Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
ardupilot/Blimp/Parameters.cpp

903 lines
33 KiB
C++
Raw Blame History

#include "Blimp.h"
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* Blimp parameter definitions
*
*/
#define DEFAULT_FRAME_CLASS 0
const AP_Param::Info Blimp::var_info[] = {
// @Param: FORMAT_VERSION
// @DisplayName: Eeprom format version number
// @Description: This value is incremented when changes are made to the eeprom format
// @User: Advanced
// @ReadOnly: True
GSCALAR(format_version, "FORMAT_VERSION", 0),
// @Param: SYSID_THISMAV
// @DisplayName: MAVLink system ID of this vehicle
// @Description: Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
// @Range: 1 255
// @User: Advanced
GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
// @Param: SYSID_MYGCS
// @DisplayName: My ground station number
// @Description: Allows restricting radio overrides to only come from my ground station
// @Range: 1 255
// @Increment: 1
// @User: Advanced
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
// @Param: PILOT_THR_FILT
// @DisplayName: Throttle filter cutoff
// @Description: Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
// @User: Advanced
// @Units: Hz
// @Range: 0 10
// @Increment: .5
GSCALAR(throttle_filt, "PILOT_THR_FILT", 0),
// @Param: PILOT_THR_BHV
// @DisplayName: Throttle stick behavior
// @Description: Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick.
// @User: Standard
// @Values: 0:None,1:Feedback from mid stick,2:High throttle cancels landing,4:Disarm on land detection
// @Bitmask: 0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection
GSCALAR(throttle_behavior, "PILOT_THR_BHV", 0),
// @Group: SERIAL
// @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
GOBJECT(serial_manager, "SERIAL", AP_SerialManager),
// @Param: TELEM_DELAY
// @DisplayName: Telemetry startup delay
// @Description: The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
// @User: Advanced
// @Units: s
// @Range: 0 30
// @Increment: 1
GSCALAR(telem_delay, "TELEM_DELAY", 0),
// @Param: GCS_PID_MASK
// @DisplayName: GCS PID tuning mask
// @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
// @User: Advanced
// @Values: 0:None,1:VELX,2:VELY,4:VELZ,8:VELYAW,16:POSX,32:POSY,64:POSZ,128:POSYAW,15:Vel only,51:XY only,204:ZYaw only,240:Pos only,255:All
// @Bitmask: 0:VELX,1:VELY,2:VELZ,3:VELYAW,4:POSX,5:POSY,6:POZ,7:POSYAW
GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
// @Param: FS_GCS_ENABLE
// @DisplayName: Ground Station Failsafe Enable
// @Description: Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.
// @Values: 0:Disabled/NoAction,5:Land
// @User: Standard
GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_DISABLED),
// @Param: GPS_HDOP_GOOD
// @DisplayName: GPS Hdop Good
// @Description: GPS Hdop value at or below this value represent a good position. Used for pre-arm checks
// @Range: 100 900
// @User: Advanced
GSCALAR(gps_hdop_good, "GPS_HDOP_GOOD", GPS_HDOP_GOOD_DEFAULT),
// @Param: FS_THR_ENABLE
// @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,3:Enabled always Land
// @User: Standard
GSCALAR(failsafe_throttle, "FS_THR_ENABLE", FS_THR_ENABLED_ALWAYS_RTL),
// @Param: FS_THR_VALUE
// @DisplayName: Throttle Failsafe Value
// @Description: The PWM level in microseconds on channel 3 below which throttle failsafe triggers
// @Range: 910 1100
// @Units: PWM
// @Increment: 1
// @User: Standard
GSCALAR(failsafe_throttle_value, "FS_THR_VALUE", FS_THR_VALUE_DEFAULT),
// @Param: THR_DZ
// @DisplayName: Throttle deadzone
// @Description: The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes
// @User: Standard
// @Range: 0 300
