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ardupilot/ArduSub/Parameters.cpp

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#include "Sub.h"
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* ArduSub parameter definitions
*
*/
#define GSCALAR(v, name, def) { sub.g.v.vtype, name, Parameters::k_param_ ## v, &sub.g.v, {def_value : def} }
#define ASCALAR(v, name, def) { sub.aparm.v.vtype, name, Parameters::k_param_ ## v, (const void *)&sub.aparm.v, {def_value : def} }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &sub.g.v, {group_info : class::var_info} }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&sub.v, {group_info : class::var_info} }
#define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&sub.v, {group_info : class::var_info} }
const AP_Param::Info Sub::var_info[] = {
// @Param: SURFACE_DEPTH
// @DisplayName: Depth reading at surface
// @Description: The depth the external pressure sensor will read when the vehicle is considered at the surface (in centimeters)
// @Range: -100 0
// @User: Standard
GSCALAR(surface_depth, "SURFACE_DEPTH", SURFACE_DEPTH_DEFAULT),
// @Param: SYSID_SW_MREV
// @DisplayName: Eeprom format version number
// @Description: This value is incremented when changes are made to the eeprom format
// @User: Advanced
// @ReadOnly: True
GSCALAR(format_version, "SYSID_SW_MREV", 0),
// @Param: SYSID_SW_TYPE
// @DisplayName: Software Type
// @Description: This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)
// @Values: 0:ArduPlane,4:AntennaTracker,10:Copter,20:Rover,40:ArduSub
// @User: Advanced
// @ReadOnly: True
GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type),
// @Param: SYSID_THISMAV
// @DisplayName: MAVLink system ID of this vehicle
// @Description: Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
// @Range: 1 255
// @User: Advanced
GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
// @Param: SYSID_MYGCS
// @DisplayName: My ground station number
// @Description: Allows restricting radio overrides to only come from my ground station
// @Values: 255:Mission Planner and DroidPlanner, 252: AP Planner 2
// @User: Advanced
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
// @Param: PILOT_THR_FILT
// @DisplayName: Throttle filter cutoff
// @Description: Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
// @User: Advanced
// @Units: Hz
// @Range: 0 10
// @Increment: .5
GSCALAR(throttle_filt, "PILOT_THR_FILT", 0),
// @Group: SERIAL
// @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
GOBJECT(serial_manager, "SERIAL", AP_SerialManager),
// @Param: GCS_PID_MASK
// @DisplayName: GCS PID tuning mask
// @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
// @User: Advanced
// @Values: 0:None,1:Roll,2:Pitch,4:Yaw
// @Bitmask: 0:Roll,1:Pitch,2:Yaw
GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
// @Param: RNGFND_GAIN
// @DisplayName: Rangefinder gain
// @Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the sub
// @Range: 0.01 2.0
// @Increment: 0.01
// @User: Standard
GSCALAR(rangefinder_gain, "RNGFND_GAIN", RANGEFINDER_GAIN_DEFAULT),
// @Param: FS_BATT_ENABLE
// @DisplayName: Battery Failsafe Enable
// @Description: Controls whether failsafe will be invoked when battery voltage or current runs low
// @Values: 0:Disabled,1:Warn only,2:Disarm,3:Enter surface mode
// @User: Standard
GSCALAR(failsafe_battery_enabled, "FS_BATT_ENABLE", FS_BATT_DISABLED),
// @Param: FS_BATT_VOLTAGE
// @DisplayName: Failsafe battery voltage
// @Description: Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe.
// @Units: Volts
// @Increment: 0.1
// @User: Standard
GSCALAR(fs_batt_voltage, "FS_BATT_VOLTAGE", FS_BATT_VOLTAGE_DEFAULT),
// @Param: FS_BATT_MAH
// @DisplayName: Failsafe battery milliAmpHours
// @Description: Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe.
// @Units: mAh
// @Increment: 50
// @User: Standard
GSCALAR(fs_batt_mah, "FS_BATT_MAH", FS_BATT_MAH_DEFAULT),
// @Param: FS_GCS_ENABLE
// @DisplayName: Ground Station Failsafe Enable
// @Description: Controls what action to take when GCS heartbeat is lost.
