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ardupilot/Rover/Parameters.h

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C++
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#pragma once
#include <AP_Common/AP_Common.h>
#include "RC_Channel.h"
#include <AC_Avoidance/AC_Avoid.h>
#include "AC_Sprayer/AC_Sprayer.h"
#include <AP_AIS/AP_AIS.h>
#include <AP_Beacon/AP_Beacon.h>
#include <AP_Follow/AP_Follow.h>
#include <AP_Proximity/AP_Proximity.h>
#include "AP_Rally.h"
#include <AP_SmartRTL/AP_SmartRTL.h>
#include <AP_Stats/AP_Stats.h>
#include "AP_Torqeedo/AP_Torqeedo.h"
#include <AP_WindVane/AP_WindVane.h>
#define AP_PARAM_VEHICLE_NAME rover
// 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 = 16;
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type, // unused
k_param_can_mgr,
// Misc
//
k_param_log_bitmask_old = 10, // unused
k_param_num_resets_old, // unused
k_param_reset_switch_chan,
k_param_initial_mode,
k_param_scheduler,
k_param_relay,
k_param_BoardConfig,
k_param_pivot_turn_angle_old, // unused
k_param_rc_13_old, // unused
k_param_rc_14_old, // unused
// IO pins
k_param_rssi_pin = 20, // unused, replaced by rssi_ library parameters
k_param_battery_volt_pin,
k_param_battery_curr_pin,
k_param_precland = 24,
// braking
k_param_braking_percent_old = 30, // unused
k_param_braking_speederr_old, // unused
// misc2
k_param_log_bitmask = 40,
k_param_gps,
k_param_serial0_baud, // deprecated, can be deleted
k_param_serial1_baud, // deprecated, can be deleted
k_param_serial2_baud, // deprecated, can be deleted
// 97: RSSI
k_param_rssi = 97,
k_param_rpm_sensor, // rpm sensor 98
// 100: Arming parameters
k_param_arming = 100,
// 110: Telemetry control
//
k_param_gcs0 = 110, // stream rates for SERIAL0
k_param_gcs1, // stream rates for SERIAL1
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial0_baud_old, // unused
k_param_serial1_baud_old, // unused
k_param_telem_delay,
k_param_skip_gyro_cal, // unused
k_param_gcs2, // stream rates for SERIAL2
k_param_serial2_baud_old, // unused
k_param_serial2_protocol, // deprecated, can be deleted
k_param_serial_manager_old, // serial manager library
k_param_cli_enabled_old, // unused
k_param_gcs3,
k_param_gcs_pid_mask,
k_param_gcs4,
k_param_gcs5,
k_param_gcs6,
//
// 130: Sensor parameters
//
k_param_compass_enabled_deprecated = 130,
k_param_steering_learn, // unused
k_param_NavEKF, // deprecated - remove
k_param_mission, // mission library
k_param_NavEKF2_old, // deprecated - remove
k_param_NavEKF2,
k_param_g2, // 2nd block of parameters
k_param_NavEKF3,
// 140: battery controls
k_param_battery_monitoring = 140, // deprecated, can be deleted
k_param_volt_div_ratio, // deprecated, can be deleted
k_param_curr_amp_per_volt, // deprecated, can be deleted
k_param_input_voltage, // deprecated, can be deleted
k_param_pack_capacity, // deprecated, can be deleted
k_param_battery,
//
// 150: Navigation parameters
//
k_param_crosstrack_gain = 150, // unused
k_param_crosstrack_entry_angle, // unused
k_param_speed_cruise,
k_param_speed_turn_gain, // unused
k_param_speed_turn_dist, // unused
k_param_ch7_option, // unused
k_param_auto_trigger_pin,
k_param_auto_kickstart,
k_param_turn_circle, // unused
k_param_turn_max_g_old, // unused
//
// 160: Radio settings
//
k_param_rc_1_old = 160, // unused
k_param_rc_2_old, // unused
k_param_rc_3_old, // unused
k_param_rc_4_old, // unused
k_param_rc_5_old, // unused
k_param_rc_6_old, // unused
k_param_rc_7_old, // unused
k_param_rc_8_old, // unused
// throttle control
k_param_throttle_min_old = 170, // unused
k_param_throttle_max_old, // unused
k_param_throttle_cruise,
k_param_throttle_slewrate_old, // unused
k_param_throttle_reduction, // unused
k_param_pilot_steer_type,
k_param_skid_steer_out_old, // unused
// failsafe control
k_param_fs_action = 180,
k_param_fs_timeout,
k_param_fs_throttle_enabled,
k_param_fs_throttle_value,
k_param_fs_gcs_enabled,
k_param_fs_crash_check,
k_param_fs_ekf_action,
k_param_fs_ekf_thresh, // 187
// obstacle control
k_param_sonar_enabled = 190, // deprecated, can be removed
k_param_sonar_old, // unused
k_param_rangefinder_trigger_cm, // unused
k_param_rangefinder_turn_angle, // unused
k_param_rangefinder_turn_time, // unused
k_param_sonar2_old, // unused
k_param_rangefinder_debounce, // unused
k_param_rangefinder, // rangefinder object
//
// 210: driving modes
//
k_param_mode_channel = 210,
k_param_mode1,
k_param_mode2,
k_param_mode3,
k_param_mode4,
k_param_mode5,
k_param_mode6,
k_param_aux_channel_old,
