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ardupilot/ArduCopter/Parameters.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/*
ArduCopter parameter definitions
This firmware is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#define GSCALAR(v, name) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, class::var_info }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, class::var_info }
static const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(format_version, "SYSID_SW_MREV"),
GSCALAR(software_type, "SYSID_SW_TYPE"),
GSCALAR(sysid_this_mav, "SYSID_THISMAV"),
GSCALAR(sysid_my_gcs, "SYSID_MYGCS"),
// @Param: SERIAL3_BAUD
// @DisplayName: Telemetry Baud Rate
// @Description: The baud rate used on the telemetry port
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
// @User: Standard
GSCALAR(serial3_baud, "SERIAL3_BAUD"),
// @Param: ALT_HOLD_RTL
// @DisplayName: Alt Hold RTL
// @Description: This is the altitude the model will move to before Returning to Launch
// @Units: Meters
// @Range: 0 400
// @Increment: 1
// @User: Standard
GSCALAR(RTL_altitude, "ALT_HOLD_RTL"),
// @Param: SONAR_ENABLE
// @DisplayName: Enable Sonar
// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(sonar_enabled, "SONAR_ENABLE"),
GSCALAR(sonar_type, "SONAR_TYPE"),
GSCALAR(battery_monitoring, "BATT_MONITOR"),
// @Param: VOLT_DIVIDER
// @DisplayName: Voltage Divider
// @Description: TODO
GSCALAR(volt_div_ratio, "VOLT_DIVIDER"),
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT"),
GSCALAR(input_voltage, "INPUT_VOLTS"),
// @Param: BATT_CAPACITY
// @DisplayName: Battery Capacity
// @Description: Battery capacity in milliamp-hours (mAh)
// @Units: mAh
GSCALAR(pack_capacity, "BATT_CAPACITY"),
// @Param: MAG_ENABLE
// @DisplayName: Enable Compass
// @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(compass_enabled, "MAG_ENABLE"),
// @Param: FLOW_ENABLE
// @DisplayName: Enable Optical Flow
// @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(optflow_enabled, "FLOW_ENABLE"),
// @Param: LOW_VOLT
// @DisplayName: Low Voltage
// @Description: Set this to the voltage you want to represent low voltage
// @Range: 0 20
// @Increment: .1
// @User: Standard
GSCALAR(low_voltage, "LOW_VOLT"),
// @Param: SUPER_SIMPLE
// @DisplayName: Enable Super Simple Mode
// @Description: Setting this to Enabled(1) will enable Super Simple Mode. Setting this to Disabled(0) will disable Super Simple Mode
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(super_simple, "SUPER_SIMPLE"),
// @Param: RTL_LAND
// @DisplayName: RTL Land
// @Description: Setting this to Enabled(1) will enable landing after RTL. Setting this to Disabled(0) will disable landing after RTL.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
// @ DEPRICATED
GSCALAR(rtl_land_enabled, "RTL_LAND"),
// @Param: APPROACH_ALT
// @DisplayName: Alt Hold RTL
// @Description: This is the altitude the vehicle will move to before Returning to Launch
// @Units: Meters
// @Range: 1 10
// @Increment: .1
// @User: Standard
GSCALAR(rtl_approach_alt, "APPROACH_ALT"),
GSCALAR(tilt_comp, "TILT"),
GSCALAR(waypoint_mode, "WP_MODE"),
GSCALAR(command_total, "WP_TOTAL"),
GSCALAR(command_index, "WP_INDEX"),
GSCALAR(command_nav_index, "WP_MUST_INDEX"),
// @Param: WP_RADIUS
// @DisplayName: Waypoint Radius
// @Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit.
// @Units: Meters
// @Range: 1 127
// @Increment: 1
// @User: Standard
GSCALAR(waypoint_radius, "WP_RADIUS"),
// @Param: WP_LOITER_RAD
// @DisplayName: Waypoint Loiter Radius
// @Description: Defines the distance from the waypoint center, the vehicle will maintain during a loiter
// @Units: Meters
// @Range: 1 127
// @Increment: 1
// @User: Standard
GSCALAR(loiter_radius, "WP_LOITER_RAD"),
GSCALAR(waypoint_speed_max, "WP_SPEED_MAX"),
GSCALAR(crosstrack_gain, "XTRK_GAIN_SC"),
GSCALAR(auto_land_timeout, "AUTO_LAND"),
// @Param: THR_MIN
// @DisplayName: Minimum Throttle
// @Description: The minimum throttle which the autopilot will apply.