// @Values: 0:Disabled,1:Warn only,2:Disarm,3:Enter depth hold mode,4:Enter surface mode
// @User: Standard
GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_DISARM),
// @Param: FS_LEAK_ENABLE
// @DisplayName: Leak Failsafe Enable
// @Description: Controls what action to take if a leak is detected.
// @Values: 0:Disabled,1:Warn only,2:Enter surface mode
// @User: Standard
GSCALAR(failsafe_leak, "FS_LEAK_ENABLE", FS_LEAK_WARN_ONLY),
// @Param: FS_PRESS_ENABLE
// @DisplayName: Internal Pressure Failsafe Enable
// @Description: Controls what action to take if internal pressure exceeds FS_PRESS_MAX parameter.
// @Values: 0:Disabled,1:Warn only
// @User: Standard
GSCALAR(failsafe_pressure, "FS_PRESS_ENABLE", FS_PRESS_DISABLED),
// @Param: FS_TEMP_ENABLE
// @DisplayName: Internal Temperature Failsafe Enable
// @Description: Controls what action to take if internal temperature exceeds FS_TEMP_MAX parameter.
// @Values: 0:Disabled,1:Warn only
// @User: Standard
GSCALAR(failsafe_temperature, "FS_TEMP_ENABLE", FS_TEMP_DISABLED),
// @Param: FS_PRESS_MAX
// @DisplayName: Internal Pressure Failsafe Threshold
// @Description: The maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS_PRESS_ENABLE parameter
// @Units: Pascal
// @User: Standard
GSCALAR(failsafe_pressure_max, "FS_PRESS_MAX", FS_PRESS_MAX_DEFAULT),
// @Param: FS_TEMP_MAX
// @DisplayName: Internal Temperature Failsafe Threshold
// @Description: The maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS_TEMP_ENABLE parameter.
// @Units: Degrees Centigrade
// @User: Standard
GSCALAR(failsafe_temperature_max, "FS_TEMP_MAX", FS_TEMP_MAX_DEFAULT),
// @Param: FS_TERRAIN_ENAB
// @DisplayName: Terrain Failsafe Enable
// @Description: Controls what action to take if terrain information is lost during AUTO mode
// @Values: 0:Disarm, 1:Hold Position, 2:Surface
// @User: Standard
GSCALAR(failsafe_terrain, "FS_TERRAIN_ENAB", FS_TERRAIN_DISARM),
// @Param: FS_PILOT_INPUT
// @DisplayName: Pilot input failsafe action
// @Description: Controls what action to take if no pilot input has been received after the timeout period specified by the FS_PILOT_TIMEOUT parameter
// @Values: 0:Disabled, 1:Warn Only, 2:Disarm
// @User: Standard
GSCALAR(failsafe_pilot_input, "FS_PILOT_INPUT", FS_PILOT_INPUT_DISARM),
// @Param: FS_PILOT_TIMEOUT
// @DisplayName: Timeout for activation of pilot input failsafe
// @Description: Controls the maximum interval between received pilot inputs before the failsafe action is triggered
// @Units: Seconds
// @Range 0.1 3.0
// @User: Standard
GSCALAR(failsafe_pilot_input_timeout, "FS_PILOT_TIMEOUT", 1.0f),
// @Param: XTRACK_ANG_LIM
// @DisplayName: Crosstrack correction angle limit
// @Description: Maximum allowed angle (in degrees) between current track and desired heading during waypoint navigation
// @Range: 10 90
// @User: Standard
GSCALAR(xtrack_angle_limit,"XTRACK_ANG_LIM", 45),
// @Param: MAG_ENABLE
// @DisplayName: Compass enable/disable
// @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", ENABLED),
// @Param: WP_YAW_BEHAVIOR
// @DisplayName: Yaw behaviour during missions
// @Description: Determines how the autopilot controls the yaw during missions and RTL
// @Values: 0:Never change yaw, 1:Face next waypoint, 2:Face next waypoint except RTL, 3:Face along GPS course
// @User: Standard
GSCALAR(wp_yaw_behavior, "WP_YAW_BEHAVIOR", WP_YAW_BEHAVIOR_DEFAULT),
// @Param: PILOT_VELZ_MAX
// @DisplayName: Pilot maximum vertical speed