// @Units: PWM
// @Increment: 1
GSCALAR(throttle_deadzone, "THR_DZ", THR_DZ_DEFAULT),
// @Param: FLTMODE1
// @DisplayName: Flight Mode 1
// @Description: Flight mode when Channel 5 pwm is <= 1230
// @Values: 0:LAND,1:MANUAL,2:VELOCITY,3:LOITER
// @User: Standard
GSCALAR(flight_mode1, "FLTMODE1", (uint8_t)FLIGHT_MODE_1),
// @Param: FLTMODE2
// @CopyFieldsFrom: FLTMODE1
// @DisplayName: Flight Mode 2
// @Description: Flight mode when Channel 5 pwm is >1230, <= 1360
GSCALAR(flight_mode2, "FLTMODE2", (uint8_t)FLIGHT_MODE_2),
// @Param: FLTMODE3
// @CopyFieldsFrom: FLTMODE1
// @DisplayName: Flight Mode 3
// @Description: Flight mode when Channel 5 pwm is >1360, <= 1490
GSCALAR(flight_mode3, "FLTMODE3", (uint8_t)FLIGHT_MODE_3),
// @Param: FLTMODE4
// @CopyFieldsFrom: FLTMODE1
// @DisplayName: Flight Mode 4
// @Description: Flight mode when Channel 5 pwm is >1490, <= 1620
GSCALAR(flight_mode4, "FLTMODE4", (uint8_t)FLIGHT_MODE_4),
// @Param: FLTMODE5
// @CopyFieldsFrom: FLTMODE1
// @DisplayName: Flight Mode 5
// @Description: Flight mode when Channel 5 pwm is >1620, <= 1749
GSCALAR(flight_mode5, "FLTMODE5", (uint8_t)FLIGHT_MODE_5),
// @Param: FLTMODE6
// @CopyFieldsFrom: FLTMODE1
// @DisplayName: Flight Mode 6
// @Description: Flight mode when Channel 5 pwm is >=1750
GSCALAR(flight_mode6, "FLTMODE6", (uint8_t)FLIGHT_MODE_6),
// @Param: FLTMODE_CH
// @DisplayName: Flightmode channel
// @Description: RC Channel to use for flight mode control
// @Values: 0:Disabled,5:Channel5,6:Channel6,7:Channel7,8:Channel8
// @User: Advanced
GSCALAR(flight_mode_chan, "FLTMODE_CH", CH_MODE_DEFAULT),
// @Param: INITIAL_MODE
// @DisplayName: Initial flight mode
// @Description: This selects the mode to start in on boot.
// @CopyValuesFrom: FLTMODE1
// @User: Advanced
GSCALAR(initial_mode, "INITIAL_MODE", (uint8_t)Mode::Number::MANUAL),
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all basic log types by setting this to 65535.
// @Bitmask: 0:Fast Attitude,1:Medium Attitude,2:GPS,3:System Performance,4:Control Tuning,6:RC Input,7:IMU,9:Battery Monitor,10:RC Output,12:PID,13:Compass
// @User: Standard
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
// @Group: ARMING_
// @Path: ../libraries/AP_Arming/AP_Arming.cpp
GOBJECT(arming, "ARMING_", AP_Arming_Blimp),
// @Param: DISARM_DELAY
// @DisplayName: Disarm delay
// @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm.
// @Units: s
// @Range: 0 127
// @User: Advanced
GSCALAR(disarm_delay, "DISARM_DELAY", AUTO_DISARMING_DELAY),
// @Param: FS_EKF_ACTION
// @DisplayName: EKF Failsafe Action
// @Description: Controls the action that will be taken when an EKF failsafe is invoked
// @Values: 1:Land, 3:Land even in MANUAL
// @User: Advanced
GSCALAR(fs_ekf_action, "FS_EKF_ACTION", FS_EKF_ACTION_DEFAULT),
// @Param: FS_EKF_THRESH
// @DisplayName: EKF failsafe variance threshold
// @Description: Allows setting the maximum acceptable compass and velocity variance
// @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
// @User: Advanced
GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH", FS_EKF_THRESHOLD_DEFAULT),
// @Param: FS_CRASH_CHECK
// @DisplayName: Crash check enable
// @Description: This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
GSCALAR(fs_crash_check, "FS_CRASH_CHECK", 1),
// @Param: MAX_VEL_XY
// @DisplayName: Max XY Velocity
// @Description: Sets the maximum XY velocity, in m/s
// @Range: 0.2 5
// @User: Standard
GSCALAR(max_vel_xy, "MAX_VEL_XY", 0.5),
// @Param: MAX_VEL_Z
// @DisplayName: Max Z Velocity
// @Description: Sets the maximum Z velocity, in m/s
// @Range: 0.2 5
// @User: Standard
GSCALAR(max_vel_z, "MAX_VEL_Z", 0.4),
