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ardupilot/ArduPlane/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 value of k_format_version determines whether the existing
eeprom data is considered valid. You should only change this
value under the following circumstances:
1) the meaning of an existing eeprom parameter changes
2) the value of an existing k_param_* enum value changes
Adding a new parameter should _not_ require a change to
k_format_version except under special circumstances. If you
change it anyway then all ArduPlane users will need to reload all
their parameters. We want that to be an extremely rare
thing. Please do not just change it "just in case".
To determine if a k_param_* value has changed, use the rules of
C++ enums to work out the value of the neighboring enum
values. If you don't know the C++ enum rules then please ask for
help.
*/
//////////////////////////////////////////////////////////////////
// STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE
// COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!!
static const uint16_t k_format_version = 13;
//////////////////////////////////////////////////////////////////
// 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 = 0; // 0 for APM trunk
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type,
k_param_num_resets,
// Misc
//
k_param_auto_trim = 10,
k_param_log_bitmask,
k_param_pitch_trim_cd,
k_param_mix_mode,
k_param_reverse_elevons,
k_param_reverse_ch1_elevon,
k_param_reverse_ch2_elevon,
k_param_flap_1_percent,
k_param_flap_1_speed,
k_param_flap_2_percent,
k_param_flap_2_speed,
k_param_reset_switch_chan,
k_param_manual_level,
k_param_land_pitch_cd,
k_param_ins,
k_param_stick_mixing,
k_param_reset_mission_chan,
k_param_land_flare_alt,
k_param_land_flare_sec,
// 110: Telemetry control
//
k_param_gcs0 = 110, // stream rates for port0
k_param_gcs3, // stream rates for port3
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial3_baud,
// 120: Fly-by-wire control
//
k_param_flybywire_airspeed_min = 120,
k_param_flybywire_airspeed_max,
k_param_FBWB_min_altitude_cm, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)
//
// 130: Sensor parameters
//
k_param_imu = 130, // sensor calibration
k_param_altitude_mix,
k_param_compass_enabled,
k_param_compass,
k_param_battery_monitoring,
k_param_volt_div_ratio,
k_param_curr_amp_per_volt,
k_param_input_voltage,
k_param_pack_capacity,
k_param_sonar_enabled,
k_param_ahrs, // AHRS group
k_param_barometer, // barometer ground calibration
k_param_airspeed, // AP_Airspeed parameters
//
// 150: Navigation parameters
//
k_param_crosstrack_gain = 150,
k_param_crosstrack_entry_angle,
k_param_roll_limit_cd,
k_param_pitch_limit_max_cd,
k_param_pitch_limit_min_cd,
k_param_airspeed_cruise_cm,
k_param_RTL_altitude_cm,
k_param_inverted_flight_ch,
k_param_min_gndspeed_cm,
//
// Camera and mount parameters
//
k_param_camera = 160,
k_param_camera_mount,
k_param_camera_mount2,
//
// 170: Radio settings
//
k_param_channel_roll = 170,
k_param_channel_pitch,
k_param_channel_throttle,
k_param_channel_rudder,
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_rc_11,
k_param_throttle_min,
k_param_throttle_max,
k_param_throttle_fs_enabled,
k_param_throttle_fs_value,
k_param_throttle_cruise,
k_param_short_fs_action,
k_param_long_fs_action,
k_param_gcs_heartbeat_fs_enabled,
k_param_throttle_slewrate,
//
// 200: Feed-forward gains
//
k_param_kff_pitch_compensation = 200,
k_param_kff_rudder_mix,
k_param_kff_pitch_to_throttle,
k_param_kff_throttle_to_pitch,
k_param_scaling_speed,
//
// 210: flight modes
//
k_param_flight_mode_channel = 210,
k_param_flight_mode1,
k_param_flight_mode2,
k_param_flight_mode3,
k_param_flight_mode4,
k_param_flight_mode5,
k_param_flight_mode6,
//
// 220: Waypoint data
//
k_param_waypoint_mode = 220,
k_param_command_total,
k_param_command_index,
k_param_waypoint_radius,
k_param_loiter_radius,
k_param_fence_action,
k_param_fence_total,
k_param_fence_channel,
k_param_fence_minalt,
k_param_fence_maxalt,
// other objects
k_param_sitl = 230,
k_param_obc,
//
// 240: PID Controllers
k_param_pidNavRoll = 240,
k_param_pidServoRoll,