// @Description: The maximum vertical velocity the pilot may request in cm/s
// @Units: Centimeters/Second
// @Range: 50 500
// @Increment: 10
// @User: Standard
GSCALAR(pilot_velocity_z_max, "PILOT_VELZ_MAX", PILOT_VELZ_MAX),
// @Param: PILOT_ACCEL_Z
// @DisplayName: Pilot vertical acceleration
// @Description: The vertical acceleration used when pilot is controlling the altitude
// @Units: cm/s/s
// @Range: 50 500
// @Increment: 10
// @User: Standard
GSCALAR(pilot_accel_z, "PILOT_ACCEL_Z", PILOT_ACCEL_Z_DEFAULT),
// @Param: THR_DZ
// @DisplayName: Throttle deadzone
// @Description: The deadzone above and below mid throttle. Used in AltHold, Loiter, PosHold flight modes
// @User: Standard
// @Range: 0 300
// @Units: pwm
// @Increment: 1
GSCALAR(throttle_deadzone, "THR_DZ", THR_DZ_DEFAULT),
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: 4 byte bitmap of log types to enable
// @Values: 830:Default,894:Default+RCIN,958:Default+IMU,1854:Default+Motors,-6146:NearlyAll-AC315,45054:NearlyAll,131071:All+FastATT,262142:All+MotBatt,393214:All+FastIMU,397310:All+FastIMU+PID,655358:All+FullIMU,0:Disabled
// @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW
// @User: Standard
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
// @Param: ANGLE_MAX
// @DisplayName: Angle Max
// @Description: Maximum lean angle in all flight modes
// @Units: Centi-degrees
// @Range: 1000 8000
// @User: Advanced
ASCALAR(angle_max, "ANGLE_MAX", DEFAULT_ANGLE_MAX),
// @Param: RC_FEEL_RP
// @DisplayName: RC Feel Roll/Pitch
// @Description: RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp
// @Range: 0 100
// @Increment: 10
// @User: Standard
// @Values: 0:Very Soft, 25:Soft, 50:Medium, 75:Crisp, 100:Very Crisp
GSCALAR(rc_feel_rp, "RC_FEEL_RP", RC_FEEL_RP_MEDIUM),
// @Param: FS_EKF_ACTION
// @DisplayName: EKF Failsafe Action
// @Description: Controls the action that will be taken when an EKF failsafe is invoked
// @Values: 1:Disabled
// @User: Advanced
GSCALAR(fs_ekf_action, "FS_EKF_ACTION", FS_EKF_ACTION_DEFAULT),
// @Param: FS_EKF_THRESH
// @DisplayName: EKF failsafe variance threshold
// @Description: Allows setting the maximum acceptable compass and velocity variance
// @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
// @User: Advanced
GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH", FS_EKF_THRESHOLD_DEFAULT),
// @Param: FS_CRASH_CHECK
// @DisplayName: Crash check enable
// @Description: This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
// @Values: 0:Disabled,1:Warn only,2:Disarm
// @User: Advanced
GSCALAR(fs_crash_check, "FS_CRASH_CHECK", FS_CRASH_DISABLED),
// @Param: JS_GAIN_DEFAULT
// @DisplayName: Default gain at boot
// @Description: Default gain at boot, must be in range [JS_GAIN_MIN , JS_GAIN_MAX]
// @User: Standard
// @Range: 0.1 1.0
GSCALAR(gain_default, "JS_GAIN_DEFAULT", 0.5),
// @Param: JS_GAIN_MAX
// @DisplayName: Maximum joystick gain
// @Description: Maximum joystick gain
// @User: Standard
// @Range: 0.2 1.0
GSCALAR(maxGain, "JS_GAIN_MAX", 1.0),
// @Param: JS_GAIN_MIN
// @DisplayName: Minimum joystick gain
// @Description: Minimum joystick gain
// @User: Standard
// @Range: 0.1 0.8
GSCALAR(minGain, "JS_GAIN_MIN", 0.25),
// @Param: JS_GAIN_STEPS
// @DisplayName: Gain steps
// @Description: Controls the number of steps between minimum and maximum joystick gain when the gain is adjusted using buttons. Set to 1 to always use JS_GAIN_DEFAULT.