// @Param: MAX_VEL_YAW
// @DisplayName: Max yaw Velocity
// @Description: Sets the maximum yaw velocity, in rad/s
// @Range: 0.2 5
// @User: Standard
GSCALAR(max_vel_yaw, "MAX_VEL_YAW", 0.5),
// @Param: MAX_POS_XY
// @DisplayName: Max XY Position change
// @Description: Sets the maximum XY position change, in m/s
// @Range: 0.1 5
// @User: Standard
GSCALAR(max_pos_xy, "MAX_POS_XY", 0.2),
// @Param: MAX_POS_Z
// @DisplayName: Max Z Position change
// @Description: Sets the maximum Z position change, in m/s
// @Range: 0.1 5
// @User: Standard
GSCALAR(max_pos_z, "MAX_POS_Z", 0.15),
// @Param: MAX_POS_YAW
// @DisplayName: Max Yaw Position change
// @Description: Sets the maximum Yaw position change, in rad/s
// @Range: 0.1 5
// @User: Standard
GSCALAR(max_pos_yaw, "MAX_POS_YAW", 0.3),
// @Param: SIMPLE_MODE
// @DisplayName: Simple mode
// @Description: Simple mode for Position control - "forward" moves blimp in +ve X direction world-frame
// @Values: 0:Disabled, 1:Enabled
// @User: Standard
GSCALAR(simple_mode, "SIMPLE_MODE", 0),
// @Param: DIS_MASK
// @DisplayName: Disable output mask
// @Description: Mask for disabling (setting to zero) one or more of the 4 output axis in mode Velocity or Loiter
// @Values: 0:All enabled,1:Right,2:Front,4:Down,8:Yaw,3:Down and Yaw only,12:Front & Right only
// @Bitmask: 0:Right,1:Front,2:Down,3:Yaw
// @User: Standard
GSCALAR(dis_mask, "DIS_MASK", 0),
// @Param: PID_DZ
// @DisplayName: Deadzone for the position PIDs
// @Description: Output 0 thrust signal when blimp is within this distance (in meters) of the target position. Warning: If this param is greater than MAX_POS_XY param then the blimp won't move at all in the XY plane in Loiter mode as it does not allow more than a second's lag. Same for the other axes.
// @Units: m
// @Range: 0.1 1
// @User: Standard
GSCALAR(pid_dz, "PID_DZ", 0),
// @Param: RC_SPEED
// @DisplayName: ESC Update Speed
// @Description: This is the speed in Hertz that your ESCs will receive updates
// @Units: Hz
// @Range: 50 490
// @Increment: 1
// @User: Advanced
GSCALAR(rc_speed, "RC_SPEED", RC_FAST_SPEED),
// variables not in the g class which contain EEPROM saved variables
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
// @Group: INS
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
GOBJECT(ins, "INS", AP_InertialSensor),
// @Group: SR0_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[0], gcs0, "SR0_", GCS_MAVLINK_Parameters),
#if MAVLINK_COMM_NUM_BUFFERS >= 2
// @Group: SR1_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[1], gcs1, "SR1_", GCS_MAVLINK_Parameters),
#endif
#if MAVLINK_COMM_NUM_BUFFERS >= 3
// @Group: SR2_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[2], gcs2, "SR2_", GCS_MAVLINK_Parameters),
#endif
#if MAVLINK_COMM_NUM_BUFFERS >= 4
// @Group: SR3_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[3], gcs3, "SR3_", GCS_MAVLINK_Parameters),
#endif
#if MAVLINK_COMM_NUM_BUFFERS >= 5
// @Group: SR4_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[4], gcs4, "SR4_", GCS_MAVLINK_Parameters),
#endif
#if MAVLINK_COMM_NUM_BUFFERS >= 6
// @Group: SR5_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[5], gcs5, "SR5_", GCS_MAVLINK_Parameters),
#endif
#if MAVLINK_COMM_NUM_BUFFERS >= 7
// @Group: SR6_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[6], gcs6, "SR6_", GCS_MAVLINK_Parameters),
#endif
// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
GOBJECT(ahrs, "AHRS_", AP_AHRS),
#if HAL_LOGGING_ENABLED
// @Group: LOG
// @Path: ../libraries/AP_Logger/AP_Logger.cpp
GOBJECT(logger, "LOG", AP_Logger),
#endif
// @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
GOBJECT(battery, "BATT", AP_BattMonitor),