// @Units: Percent
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_min, "THR_MIN"),
// @Param: THR_MAX
// @DisplayName: Maximum Throttle
// @Description: The maximum throttle which the autopilot will apply.
// @Units: Percent
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_max, "THR_MAX"),
// @Param: THR_FAILSAFE
// @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,1:Enabled
// @User: Standard
GSCALAR(throttle_fs_enabled, "THR_FAILSAFE"),
GSCALAR(throttle_fs_action, "THR_FS_ACTION"),
// @Param: THR_FS_VALUE
// @DisplayName: Throttle Failsafe Value
// @Description: The PWM level on channel 3 below which throttle sailsafe triggers
// @User: Standard
GSCALAR(throttle_fs_value, "THR_FS_VALUE"),
GSCALAR(throttle_cruise, "TRIM_THROTTLE"),
GSCALAR(flight_mode1, "FLTMODE1"),
GSCALAR(flight_mode2, "FLTMODE2"),
GSCALAR(flight_mode3, "FLTMODE3"),
GSCALAR(flight_mode4, "FLTMODE4"),
GSCALAR(flight_mode5, "FLTMODE5"),
GSCALAR(flight_mode6, "FLTMODE6"),
GSCALAR(simple_modes, "SIMPLE"),
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: bitmap of log fields to enable
// @User: Advanced
GSCALAR(log_bitmask, "LOG_BITMASK"),
GSCALAR(log_last_filenumber, "LOG_LASTFILE"),
// THOR
// Added to allow change of Rate in the Mission planner
GSCALAR(toy_yaw_rate, "TOY_RATE"),
GSCALAR(esc_calibrate, "ESC"),
GSCALAR(radio_tuning, "TUNE"),
GSCALAR(radio_tuning_low, "TUNE_LOW"),
GSCALAR(radio_tuning_high, "TUNE_HIGH"),
GSCALAR(frame_orientation, "FRAME"),
GSCALAR(ch7_option, "CH7_OPT"),
GSCALAR(auto_slew_rate, "AUTO_SLEW"),
#if FRAME_CONFIG == HELI_FRAME
GGROUP(heli_servo_1, "HS1_", RC_Channel),
GGROUP(heli_servo_2, "HS2_", RC_Channel),
GGROUP(heli_servo_3, "HS3_", RC_Channel),
GGROUP(heli_servo_4, "HS4_", RC_Channel),
#endif
#if CAMERA == ENABLED
// @Group: CAM_
// @Path: ../libraries/AP_Camera/AP_Camera.cpp
GGROUP(camera, "CAM_", AP_Camera),
#endif
// RC channel
//-----------
// @Group: RC1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_1, "RC1_", RC_Channel),
// @Group: RC2_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_2, "RC2_", RC_Channel),
// @Group: RC3_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_3, "RC3_", RC_Channel),
// @Group: RC4_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_4, "RC4_", RC_Channel),
// @Group: RC5_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_5, "RC5_", RC_Channel),
// @Group: RC6_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_6, "RC6_", RC_Channel),
// @Group: RC7_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_7, "RC7_", RC_Channel),
// @Group: RC8_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_8, "RC8_", RC_Channel),
#if MOUNT == ENABLED
// @Group: CAM_R_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_camera_roll, "CAM_R_", RC_Channel_aux),
// @Group: CAM_P_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_camera_pitch, "CAM_P_", RC_Channel_aux),
// @Group: CAM_Y_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_camera_yaw, "CAM_Y_", RC_Channel_aux),
#endif
// @Param: RC_SPEED
// @DisplayName: ESC Update Speed
// @Description: This is the speed in Hertz that your ESCs will receive updates
// @Units: Hertz (Hz)
// @Values: 125,400,490
// @User: Advanced
GSCALAR(rc_speed, "RC_SPEED"),
// variable
//---------
GSCALAR(stabilize_d, "STAB_D"),
// @Param: STAB_D_S
// @DisplayName: Stabilize D Schedule
// @Description: This value is a percentage of scheduling applied to the Stabilize D term.