// @User: Standard
// @Range: 1 10
GSCALAR(numGainSettings, "JS_GAIN_STEPS", 4),
// @Param: JS_CAM_TILT_STEP
// @DisplayName: Camera tilt step size
// @Description: Size of PWM increment on camera tilt servo
// @User: Standard
// @Range: 30 400
GSCALAR(cam_tilt_step, "JS_CAM_TILT_STEP", 50),
// @Param: JS_LIGHTS_STEP
// @DisplayName: Lights step size
// @Description: Size of PWM increment on lights servo
// @User: Standard
// @Range: 30 400
GSCALAR(lights_step, "JS_LIGHTS_STEP", 100),
// @Param: JS_THR_GAIN
// @DisplayName: Throttle gain scalar
// @Description: Scalar for gain on the throttle channel
// @User: Standard
// @Range: 0.5 4.0
GSCALAR(throttle_gain, "JS_THR_GAIN", 1.0f),
// @Param: CAM_CENTER
// @DisplayName: Camera tilt mount center
// @Description: Servo PWM at camera center position
// @User: Standard
// @Range: 1000 2000
GSCALAR(cam_tilt_center, "CAM_CENTER", 1500),
// @Param: FRAME_CONFIG
// @DisplayName: Frame configuration
// @Description: Set this parameter according to your vehicle/motor configuration
// @User: Standard
// @RebootRequired: True
// @Values: 0:BlueROV1, 1:Vectored, 2:Vectored_6DOF, 3:Vectored_6DOF_90, 4:SimpleROV-3, 5:SimpleROV-4, 6:SimpleROV-5, 7:Custom
GSCALAR(frame_configuration, "FRAME_CONFIG", AP_Motors6DOF::SUB_FRAME_VECTORED),
// @Group: BTN0_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_0, "BTN0_", JSButton),
// @Group: BTN1_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_1, "BTN1_", JSButton),
// @Group: BTN2_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_2, "BTN2_", JSButton),
// @Group: BTN3_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_3, "BTN3_", JSButton),
// @Group: BTN4_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_4, "BTN4_", JSButton),
// @Group: BTN5_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_5, "BTN5_", JSButton),
// @Group: BTN6_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_6, "BTN6_", JSButton),
// @Group: BTN7_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_7, "BTN7_", JSButton),
// @Group: BTN8_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_8, "BTN8_", JSButton),
// @Group: BTN9_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_9, "BTN9_", JSButton),
// @Group: BTN10_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_10, "BTN10_", JSButton),
// @Group: BTN11_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_11, "BTN11_", JSButton),
// @Group: BTN12_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_12, "BTN12_", JSButton),
// @Group: BTN13_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_13, "BTN13_", JSButton),
// @Group: BTN14_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_14, "BTN14_", JSButton),
// @Group: BTN15_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_15, "BTN15_", JSButton),
// @Param: RC_SPEED
// @DisplayName: ESC Update Speed
// @Description: This is the speed in Hertz that your ESCs will receive updates
// @Units: Hz
// @Range: 50 490
// @Increment: 1
// @User: Advanced
GSCALAR(rc_speed, "RC_SPEED", RC_SPEED_DEFAULT),
// @Param: ACRO_RP_P
// @DisplayName: Acro Roll and Pitch P gain
// @Description: Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode. Higher values mean faster rate of rotation.
// @Range: 1 10
// @User: Standard
GSCALAR(acro_rp_p, "ACRO_RP_P", ACRO_RP_P),
// @Param: ACRO_YAW_P
// @DisplayName: Acro Yaw P gain
// @Description: Converts pilot yaw input into a desired rate of rotation. Higher values mean faster rate of rotation.
// @Range: 1 10
// @User: Standard
GSCALAR(acro_yaw_p, "ACRO_YAW_P", ACRO_YAW_P),
// @Param: ACRO_BAL_ROLL
// @DisplayName: Acro Balance Roll
// @Description: rate at which roll angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.
// @Range: 0 3
// @Increment: 0.1
// @User: Advanced
GSCALAR(acro_balance_roll, "ACRO_BAL_ROLL", ACRO_BALANCE_ROLL),
// @Param: ACRO_BAL_PITCH
// @DisplayName: Acro Balance Pitch
// @Description: rate at which pitch angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.