// @Group: BRD_
// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
GOBJECT(BoardConfig, "BRD_", AP_BoardConfig),
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
// @Group: CAN_
// @Path: ../libraries/AP_CANManager/AP_CANManager.cpp
GOBJECT(can_mgr, "CAN_", AP_CANManager),
#endif
#if AP_SIM_ENABLED
GOBJECT(sitl, "SIM_", SITL::SIM),
#endif
// @Group: BARO
// @Path: ../libraries/AP_Baro/AP_Baro.cpp
GOBJECT(barometer, "BARO", AP_Baro),
// GPS driver
// @Group: GPS
// @Path: ../libraries/AP_GPS/AP_GPS.cpp
GOBJECT(gps, "GPS", AP_GPS),
// @Group: SCHED_
// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
GOBJECT(scheduler, "SCHED_", AP_Scheduler),
// @Group: RCMAP_
// @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
GOBJECT(rcmap, "RCMAP_", RCMapper),
#if HAL_NAVEKF2_AVAILABLE
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2),
#endif
#if HAL_NAVEKF3_AVAILABLE
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
#endif
// @Group: RSSI_
// @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
GOBJECT(rssi, "RSSI_", AP_RSSI),
// @Group: NTF_
// @Path: ../libraries/AP_Notify/AP_Notify.cpp
GOBJECT(notify, "NTF_", AP_Notify),
// @Group:
// @Path: Parameters.cpp
GOBJECT(g2, "", ParametersG2),
// @Group: FINS_
// @Path: Fins.cpp
GOBJECTPTR(motors, "FINS_", Fins),
// @Param: VELXY_P
// @DisplayName: Velocity (horizontal) P gain
// @Description: Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration
// @Range: 0.1 6.0
// @Increment: 0.1
// @User: Advanced
// @Param: VELXY_I
// @DisplayName: Velocity (horizontal) I gain
// @Description: Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration
// @Range: 0.02 1.00
// @Increment: 0.01
// @User: Advanced
// @Param: VELXY_D
// @DisplayName: Velocity (horizontal) D gain
// @Description: Velocity (horizontal) D gain. Corrects short-term changes in velocity
// @Range: 0.00 1.00
// @Increment: 0.001
// @User: Advanced
// @Param: VELXY_IMAX
// @DisplayName: Velocity (horizontal) integrator maximum
// @Description: Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: cm/s/s
// @User: Advanced
// @Param: VELXY_FLTE
// @DisplayName: Velocity (horizontal) input filter
// @Description: Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms
// @Range: 0 100
// @Units: Hz
// @User: Advanced
// @Param: VELXY_FLTD
// @DisplayName: Velocity (horizontal) input filter
// @Description: Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term
// @Range: 0 100
// @Units: Hz
// @User: Advanced
// @Param: VELXY_FF
// @DisplayName: Velocity (horizontal) feed forward gain
// @Description: Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration
// @Range: 0 6
// @Increment: 0.01
// @User: Advanced
GOBJECT(pid_vel_xy, "VELXY_", AC_PID_2D),
// @Param: VELZ_P
// @DisplayName: Velocity (vertical) P gain
// @Description: Velocity (vertical) P gain. Converts the difference between desired and actual velocity to a target acceleration
// @Range: 0.1 6.0
// @Increment: 0.1
// @User: Advanced
// @Param: VELZ_I
// @DisplayName: Velocity (vertical) I gain
// @Description: Velocity (vertical) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration
// @Range: 0.02 1.00
// @Increment: 0.01
// @User: Advanced
// @Param: VELZ_D
// @DisplayName: Velocity (vertical) D gain
// @Description: Velocity (vertical) D gain. Corrects short-term changes in velocity
// @Range: 0.00 1.00
// @Increment: 0.001
// @User: Advanced
// @Param: VELZ_IMAX
// @DisplayName: Velocity (vertical) integrator maximum
// @Description: Velocity (vertical) integrator maximum. Constrains the target acceleration that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: cm/s/s
