mirror of https://github.com/ArduPilot/ardupilot
329 lines
8.0 KiB
C++
329 lines
8.0 KiB
C++
#pragma once
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#include <AP_Common/AP_Common.h>
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#include "RC_Channel.h"
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// Global parameter class.
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//
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class Parameters
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{
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public:
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// The version of the layout as described by the parameter enum.
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//
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// When changing the parameter enum in an incompatible fashion, this
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// value should be incremented by one.
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//
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// The increment will prevent old parameters from being used incorrectly
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// by newer code.
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//
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static const uint16_t k_format_version = 1;
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// Parameter identities.
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//
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// The enumeration defined here is used to ensure that every parameter
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// or parameter group has a unique ID number. This number is used by
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// AP_Param to store and locate parameters in EEPROM.
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//
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// Note that entries without a number are assigned the next number after
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// the entry preceding them. When adding new entries, ensure that they
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// don't overlap.
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//
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// Try to group related variables together, and assign them a set
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// range in the enumeration. Place these groups in numerical order
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// at the end of the enumeration.
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//
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// WARNING: Care should be taken when editing this enumeration as the
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// AP_Param load/save code depends on the values here to identify
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// variables saved in EEPROM.
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//
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//
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enum {
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// Layout version number, always key zero.
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//
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k_param_format_version = 0,
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k_param_ins, // libraries/AP_InertialSensor variables
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k_param_NavEKF2,
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k_param_g2, // 2nd block of parameters
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k_param_NavEKF3,
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k_param_can_mgr,
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k_param_osd,
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// simulation
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k_param_sitl = 10,
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// barometer object (needed for SITL)
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k_param_barometer,
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// scheduler object (for debugging)
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k_param_scheduler,
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// BoardConfig object
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k_param_BoardConfig,
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// GPS object
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k_param_gps,
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// Parachute object
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k_param_parachute,
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// Landing gear object
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k_param_landinggear,
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// Input Management object
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k_param_input_manager,
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// Misc
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k_param_gps_hdop_good,
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k_param_battery,
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k_param_poshold_brake_rate,
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k_param_poshold_brake_angle_max,
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k_param_pilot_accel_z,
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k_param_fs_ekf_thresh,
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k_param_terrain,
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k_param_throttle_deadzone,
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k_param_log_bitmask,
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k_param_throttle_filt,
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k_param_throttle_behavior,
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k_param_pilot_takeoff_alt,
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// AP_ADSB Library
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k_param_adsb,
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k_param_notify,
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//PID Controllers
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k_param_pid_vel_xy = 32,
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k_param_pid_vel_z,
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k_param_pid_vel_yaw,
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k_param_pid_pos_xy,
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k_param_pid_pos_z,
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k_param_pid_pos_yaw,
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//Position & Velocity controller params
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k_param_max_vel_xy = 50,
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k_param_max_vel_z,
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k_param_max_vel_yaw,
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k_param_max_pos_xy,
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k_param_max_pos_z,
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k_param_max_pos_yaw,
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k_param_simple_mode,
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k_param_dis_mask,
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//
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// 90: misc2
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//
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k_param_motors = 90,
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k_param_disarm_delay,
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k_param_fs_crash_check,
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k_param_throw_motor_start,
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k_param_rtl_alt_type,
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k_param_avoid,
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k_param_avoidance_adsb,
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// 97: RSSI
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k_param_rssi = 97,
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// 110: Telemetry control
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//
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k_param_gcs0 = 110,
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k_param_gcs1,
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k_param_sysid_this_mav,
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k_param_sysid_my_gcs,
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k_param_telem_delay,
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k_param_gcs2,
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k_param_serial_manager,
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k_param_gcs3,
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k_param_gcs_pid_mask, // 126
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k_param_gcs4,
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k_param_gcs5,
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k_param_gcs6,
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//
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// 135 : reserved for Solo until features merged with master
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//
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k_param_rtl_speed_cms = 135,
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k_param_fs_batt_curr_rtl,
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k_param_rtl_cone_slope, // 137
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//
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// 140: Sensor parameters
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//
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k_param_compass,
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k_param_frame_type,
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k_param_ahrs, // AHRS group // 159