// @Range: 0 3
// @Increment: 0.1
// @User: Advanced
GSCALAR(acro_balance_pitch, "ACRO_BAL_PITCH", ACRO_BALANCE_PITCH),
// @Param: ACRO_TRAINER
// @DisplayName: Acro Trainer
// @Description: Type of trainer used in acro mode
// @Values: 0:Disabled,1:Leveling,2:Leveling and Limited
// @User: Advanced
GSCALAR(acro_trainer, "ACRO_TRAINER", ACRO_TRAINER_LIMITED),
// @Param: ACRO_EXPO
// @DisplayName: Acro Expo
// @Description: Acro roll/pitch Expo to allow faster rotation when stick at edges
// @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
// @User: Advanced
GSCALAR(acro_expo, "ACRO_EXPO", ACRO_EXPO_DEFAULT),
// @Param: VEL_XY_P
// @DisplayName: Velocity (horizontal) P gain
// @Description: Velocity (horizontal) P gain. Converts the difference between desired velocity to a target acceleration
// @Range: 0.1 6.0
// @Increment: 0.1
// @User: Advanced
// @Param: VEL_XY_I
// @DisplayName: Velocity (horizontal) I gain
// @Description: Velocity (horizontal) I gain. Corrects long-term difference in desired velocity to a target acceleration
// @Range: 0.02 1.00
// @Increment: 0.01
// @User: Advanced
// @Param: VEL_XY_IMAX
// @DisplayName: Velocity (horizontal) integrator maximum
// @Description: Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: cm/s/s
// @User: Advanced
// @Param: VEL_XY_FILT_HZ
// @DisplayName: Velocity (horizontal) integrator maximum
// @Description: Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: cm/s/s
// @User: Advanced
GGROUP(pi_vel_xy, "VEL_XY_", AC_PI_2D),
// @Param: VEL_Z_P
// @DisplayName: Velocity (vertical) P gain
// @Description: Velocity (vertical) P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
// @Range: 1.000 8.000
// @User: Standard
GGROUP(p_vel_z, "VEL_Z_", AC_P),
// @Param: ACCEL_Z_P
// @DisplayName: Throttle acceleration controller P gain
// @Description: Throttle acceleration controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output
// @Range: 0.500 1.500
// @Increment: 0.05
// @User: Standard
// @Param: ACCEL_Z_I
// @DisplayName: Throttle acceleration controller I gain
// @Description: Throttle acceleration controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration
// @Range: 0.000 3.000
// @User: Standard
// @Param: ACCEL_Z_IMAX
// @DisplayName: Throttle acceleration controller I gain maximum
// @Description: Throttle acceleration controller I gain maximum. Constrains the maximum pwm that the I term will generate
// @Range: 0 1000
// @Units: Percent*10
// @User: Standard
// @Param: ACCEL_Z_D
// @DisplayName: Throttle acceleration controller D gain
// @Description: Throttle acceleration controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration
// @Range: 0.000 0.400
// @User: Standard
// @Param: ACCEL_Z_FILT
// @DisplayName: Throttle acceleration filter
// @Description: Filter applied to acceleration to reduce noise. Lower values reduce noise but add delay.