// @User: Advanced
// @Param: VELZ_FLTE
// @DisplayName: Velocity (vertical) input filter
// @Description: Velocity (vertical) input filter. This filter (in Hz) is applied to the input for P and I terms
// @Range: 0 100
// @Units: Hz
// @User: Advanced
// @Param: VELZ_FLTD
// @DisplayName: Velocity (vertical) input filter
// @Description: Velocity (vertical) input filter. This filter (in Hz) is applied to the input for D term
// @Range: 0 100
// @Units: Hz
// @User: Advanced
// @Param: VELZ_FF
// @DisplayName: Velocity (vertical) feed forward gain
// @Description: Velocity (vertical) feed forward gain. Converts the difference between desired velocity to a target acceleration
// @Range: 0 6
// @Increment: 0.01
// @User: Advanced
GOBJECT(pid_vel_z, "VELZ_", AC_PID_Basic),
// @Param: VELYAW_P
// @DisplayName: Velocity (yaw) P gain
// @Description: Velocity (yaw) P gain. Converts the difference between desired and actual velocity to a target acceleration
// @Range: 0.1 6.0
// @Increment: 0.1
// @User: Advanced
// @Param: VELYAW_I
// @DisplayName: Velocity (yaw) I gain
// @Description: Velocity (yaw) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration
// @Range: 0.02 1.00
// @Increment: 0.01
// @User: Advanced
// @Param: VELYAW_D
// @DisplayName: Velocity (yaw) D gain
// @Description: Velocity (yaw) D gain. Corrects short-term changes in velocity
// @Range: 0.00 1.00
// @Increment: 0.001
// @User: Advanced
// @Param: VELYAW_IMAX
// @DisplayName: Velocity (yaw) integrator maximum
// @Description: Velocity (yaw) integrator maximum. Constrains the target acceleration that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: cm/s/s
// @User: Advanced
// @Param: VELYAW_FLTE
// @DisplayName: Velocity (yaw) input filter
// @Description: Velocity (yaw) input filter. This filter (in Hz) is applied to the input for P and I terms
// @Range: 0 100
// @Units: Hz
// @User: Advanced
// @Param: VELYAW_FF
// @DisplayName: Velocity (yaw) feed forward gain
// @Description: Velocity (yaw) feed forward gain. Converts the difference between desired velocity to a target acceleration
// @Range: 0 6
// @Increment: 0.01
// @User: Advanced
GOBJECT(pid_vel_yaw, "VELYAW_", AC_PID_Basic),
// @Param: POSXY_P
// @DisplayName: Position (horizontal) P gain
// @Description: Position (horizontal) P gain. Converts the difference between desired and actual position to a target velocity
// @Range: 0.1 6.0
// @Increment: 0.1
// @User: Advanced
// @Param: POSXY_I
// @DisplayName: Position (horizontal) I gain
// @Description: Position (horizontal) I gain. Corrects long-term difference between desired and actual position to a target velocity
// @Range: 0.02 1.00
// @Increment: 0.01
// @User: Advanced
// @Param: POSXY_D
// @DisplayName: Position (horizontal) D gain
// @Description: Position (horizontal) D gain. Corrects short-term changes in position
// @Range: 0.00 1.00
// @Increment: 0.001
// @User: Advanced
// @Param: POSXY_IMAX
// @DisplayName: Position (horizontal) integrator maximum
// @Description: Position (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: cm/s/s
// @User: Advanced
// @Param: POSXY_FLTE
// @DisplayName: Position (horizontal) input filter
// @Description: Position (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms
// @Range: 0 100
// @Units: Hz
// @User: Advanced
// @Param: POSXY_FLTD
// @DisplayName: Position (horizontal) input filter
// @Description: Position (horizontal) input filter. This filter (in Hz) is applied to the input for D term
// @Range: 0 100
// @Units: Hz
// @User: Advanced
// @Param: POSXY_FF
// @DisplayName: Position (horizontal) feed forward gain