// @Range: 0 1
// @Increment: .01
// @User: Advanced
GSCALAR(stabilize_d_schedule, "STAB_D_S"),
GSCALAR(acro_p, "ACRO_P"),
GSCALAR(axis_lock_p, "AXIS_P"),
GSCALAR(axis_enabled, "AXIS_ENABLE"),
GSCALAR(copter_leds_mode, "LED_MODE"),
// PID controller
//---------------
GGROUP(pid_rate_roll, "RATE_RLL_", AC_PID),
GGROUP(pid_rate_pitch, "RATE_PIT_", AC_PID),
GGROUP(pid_rate_yaw, "RATE_YAW_", AC_PID),
GGROUP(pid_loiter_rate_lat, "LOITER_LAT_", AC_PID),
GGROUP(pid_loiter_rate_lon, "LOITER_LON_", AC_PID),
GGROUP(pid_nav_lat, "NAV_LAT_", AC_PID),
GGROUP(pid_nav_lon, "NAV_LON_", AC_PID),
GGROUP(pid_throttle, "THR_RATE_", AC_PID),
GGROUP(pid_optflow_roll, "OF_RLL_", AC_PID),
GGROUP(pid_optflow_pitch, "OF_PIT_", AC_PID),
// PI controller
//--------------
GGROUP(pi_stabilize_roll, "STB_RLL_", APM_PI),
GGROUP(pi_stabilize_pitch, "STB_PIT_", APM_PI),
GGROUP(pi_stabilize_yaw, "STB_YAW_", APM_PI),
GGROUP(pi_alt_hold, "THR_ALT_", APM_PI),
GGROUP(pi_loiter_lat, "HLD_LAT_", APM_PI),
GGROUP(pi_loiter_lon, "HLD_LON_", APM_PI),
// variables not in the g class which contain EEPROM saved variables
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
// @Group: INS_
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
GOBJECT(ins, "INS_", AP_InertialSensor_Oilpan),
GOBJECT(gcs0, "SR0_", GCS_MAVLINK),
GOBJECT(gcs3, "SR3_", GCS_MAVLINK),
// @Group: IMU_
// @Path: ../libraries/AP_IMU/IMU.cpp
GOBJECT(imu, "IMU_", IMU),
// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp
GOBJECT(ahrs, "AHRS_", AP_AHRS),
#if MOUNT == ENABLED
// @Group: MNT_
// @Path: ../libraries/AP_Mount/AP_Mount.cpp
GOBJECT(camera_mount, "MNT_", AP_Mount),
#endif
#ifdef DESKTOP_BUILD
GOBJECT(sitl, "SIM_", SITL),
#endif
//@Group: LIM_
//@Path: ../libraries/AP_Limits/AP_Limits.cpp,../libraries/AP_Limits/AP_Limit_GPSLock.cpp, ../libraries/AP_Limits/AP_Limit_Geofence.cpp, ../libraries/AP_Limits/AP_Limit_Altitude.cpp, ../libraries/AP_Limits/AP_Limit_Module.cpp
GOBJECT(limits, "LIM_", AP_Limits),
GOBJECT(gpslock_limit, "LIM_", AP_Limit_GPSLock),
GOBJECT(geofence_limit, "LIM_", AP_Limit_Geofence),
GOBJECT(altitude_limit, "LIM_", AP_Limit_Altitude),
#if FRAME_CONFIG == HELI_FRAME
// @Group: H_
// @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp
GOBJECT(motors, "H_", AP_MotorsHeli),
#else
GOBJECT(motors, "MOT_", AP_Motors),
#endif
};
static void load_parameters(void)
{
// setup the AP_Var subsystem for storage to EEPROM
if (!AP_Param::setup(var_info, sizeof(var_info)/sizeof(var_info[0]), WP_START_BYTE)) {
// this can only happen on startup, and its a definate coding
// error. Best not to continue so the programmer catches it
while (1) {
Serial.println_P(PSTR("ERROR: Failed to setup AP_Param"));
delay(1000);
}
}
// change the default for the AHRS_GPS_GAIN for ArduCopter
ahrs.gps_gain.set(0.0);
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
default_dead_zones();
Serial.println_P(PSTR("done."));
} else {
unsigned long before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before);
}
}
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