// @Range: 1.000 100.000
// @Units: Hz
// @User: Standard
GGROUP(pid_accel_z, "ACCEL_Z_", AC_PID),
// @Param: POS_Z_P
// @DisplayName: Position (vertical) controller P gain
// @Description: Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller
// @Range: 1.000 3.000
// @User: Standard
GGROUP(p_alt_hold, "POS_Z_", AC_P),
// @Param: POS_XY_P
// @DisplayName: Position (horizonal) controller P gain
// @Description: Loiter position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller
// @Range: 0.500 2.000
// @User: Standard
GGROUP(p_pos_xy, "POS_XY_", AC_P),
// variables not in the g class which contain EEPROM saved variables
#if CAMERA == ENABLED
// @Group: CAM_
// @Path: ../libraries/AP_Camera/AP_Camera.cpp
GOBJECT(camera, "CAM_", AP_Camera),
#endif
// @Group: RELAY_
// @Path: ../libraries/AP_Relay/AP_Relay.cpp
GOBJECT(relay, "RELAY_", AP_Relay),
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
// @Group: INS_
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
GOBJECT(ins, "INS_", AP_InertialSensor),
// @Group: WPNAV_
// @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
GOBJECT(wp_nav, "WPNAV_", AC_WPNav),
#if CIRCLE_NAV_ENABLED == ENABLED
// @Group: CIRCLE_
// @Path: ../libraries/AC_WPNav/AC_Circle.cpp
GOBJECT(circle_nav, "CIRCLE_", AC_Circle),
#endif
// @Group: ATC_
// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
GOBJECT(attitude_control, "ATC_", AC_AttitudeControl_Sub),
// @Group: PSC
// @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
GOBJECT(pos_control, "PSC", AC_PosControl),
// @Group: SR0_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs_chan[0], gcs0, "SR0_", GCS_MAVLINK),
// @Group: SR1_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs_chan[1], gcs1, "SR1_", GCS_MAVLINK),
// @Group: SR2_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs_chan[2], gcs2, "SR2_", GCS_MAVLINK),
// @Group: SR3_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs_chan[3], gcs3, "SR3_", GCS_MAVLINK),
// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.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
// @Group: LOG
// @Path: ../libraries/DataFlash/DataFlash.cpp
GOBJECT(DataFlash, "LOG", DataFlash_Class),
// @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
GOBJECT(battery, "BATT", AP_BattMonitor),
// @Group: ARMING_
// @Path: AP_Arming_Sub.cpp,../libraries/AP_Arming/AP_Arming.cpp
GOBJECT(arming, "ARMING_", AP_Arming_Sub),
// @Group: BRD_
// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
GOBJECT(BoardConfig, "BRD_", AP_BoardConfig),
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
GOBJECT(sitl, "SIM_", SITL::SITL),
#endif
// @Group: GND_
// @Path: ../libraries/AP_Baro/AP_Baro.cpp
GOBJECT(barometer, "GND_", AP_Baro),
// GPS driver
// @Group: GPS_
// @Path: ../libraries/AP_GPS/AP_GPS.cpp
GOBJECT(gps, "GPS_", AP_GPS),
// Leak detector
// @Group: LEAK
// @Path: ../libraries/AP_LeakDetector/AP_LeakDetector.cpp
GOBJECT(leak_detector, "LEAK", AP_LeakDetector),
// @Group: SCHED_
// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
GOBJECT(scheduler, "SCHED_", AP_Scheduler),
#if AC_FENCE == ENABLED
// @Group: FENCE_
// @Path: ../libraries/AC_Fence/AC_Fence.cpp
GOBJECT(fence, "FENCE_", AC_Fence),
#endif
#if AVOIDANCE_ENABLED == ENABLED
// @Group: AVOID_
// @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
GOBJECT(avoid, "AVOID_", AC_Avoid),
#endif
#if AC_RALLY == ENABLED
// @Group: RALLY_
// @Path: ../libraries/AP_Rally/AP_Rally.cpp
GOBJECT(rally, "RALLY_", AP_Rally),
#endif
// @Group: MOT_
// @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp,../libraries/AP_Motors/AP_MotorsMulticopter.cpp
GOBJECT(motors, "MOT_", AP_Motors6DOF),
#if RCMAP_ENABLED == ENABLED
// @Group: RCMAP_
// @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
GOBJECT(rcmap, "RCMAP_", RCMapper),
#endif
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(EKF3, NavEKF3, "EK3_", NavEKF3),
// @Group: MIS_
// @Path: ../libraries/AP_Mission/AP_Mission.cpp
GOBJECT(mission, "MIS_", AP_Mission),
#if RANGEFINDER_ENABLED == ENABLED
// @Group: RNGFND
// @Path: ../libraries/AP_RangeFinder/RangeFinder.cpp
GOBJECT(rangefinder, "RNGFND", RangeFinder),
#endif
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
// @Group: TERRAIN_
// @Path: ../libraries/AP_Terrain/AP_Terrain.cpp
GOBJECT(terrain, "TERRAIN_", AP_Terrain),
#endif
#if OPTFLOW == ENABLED
// @Group: FLOW
// @Path: ../libraries/AP_OpticalFlow/OpticalFlow.cpp
GOBJECT(optflow, "FLOW", OpticalFlow),
#endif
#if RPM_ENABLED == ENABLED
// @Group: RPM
// @Path: ../libraries/AP_RPM/AP_RPM.cpp
GOBJECT(rpm_sensor, "RPM", AP_RPM),
#endif
// @Group: NTF_
// @Path: ../libraries/AP_Notify/AP_Notify.cpp
GOBJECT(notify, "NTF_", AP_Notify),
// @Param: TERRAIN_FOLLOW
// @DisplayName: Terrain Following use control
// @Description: This enables terrain following for RTL and SURFACE flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must support sending terrain data to the aircraft. In RTL the RTL_ALT will be considered a height above the terrain. In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home). This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain.