// @Description: Position (horizontal) feed forward gain. Converts the difference between desired position to a target velocity
// @Range: 0 6
// @Increment: 0.01
// @User: Advanced
GOBJECT(pid_pos_xy, "POSXY_", AC_PID_2D),
// @Param: POSZ_P
// @DisplayName: Position (vertical) P gain
// @Description: Position (vertical) P gain. Converts the difference between desired and actual position to a target velocity
// @Range: 0.1 6.0
// @Increment: 0.1
// @User: Advanced
// @Param: POSZ_I
// @DisplayName: Position (vertical) I gain
// @Description: Position (vertical) I gain. Corrects long-term difference between desired and actual position to a target velocity
// @Range: 0.02 1.00
// @Increment: 0.01
// @User: Advanced
// @Param: POSZ_D
// @DisplayName: Position (vertical) D gain
// @Description: Position (vertical) D gain. Corrects short-term changes in position
// @Range: 0.00 1.00
// @Increment: 0.001
// @User: Advanced
// @Param: POSZ_IMAX
// @DisplayName: Position (vertical) integrator maximum
// @Description: Position (vertical) integrator maximum. Constrains the target acceleration that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: cm/s/s
// @User: Advanced
// @Param: POSZ_FLTE
// @DisplayName: Position (vertical) input filter
// @Description: Position (vertical) input filter. This filter (in Hz) is applied to the input for P and I terms
// @Range: 0 100
// @Units: Hz
// @User: Advanced
// @Param: POSZ_FLTD
// @DisplayName: Position (vertical) input filter
// @Description: Position (vertical) input filter. This filter (in Hz) is applied to the input for D term
// @Range: 0 100
// @Units: Hz
// @User: Advanced
// @Param: POSZ_FF
// @DisplayName: Position (vertical) feed forward gain
// @Description: Position (vertical) feed forward gain. Converts the difference between desired position to a target velocity
// @Range: 0 6
// @Increment: 0.01
// @User: Advanced
GOBJECT(pid_pos_z, "POSZ_", AC_PID_Basic),
// @Param: POSYAW_P
// @DisplayName: Position (yaw) axis controller P gain
// @Description: Position (yaw) axis controller P gain.
// @Range: 0.0 3.0
// @Increment: 0.01
// @User: Standard
// @Param: POSYAW_I
// @DisplayName: Position (yaw) axis controller I gain
// @Description: Position (yaw) axis controller I gain.
// @Range: 0.0 3.0
// @Increment: 0.01
// @User: Standard
// @Param: POSYAW_IMAX
// @DisplayName: Position (yaw) axis controller I gain maximum
// @Description: Position (yaw) axis controller I gain maximum.
// @Range: 0 4000
// @Increment: 10
// @Units: d%
// @User: Standard
// @Param: POSYAW_D
// @DisplayName: Position (yaw) axis controller D gain
// @Description: Position (yaw) axis controller D gain.
// @Range: 0.001 0.1
// @Increment: 0.001
// @User: Standard
// @Param: POSYAW_FF
// @DisplayName: Position (yaw) axis controller feed forward
// @Description: Position (yaw) axis controller feed forward
// @Range: 0 0.5
// @Increment: 0.001
// @User: Standard
// @Param: POSYAW_FLTT
// @DisplayName: Position (yaw) target frequency filter in Hz
// @Description: Position (yaw) target frequency filter in Hz
// @Range: 1 50
// @Increment: 1
// @Units: Hz
// @User: Standard
// @Param: POSYAW_FLTE
// @DisplayName: Position (yaw) error frequency filter in Hz
// @Description: Position (yaw) error frequency filter in Hz
// @Range: 1 100
// @Increment: 1
// @Units: Hz
// @User: Standard
// @Param: POSYAW_FLTD
// @DisplayName: Position (yaw) derivative input filter in Hz
// @Description: Position (yaw) derivative input filter in Hz
// @Range: 1 100
// @Increment: 1
// @Units: Hz
// @User: Standard
// @Param: POSYAW_SMAX
// @DisplayName: Yaw slew rate limit
// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains.