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//
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// 160: Navigation parameters
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//
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k_param_rtl_altitude = 160,
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k_param_rtl_loiter_time,
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k_param_rtl_alt_final,
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//
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// Camera and mount parameters
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//
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k_param_camera = 165,
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k_param_camera_mount,
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//
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// 170: Radio settings
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//
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k_param_failsafe_throttle = 170,
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k_param_failsafe_throttle_value,
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k_param_radio_tuning,
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k_param_rc_speed = 192,
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k_param_failsafe_gcs,
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k_param_rcmap, // 199
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//
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// 200: flight modes
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//
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k_param_flight_mode1 = 200,
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k_param_flight_mode2,
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k_param_flight_mode3,
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k_param_flight_mode4,
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k_param_flight_mode5,
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k_param_flight_mode6,
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k_param_flight_mode_chan,
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k_param_initial_mode,
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//
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// 220: Misc
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//
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k_param_fs_ekf_action = 220,
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k_param_arming,
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k_param_logger = 253, // 253 - Logging Group
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k_param_vehicle = 257, // vehicle common block of parameters
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// the k_param_* space is 9-bits in size
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};
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AP_Int16 format_version;
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// Telemetry control
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//
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AP_Int16 sysid_this_mav;
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AP_Int16 sysid_my_gcs;
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AP_Int8 telem_delay;
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AP_Float throttle_filt;
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AP_Int16 throttle_behavior;
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AP_Float pilot_takeoff_alt;
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AP_Int8 failsafe_gcs; // ground station failsafe behavior
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AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position
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// Throttle
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//
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AP_Int8 failsafe_throttle;
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AP_Int16 failsafe_throttle_value;
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AP_Int16 throttle_deadzone;
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// Flight modes
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//
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AP_Int8 flight_mode1;
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AP_Int8 flight_mode2;
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AP_Int8 flight_mode3;
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AP_Int8 flight_mode4;
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AP_Int8 flight_mode5;
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AP_Int8 flight_mode6;
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AP_Int8 flight_mode_chan;
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AP_Int8 initial_mode;
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// Misc
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//
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AP_Int32 log_bitmask;
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AP_Int8 radio_tuning;
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AP_Int8 frame_type;
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AP_Int8 disarm_delay;
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AP_Int8 fs_ekf_action;
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AP_Int8 fs_crash_check;
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AP_Float fs_ekf_thresh;
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AP_Int16 gcs_pid_mask;
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AP_Float max_vel_xy;
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AP_Float max_vel_z;
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AP_Float max_vel_yaw;
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AP_Float max_pos_xy;
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AP_Float max_pos_z;
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AP_Float max_pos_yaw;
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AP_Int8 simple_mode;
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AP_Int16 dis_mask;
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AP_Int8 rtl_alt_type;
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AP_Int16 rc_speed; // speed of fast RC Channels in Hz
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// Note: keep initializers here in the same order as they are declared
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// above.
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Parameters()
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{
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}
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};
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/*
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2nd block of parameters, to avoid going past 256 top level keys
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*/
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class ParametersG2
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{
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public:
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ParametersG2(void);
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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// altitude at which nav control can start in takeoff
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AP_Float wp_navalt_min;
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#if STATS_ENABLED == ENABLED
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// vehicle statistics
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AP_Stats stats;
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#endif
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// whether to enforce acceptance of packets only from sysid_my_gcs
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AP_Int8 sysid_enforce;
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// developer options
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AP_Int32 dev_options;
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// acro exponent parameters
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AP_Float acro_y_expo;
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// frame class
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AP_Int8 frame_class;
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// RC input channels
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RC_Channels_Blimp rc_channels;
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// control over servo output ranges
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SRV_Channels servo_channels;
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// Additional pilot velocity items
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AP_Int16 pilot_speed_dn;
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// Land alt final stage
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AP_Int16 land_alt_low;
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#if ENABLE_SCRIPTING
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AP_Scripting scripting;
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#endif // ENABLE_SCRIPTING
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AP_Float tuning_min;
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AP_Float tuning_max;
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// vibration failsafe enable/disable
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AP_Int8 fs_vibe_enabled;
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// Failsafe options bitmask #36
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AP_Int32 fs_options;
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AP_Float fs_gcs_timeout;
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};
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extern const AP_Param::Info var_info[];
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