// @Values: 0:Do Not Use in RTL and SURFACE,1:Use in RTL and SURFACE
// @User: Standard
GSCALAR(terrain_follow, "TERRAIN_FOLLOW", 0),
GSCALAR(cam_slew_limit, "CAM_SLEW_LIMIT", 30.0),
// @Group:
// @Path: Parameters.cpp
GOBJECT(g2, "", ParametersG2),
AP_VAREND
};
/*
2nd group of parameters
*/
const AP_Param::GroupInfo ParametersG2::var_info[] = {
#if PROXIMITY_ENABLED == ENABLED
// @Group: PRX
// @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
AP_SUBGROUPINFO(proximity, "PRX", 2, ParametersG2, AP_Proximity),
#endif
#if GRIPPER_ENABLED == ENABLED
// @Group: GRIP_
// @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
AP_SUBGROUPINFO(gripper, "GRIP_", 3, ParametersG2, AP_Gripper),
#endif
// @Group: SERVO
// @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
AP_SUBGROUPINFO(servo_channels, "SERVO", 16, ParametersG2, SRV_Channels),
// @Group: RC
// @Path: ../libraries/RC_Channel/RC_Channels.cpp
AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels),
AP_GROUPEND
};
/*
constructor for g2 object
*/
ParametersG2::ParametersG2(void)
#if PROXIMITY_ENABLED == ENABLED
: proximity(sub.serial_manager)
#endif
{
AP_Param::setup_object_defaults(this, var_info);
}
void Sub::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
hal.console->printf("Bad var table\n");
AP_HAL::panic("Bad var table");
}
// disable centrifugal force correction, it will be enabled as part of the arming process
ahrs.set_correct_centrifugal(false);
hal.util->set_soft_armed(false);
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
hal.console->printf("Firmware change: erasing EEPROM...\n");
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
hal.console->println("done.");
}
uint32_t before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_SUB);
convert_old_parameters();
AP_Param::set_default_by_name("BRD_SAFETYENABLE", 0);
AP_Param::set_default_by_name("GND_EXT_BUS", 1);
AP_Param::set_default_by_name("ARMING_CHECK",
AP_Arming::ARMING_CHECK_BARO |
AP_Arming::ARMING_CHECK_COMPASS |
AP_Arming::ARMING_CHECK_INS |
AP_Arming::ARMING_CHECK_RC |
AP_Arming::ARMING_CHECK_VOLTAGE |
AP_Arming::ARMING_CHECK_BATTERY |
AP_Arming::ARMING_CHECK_LOGGING);
AP_Param::set_default_by_name("CIRCLE_RATE", 2.0f);
AP_Param::set_default_by_name("ATC_ACCEL_Y_MAX", 110000.0f);
AP_Param::set_default_by_name("RC3_TRIM", 1100);
}
void Sub::convert_old_parameters(void)
{
const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old, Parameters::k_param_rc_2_old,
Parameters::k_param_rc_3_old, Parameters::k_param_rc_4_old,
Parameters::k_param_rc_5_old, Parameters::k_param_rc_6_old,
Parameters::k_param_rc_7_old, Parameters::k_param_rc_8_old,
Parameters::k_param_rc_9_old, Parameters::k_param_rc_10_old,
Parameters::k_param_rc_11_old, Parameters::k_param_rc_12_old,
Parameters::k_param_rc_13_old, Parameters::k_param_rc_14_old
};
const uint16_t old_aux_chan_mask = 0x3FF0;
// note that we don't pass in rcmap as we don't want output channel functions changed based on rcmap
SRV_Channels::upgrade_parameters(old_rc_keys, old_aux_chan_mask, nullptr);
}
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