//
// 220: Waypoint data
//
k_param_command_total = 220, // unused
k_param_command_index, // unused
k_param_waypoint_radius_old, // unused
k_param_waypoint_overshoot_old, // unused
//
// camera control
//
k_param_camera,
k_param_camera_mount,
k_param_camera_mount2, // unused
//
// 230: PID Controllers
k_param_pidNavSteer = 230,
k_param_pidServoSteer, // unused
k_param_pidSpeedThrottle_old, // unused
// high RC channels
k_param_rc_9_old = 235, // unused
k_param_rc_10_old, // unused
k_param_rc_11_old, // unused
k_param_rc_12_old, // unusedS
// other objects
k_param_sitl = 240,
k_param_ahrs,
k_param_ins,
k_param_compass,
k_param_rcmap,
k_param_L1_controller, // unused
k_param_steerController_old, // unused
k_param_barometer,
k_param_notify,
k_param_button,
k_param_osd,
k_param_optflow,
k_param_logger = 253, // Logging Group
// 254,255: reserved
k_param_vehicle = 257, // vehicle common block of parameters
};
AP_Int16 format_version;
// Misc
//
AP_Int32 log_bitmask;
AP_Int8 reset_switch_chan;
AP_Int8 initial_mode;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int8 telem_delay;
// navigation parameters
//
AP_Float speed_cruise;
AP_Int8 ch7_option;
AP_Int8 auto_trigger_pin;
AP_Float auto_kickstart;
AP_Int16 gcs_pid_mask;
// Throttle
//
AP_Int8 throttle_cruise;
AP_Enum<PilotSteerType> pilot_steer_type;
// failsafe control
AP_Int8 fs_action;
AP_Float fs_timeout;
AP_Int8 fs_throttle_enabled;
AP_Int16 fs_throttle_value;
AP_Int8 fs_gcs_enabled;
AP_Int8 fs_crash_check;
AP_Int8 fs_ekf_action;
AP_Float fs_ekf_thresh;
// driving modes
//
AP_Int8 mode_channel;
AP_Int8 mode1;
AP_Int8 mode2;
AP_Int8 mode3;
AP_Int8 mode4;
AP_Int8 mode5;
AP_Int8 mode6;
Parameters() {}
};
/*
2nd block of parameters, to avoid going past 256 top level keys
*/
class ParametersG2 {
public:
ParametersG2(void);
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
// whether to enforce acceptance of packets only from sysid_my_gcs
AP_Int8 sysid_enforce;
// RC input channels
RC_Channels_Rover rc_channels;
// control over servo output ranges
SRV_Channels servo_channels;
#if AP_ROVER_ADVANCED_FAILSAFE_ENABLED
// advanced failsafe library
AP_AdvancedFailsafe_Rover afs;
#endif
#if AP_BEACON_ENABLED
AP_Beacon beacon;
#endif
// wheel encoders
AP_WheelEncoder wheel_encoder;
AP_WheelRateControl wheel_rate_control;
// Motor library
AP_MotorsUGV motors;
// steering and throttle controller
AR_AttitudeControl attitude_control;
// turn radius of vehicle (only used in steering mode)
AP_Float turn_radius;
// acro mode turn rate maximum
AP_Float acro_turn_rate;
// Safe RTL library
AP_SmartRTL smart_rtl;
// default speed for rtl
AP_Float rtl_speed;
// frame class for vehicle
AP_Int8 frame_class;
#if HAL_PROXIMITY_ENABLED
// proximity library
AP_Proximity proximity;
#endif
#if MODE_DOCK_ENABLED
// we need a pointer to the mode for the G2 table
class ModeDock *mode_dock_ptr;
#endif
#if AP_AVOIDANCE_ENABLED
// avoidance library
AC_Avoid avoid;
#endif
// pitch angle at 100% throttle
AP_Float bal_pitch_max;
// pitch/roll angle for crash check
AP_Int8 crash_angle;
#if AP_FOLLOW_ENABLED
// follow mode library
AP_Follow follow;
#endif
// frame type for vehicle (used for vectored motor vehicles and custom motor configs)
AP_Int8 frame_type;
// loiter type
AP_Int8 loit_type;
AP_Float loit_radius;
#if HAL_SPRAYER_ENABLED
// Sprayer
AC_Sprayer sprayer;
#endif
#if HAL_RALLY_ENABLED
// Rally point library
AP_Rally_Rover rally;
#endif
// Simple mode types
AP_Int8 simple_type;
// windvane
AP_WindVane windvane;
#if AP_MISSION_ENABLED
// mission behave
AP_Enum<ModeAuto::DoneBehaviour> mis_done_behave;
#endif
// balance both pitch trim
AP_Float bal_pitch_trim;
// stick mixing for auto modes
AP_Int8 stick_mixing;
// waypoint navigation
AR_WPNav_OA wp_nav;
// Sailboat functions
Sailboat sailboat;
#if AP_OAPATHPLANNER_ENABLED
// object avoidance path planning
AP_OAPathPlanner oa;
#endif
// maximum speed for vehicle
AP_Float speed_max;
// gain for speed of correction in loiter
AP_Float loiter_speed_gain;
// FS options
AP_Int32 fs_options;
#if HAL_TORQEEDO_ENABLED
// torqeedo motor driver
AP_Torqeedo torqeedo;
#endif
// position controller
AR_PosControl pos_control;
// guided options bitmask
AP_Int32 guided_options;
// manual mode options
AP_Int32 manual_options;
// manual mode steering expo
AP_Float manual_steering_expo;
// FS GCS timeout trigger time
AP_Float fs_gcs_timeout;
class ModeCircle mode_circle;
};
extern const AP_Param::Info var_info[];
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