k_param_pidServoPitch,
k_param_pidNavPitchAirspeed,
k_param_pidServoRudder,
k_param_pidTeThrottle,
k_param_pidNavPitchAltitude,
k_param_pidWheelSteer,
// 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;
// Feed-forward gains
//
AP_Float kff_pitch_compensation;
AP_Float kff_rudder_mix;
AP_Float kff_pitch_to_throttle;
AP_Float kff_throttle_to_pitch;
// speed used for speed scaling
AP_Float scaling_speed;
// Crosstrack navigation
//
AP_Float crosstrack_gain;
AP_Int16 crosstrack_entry_angle;
// Estimation
//
AP_Float altitude_mix;
// Waypoints
//
AP_Int8 waypoint_mode;
AP_Int8 command_total;
AP_Int8 command_index;
AP_Int16 waypoint_radius;
AP_Int16 loiter_radius;
#if GEOFENCE_ENABLED == ENABLED
AP_Int8 fence_action;
AP_Int8 fence_total;
AP_Int8 fence_channel;
AP_Int16 fence_minalt; // meters
AP_Int16 fence_maxalt; // meters
#endif
// Fly-by-wire
//
AP_Int16 flybywire_airspeed_min;
AP_Int16 flybywire_airspeed_max;
// Throttle
//
AP_Int8 throttle_min;
AP_Int8 throttle_max;
AP_Int8 throttle_slewrate;
AP_Int8 throttle_fs_enabled;
AP_Int16 throttle_fs_value;
AP_Int8 throttle_cruise;
// Failsafe
AP_Int8 short_fs_action;
AP_Int8 long_fs_action;
AP_Int8 gcs_heartbeat_fs_enabled;
// Flight modes
//
AP_Int8 flight_mode_channel;
AP_Int8 flight_mode1;
AP_Int8 flight_mode2;
AP_Int8 flight_mode3;
AP_Int8 flight_mode4;
AP_Int8 flight_mode5;
AP_Int8 flight_mode6;
// Navigational maneuvering limits
//
AP_Int16 roll_limit_cd;
AP_Int16 pitch_limit_max_cd;
AP_Int16 pitch_limit_min_cd;
// Misc
//
AP_Int8 auto_trim;
AP_Int8 mix_mode;
AP_Int8 reverse_elevons;
AP_Int8 reverse_ch1_elevon;
AP_Int8 reverse_ch2_elevon;
AP_Int16 num_resets;
AP_Int16 log_bitmask;
AP_Int8 reset_switch_chan;
AP_Int8 reset_mission_chan;
AP_Int8 manual_level;
AP_Int32 airspeed_cruise_cm;
AP_Int32 RTL_altitude_cm;
AP_Int16 land_pitch_cd;
AP_Float land_flare_alt;
AP_Float land_flare_sec;
AP_Int32 min_gndspeed_cm;
AP_Int16 pitch_trim_cd;
AP_Int16 FBWB_min_altitude_cm;
AP_Int8 compass_enabled;
AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
AP_Int8 flap_1_percent;
AP_Int8 flap_1_speed;
AP_Int8 flap_2_percent;
AP_Int8 flap_2_speed;
AP_Float volt_div_ratio;
AP_Float curr_amp_per_volt;
AP_Float input_voltage;
AP_Int32 pack_capacity; // Battery pack capacity less reserve
AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
AP_Int8 sonar_enabled;
AP_Int8 stick_mixing;
// Camera
#if CAMERA == ENABLED
AP_Camera camera;
#endif
// RC channels
RC_Channel channel_roll;
RC_Channel channel_pitch;
RC_Channel channel_throttle;
RC_Channel channel_rudder;
RC_Channel_aux rc_5;
RC_Channel_aux rc_6;
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
RC_Channel_aux rc_9;
RC_Channel_aux rc_10;
RC_Channel_aux rc_11;
#endif
// PID controllers
//
PID pidNavRoll;
PID pidServoRoll;
PID pidServoPitch;
PID pidNavPitchAirspeed;
PID pidServoRudder;
PID pidTeThrottle;
PID pidNavPitchAltitude;
PID pidWheelSteer;
Parameters() :
// variable default
//----------------------------------------
channel_roll (CH_1),
channel_pitch (CH_2),
channel_throttle (CH_3),
channel_rudder (CH_4),
rc_5 (CH_5),
rc_6 (CH_6),
rc_7 (CH_7),
rc_8 (CH_8),
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
rc_9 (CH_9),
rc_10 (CH_10),
rc_11 (CH_11),
#endif
// PID controller initial P initial I initial D initial imax
//-----------------------------------------------------------------------------------
pidNavRoll (NAV_ROLL_P, NAV_ROLL_I, NAV_ROLL_D, NAV_ROLL_INT_MAX_CENTIDEGREE),
pidServoRoll (SERVO_ROLL_P, SERVO_ROLL_I, SERVO_ROLL_D, SERVO_ROLL_INT_MAX_CENTIDEGREE),
pidServoPitch (SERVO_PITCH_P, SERVO_PITCH_I, SERVO_PITCH_D, SERVO_PITCH_INT_MAX_CENTIDEGREE),
pidNavPitchAirspeed (NAV_PITCH_ASP_P, NAV_PITCH_ASP_I, NAV_PITCH_ASP_D, NAV_PITCH_ASP_INT_MAX_CMSEC),
pidServoRudder (SERVO_YAW_P, SERVO_YAW_I, SERVO_YAW_D, SERVO_YAW_INT_MAX),
pidTeThrottle (THROTTLE_TE_P, THROTTLE_TE_I, THROTTLE_TE_D, THROTTLE_TE_INT_MAX),
pidNavPitchAltitude (NAV_PITCH_ALT_P, NAV_PITCH_ALT_I, NAV_PITCH_ALT_D, NAV_PITCH_ALT_INT_MAX_CM),
pidWheelSteer (0, 0, 0, 0)
{}
};
extern const AP_Param::Info var_info[];
#endif // PARAMETERS_H
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