight modes
//
AP_Int8 flight_mode1;
AP_Int8 flight_mode2;
AP_Int8 flight_mode3;
AP_Int8 flight_mode4;
AP_Int8 flight_mode5;
AP_Int8 flight_mode6;
AP_Int8 simple_modes;
// Misc
//
AP_Int16 log_bitmask;
AP_Int8 toy_yaw_rate; // THOR The
// Yaw Rate 1
// = fast, 2 =
// med, 3 =
// slow
AP_Int8 esc_calibrate;
AP_Int8 radio_tuning;
AP_Int16 radio_tuning_high;
AP_Int16 radio_tuning_low;
AP_Int8 frame_orientation;
AP_Int8 ch7_option;
AP_Int8 ch8_option;
AP_Int8 arming_check_enabled;
#if FRAME_CONFIG == HELI_FRAME
// Heli
RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail
AP_Float heli_pitch_ff; // pitch rate feed-forward
AP_Float heli_roll_ff; // roll rate feed-forward
AP_Float heli_yaw_ff; // yaw rate feed-forward
#endif
// RC channels
RC_Channel rc_1;
RC_Channel rc_2;
RC_Channel rc_3;
RC_Channel rc_4;
RC_Channel_aux rc_5;
RC_Channel_aux rc_6;
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
#if MOUNT == ENABLED
RC_Channel_aux rc_10;
RC_Channel_aux rc_11;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
RC_Channel_aux rc_9;
RC_Channel_aux rc_12;
#endif
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
// Acro parameters
AP_Float acro_p;
AP_Int16 acro_balance_roll;
AP_Int16 acro_balance_pitch;
AP_Int8 acro_trainer_enabled;
// PI/D controllers
AC_PID pid_rate_roll;
AC_PID pid_rate_pitch;
AC_PID pid_rate_yaw;
AC_PID pid_loiter_rate_lat;
AC_PID pid_loiter_rate_lon;
AC_PID pid_throttle;
AC_PID pid_throttle_accel;
AC_PID pid_optflow_roll;
AC_PID pid_optflow_pitch;
APM_PI pi_loiter_lat;
APM_PI pi_loiter_lon;
APM_PI pi_stabilize_roll;
APM_PI pi_stabilize_pitch;
APM_PI pi_stabilize_yaw;
APM_PI pi_alt_hold;
// Note: keep initializers here in the same order as they are declared
// above.
Parameters() :
#if FRAME_CONFIG == HELI_FRAME
heli_servo_1 (CH_1),
heli_servo_2 (CH_2),
heli_servo_3 (CH_3),
heli_servo_4 (CH_4),
#endif
rc_1 (CH_1),
rc_2 (CH_2),
rc_3 (CH_3),
rc_4 (CH_4),
rc_5 (CH_5),
rc_6 (CH_6),
rc_7 (CH_7),
rc_8 (CH_8),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
rc_9 (CH_9),
rc_10 (CH_10),
rc_11 (CH_11),
rc_12 (CH_12),
#elif MOUNT == ENABLED
rc_10 (CH_10),
rc_11 (CH_11),
#endif
// PID controller initial P initial I initial D
// initial imax
//-----------------------------------------------------------------------------------------------------
pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100),
pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100),
pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100),
pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100),
pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100),
pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX),
pid_throttle_accel (THROTTLE_ACCEL_P, THROTTLE_ACCEL_I, THROTTLE_ACCEL_D, THROTTLE_ACCEL_IMAX),
pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100),
pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100),
// PI controller initial P initial I initial
// imax
//----------------------------------------------------------------------
pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX * 100),
pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX * 100),
pi_stabilize_roll (STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100),
pi_stabilize_pitch (STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100),
pi_stabilize_yaw (STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100),
pi_alt_hold (ALT_HOLD_P, ALT_HOLD_I, ALT_HOLD_IMAX)
{
}
};
extern const AP_Param::Info var_info[];
#endif // PARAMETERS_H
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