// @Range: 0 200
// @Increment: 0.5
// @User: Advanced
// @Param: POSYAW_PDMX
// @DisplayName: Position (yaw) axis controller PD sum maximum
// @Description: Position (yaw) axis controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0 4000
// @Increment: 10
// @Units: d%
// @User: Advanced
// @Param: POSYAW_D_FF
// @DisplayName: Position (yaw) Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0 0.1
// @Increment: 0.001
// @User: Advanced
// @Param: POSYAW_NTF
// @DisplayName: Position (yaw) Target notch filter index
// @Description: Position (yaw) Target notch filter index
// @Range: 1 8
// @User: Advanced
// @Param: POSYAW_NEF
// @DisplayName: Position (yaw) Error notch filter index
// @Description: Position (yaw) Error notch filter index
// @Range: 1 8
// @User: Advanced
GOBJECT(pid_pos_yaw, "POSYAW_", AC_PID),
// @Group:
// @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
PARAM_VEHICLE_INFO,
AP_VAREND
};
/*
2nd group of parameters
*/
const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: DEV_OPTIONS
// @DisplayName: Development options
// @Description: Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning
// @Bitmask: 0:Unknown
// @User: Advanced
AP_GROUPINFO("DEV_OPTIONS", 7, ParametersG2, dev_options, 0),
// @Param: SYSID_ENFORCE
// @DisplayName: GCS sysid enforcement
// @Description: This controls whether packets from other than the expected GCS system ID will be accepted
// @Values: 0:NotEnforced,1:Enforced
// @User: Advanced
AP_GROUPINFO("SYSID_ENFORCE", 11, ParametersG2, sysid_enforce, 0),
// 12 was AP_Stats
// @Param: FRAME_CLASS
// @DisplayName: Frame Class
// @Description: Controls major frame class for blimp.
// @Values: 0:Finnedblimp
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("FRAME_CLASS", 15, ParametersG2, frame_class, DEFAULT_FRAME_CLASS),
// @Group: SERVO
// @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
AP_SUBGROUPINFO(servo_channels, "SERVO", 16, ParametersG2, SRV_Channels),
// @Group: RC
// @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels_Blimp),
// @Param: PILOT_SPEED_DN
// @DisplayName: Pilot maximum vertical speed descending
// @Description: The maximum vertical descending velocity the pilot may request in cm/s
// @Units: cm/s
// @Range: 50 500
// @Increment: 10
// @User: Standard
AP_GROUPINFO("PILOT_SPEED_DN", 24, ParametersG2, pilot_speed_dn, 0),
// 30 was AP_Scripting
// @Param: FS_VIBE_ENABLE
// @DisplayName: Vibration Failsafe enable
// @Description: This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations
// @Values: 0:Disabled, 1:Enabled
// @User: Standard
AP_GROUPINFO("FS_VIBE_ENABLE", 35, ParametersG2, fs_vibe_enabled, 1),
// @Param: FS_OPTIONS
// @DisplayName: Failsafe options bitmask
// @Description: Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options.
// @Values: 0:Disabled, 16:Continue if in pilot controlled modes on GCS failsafe
// @Bitmask: 4:Continue if in pilot controlled modes on GCS failsafe
// @User: Advanced
AP_GROUPINFO("FS_OPTIONS", 36, ParametersG2, fs_options, (float)Blimp::FailsafeOption::GCS_CONTINUE_IF_PILOT_CONTROL),
// @Param: FS_GCS_TIMEOUT
// @DisplayName: GCS failsafe timeout
// @Description: Timeout before triggering the GCS failsafe
// @Units: s
// @Range: 2 120
// @Increment: 1
// @User: Standard
AP_GROUPINFO("FS_GCS_TIMEOUT", 42, ParametersG2, fs_gcs_timeout, 5),
AP_GROUPEND
};
/*
constructor for g2 object
*/
ParametersG2::ParametersG2(void)
{
AP_Param::setup_object_defaults(this, var_info);
}
void Blimp::load_parameters(void)
{
hal.util->set_soft_armed(false);
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
hal.console->printf("Firmware change: erasing EEPROM...\n");
StorageManager::erase();
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
hal.console->printf("done.\n");
}
g.format_version.set_default(Parameters::k_format_version);
uint32_t before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
// PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
#if AP_STATS_ENABLED
{
// Find G2's Top Level Key
AP_Param::ConversionInfo info;
if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
return;
}
const uint16_t old_index = 12; // Old parameter index in g2
const uint16_t old_top_element = 4044; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
}
#endif
// PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
#if AP_SCRIPTING_ENABLED
{
// Find G2's Top Level Key
AP_Param::ConversionInfo info;
if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
return;
}
const uint16_t old_index = 30; // Old parameter index in g2
const uint16_t old_top_element = 94; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
AP_Param::convert_class(info.old_key, &scripting, scripting.var_info, old_index, old_top_element, false);
}
#endif
hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
// setup AP_Param frame type flags
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_BLIMP);
}
Reference in New Issue View Git Blame Copy Permalink