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497c95de8e
ardupilot/ArduPlane/Parameters.h
Michael Day 497c95de8e Plane: Add support for rally points. 
Added parameter RALLY_TOTAL.

Added handlers for new MAVLink messages RALLY_POINT and
RALLY_FETCH_POINT.

defines.h modified to make room in EEPROM to store rally points.

rally.pde added and is responsible for ensuring rally points get
stored in the correct spot in EEPROM.

Multiple Rally/RTL point support now done.  If rally points have
been defined, then when RTL mode is entered, the closest Rally
point is chosend and the plane loiters at that point.

Note only 10 rally points can be defined; this is to save space in
the APM's EEPROM.
2013-10-03 12:21:08 +10:00

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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, // unused
k_param_land_pitch_cd,
k_param_ins_old, // *** Deprecated, remove with next eeprom number change
k_param_stick_mixing,
k_param_reset_mission_chan,
k_param_land_flare_alt,
k_param_land_flare_sec,
k_param_crosstrack_min_distance, // unused
k_param_rudder_steer, // unused
k_param_throttle_nudge,
k_param_alt_offset,
k_param_ins, // libraries/AP_InertialSensor variables
k_param_takeoff_throttle_min_speed,
k_param_takeoff_throttle_min_accel,
k_param_takeoff_heading_hold, // unused
k_param_level_roll_limit,
k_param_hil_servos,
k_param_vtail_output,
k_param_nav_controller,
k_param_elevon_output,
k_param_att_controller,
k_param_mixing_gain,
k_param_scheduler,
k_param_relay,
k_param_takeoff_throttle_delay,
k_param_skip_gyro_cal,
k_param_auto_fbw_steer,
k_param_waypoint_max_radius,
// 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,
k_param_telem_delay,
k_param_serial0_baud,
// 120: Fly-by-wire control
//
k_param_airspeed_min = 120,
k_param_airspeed_max,
k_param_FBWB_min_altitude_cm, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)
k_param_flybywire_elev_reverse,
k_param_alt_control_algorithm,
k_param_flybywire_climb_rate,
k_param_acro_roll_rate,
k_param_acro_pitch_rate,
//
// 130: Sensor parameters
//
k_param_imu = 130, // unused
k_param_altitude_mix,
k_param_compass_enabled,
k_param_compass,
k_param_battery_monitoring, // unused
k_param_volt_div_ratio, // unused
k_param_curr_amp_per_volt, // unused
k_param_input_voltage, // deprecated, can be deleted
k_param_pack_capacity, // unused
k_param_sonar_enabled,
k_param_ahrs, // AHRS group
k_param_barometer, // barometer ground calibration
k_param_airspeed, // AP_Airspeed parameters
k_param_curr_amp_offset,
//
// 150: Navigation parameters
//
k_param_crosstrack_gain = 150, // unused
k_param_crosstrack_entry_angle, // unused
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,
k_param_crosstrack_use_wind, // unused
//
// Camera and mount parameters
//
k_param_camera = 160,
k_param_camera_mount,
k_param_camera_mount2,
//
// Battery monitoring parameters
//
k_param_battery = 166,
k_param_rssi_pin,
k_param_battery_volt_pin, // unused
k_param_battery_curr_pin, // unused - 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_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,
k_param_throttle_suppress_manual,
k_param_throttle_passthru_stabilize,
k_param_rc_12,
k_param_fs_batt_voltage,
k_param_fs_batt_mah,
k_param_short_fs_timeout,
k_param_long_fs_timeout,
//
// 200: Feed-forward gains
//
k_param_kff_pitch_compensation = 200, // unused
k_param_kff_rudder_mix,
k_param_kff_pitch_to_throttle, // unused
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,
k_param_rollController,
k_param_pitchController,
k_param_yawController,
k_param_L1_controller,
k_param_rcmap,
k_param_TECS_controller,
k_param_rally_total,
//
// 240: PID Controllers
k_param_pidNavRoll = 240, // unused
k_param_pidServoRoll, // unused
k_param_pidServoPitch, // unused
k_param_pidNavPitchAirspeed, // unused
k_param_pidServoRudder, // unused
k_param_pidTeThrottle, // unused
k_param_pidNavPitchAltitude, // unused
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 serial0_baud;
AP_Int8 serial3_baud;
AP_Int8 telem_delay;
// Feed-forward gains
//
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;
// navigation controller type. See AP_Navigation::ControllerType
AP_Int8 nav_controller;
// attitude controller type.
AP_Int8 att_controller;
// skip gyro calibration
AP_Int8 skip_gyro_cal;
AP_Int8 auto_fbw_steer;
// Estimation
//
AP_Float altitude_mix;
AP_Int8 alt_control_algorithm;
// Waypoints
//
AP_Int8 waypoint_mode;
AP_Int8 command_total;
AP_Int8 command_index;
AP_Int16 waypoint_radius;
AP_Int16 waypoint_max_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
AP_Int8 rally_total;
// Fly-by-wire
//
AP_Int8 flybywire_elev_reverse;
AP_Int8 flybywire_climb_rate;
// Throttle
//
AP_Int8 throttle_suppress_manual;
AP_Int8 throttle_passthru_stabilize;
AP_Int8 throttle_fs_enabled;
AP_Int16 throttle_fs_value;
AP_Int8 throttle_nudge;
// Failsafe
AP_Int8 short_fs_action;
AP_Int8 long_fs_action;
AP_Float short_fs_timeout;
AP_Float long_fs_timeout;
AP_Int8 gcs_heartbeat_fs_enabled;
AP_Float fs_batt_voltage;
AP_Float fs_batt_mah;
// 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 alt_offset;
AP_Int16 acro_roll_rate;
AP_Int16 acro_pitch_rate;
// Misc
//
AP_Int8 auto_trim;
AP_Int8 mix_mode;
AP_Int8 vtail_output;
AP_Int8 elevon_output;
AP_Float mixing_gain;
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_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;
#if HIL_MODE != HIL_MODE_DISABLED
AP_Int8 hil_servos;
#endif
AP_Int8 compass_enabled;
AP_Int8 flap_1_percent;
AP_Int8 flap_1_speed;
AP_Int8 flap_2_percent;
AP_Int8 flap_2_speed;
AP_Int8 rssi_pin;
AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
AP_Int8 stick_mixing;
AP_Float takeoff_throttle_min_speed;
AP_Float takeoff_throttle_min_accel;
AP_Int8 takeoff_throttle_delay;
AP_Int8 level_roll_limit;
// 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 CONFIG_HAL_BOARD == HAL_BOARD_PX4
RC_Channel_aux rc_9;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
RC_Channel_aux rc_10;
RC_Channel_aux rc_11;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
RC_Channel_aux rc_12;
#endif
// PID controllers
PID pidWheelSteer;
Parameters() :
// variable default
//----------------------------------------
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),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
rc_10 (CH_10),
rc_11 (CH_11),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
rc_12 (CH_12),
#endif
// PID controller initial P initial I initial D initial imax
//-----------------------------------------------------------------------------------
pidWheelSteer (0, 0, 0, 0)
{}
};
extern const AP_Param::Info var_info[];
#endif // PARAMETERS_H
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