mirror of https://github.com/ArduPilot/ardupilot
126 lines
4.7 KiB
Plaintext
126 lines
4.7 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* AntennaTracker parameter definitions
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*
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*/
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#define GSCALAR(v, name, def) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v, {def_value : def} }
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#define ASCALAR(v, name, def) { aparm.v.vtype, name, Parameters::k_param_ ## v, &aparm.v, {def_value : def} }
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#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, {group_info : class::var_info} }
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#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info : class::var_info} }
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const AP_Param::Info var_info[] PROGMEM = {
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GSCALAR(format_version, "FORMAT_VERSION", 0),
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GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type),
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// @Param: SYSID_THISMAV
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// @DisplayName: MAVLink system ID
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// @Description: The identifier of this device in the MAVLink protocol
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// @Range: 1 255
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// @User: Advanced
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GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
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// @Param: SYSID_MYGCS
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// @DisplayName: Ground station MAVLink system ID
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// @Description: The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.
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// @Range: 1 255
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// @User: Advanced
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GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
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// @Param: SERIAL0_BAUD
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// @DisplayName: USB Console Baud Rate
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// @Description: The baud rate used on the main uart
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// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
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// @User: Standard
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GSCALAR(serial0_baud, "SERIAL0_BAUD", SERIAL0_BAUD/1000),
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// @Param: SERIAL3_BAUD
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// @DisplayName: Telemetry Baud Rate
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// @Description: The baud rate used on the telemetry port
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// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
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// @User: Standard
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GSCALAR(serial3_baud, "SERIAL3_BAUD", SERIAL3_BAUD/1000),
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// @Param: MAG_ENABLE
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// @DisplayName: Enable Compass
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// @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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GSCALAR(compass_enabled, "MAG_ENABLE", 1),
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// barometer ground calibration. The GND_ prefix is chosen for
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// compatibility with previous releases of ArduPlane
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// @Group: GND_
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// @Path: ../libraries/AP_Baro/AP_Baro.cpp
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GOBJECT(barometer, "GND_", AP_Baro),
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// @Group: COMPASS_
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// @Path: ../libraries/AP_Compass/Compass.cpp
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GOBJECT(compass, "COMPASS_", Compass),
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// @Group: SCHED_
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// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
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GOBJECT(scheduler, "SCHED_", AP_Scheduler),
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// @Group: SR0_
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// @Path: GCS_Mavlink.pde
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GOBJECT(gcs0, "SR0_", GCS_MAVLINK),
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// @Group: SR3_
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// @Path: GCS_Mavlink.pde
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GOBJECT(gcs3, "SR3_", GCS_MAVLINK),
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// @Group: INS_
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// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
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GOBJECT(ins, "INS_", AP_InertialSensor),
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// @Group: AHRS_
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// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
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GOBJECT(ahrs, "AHRS_", AP_AHRS),
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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// @Group: SIM_
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// @Path: ../libraries/SITL/SITL.cpp
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GOBJECT(sitl, "SIM_", SITL),
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#endif
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// RC channel
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//-----------
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// @Group: RC1_
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// @Path: ../libraries/RC_Channel/RC_Channel.cpp
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GOBJECT(channel_yaw, "RC1_", RC_Channel),
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// @Group: RC2_
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// @Path: ../libraries/RC_Channel/RC_Channel.cpp
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GOBJECT(channel_pitch, "RC2_", RC_Channel),
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GGROUP(pidPitch2Srv, "PITCH2SRV_", PID),
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GGROUP(pidYaw2Srv, "YAW2SRV_", PID),
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AP_VAREND
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};
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static void load_parameters(void)
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{
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if (!g.format_version.load() ||
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g.format_version != Parameters::k_format_version) {
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// erase all parameters
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cliSerial->printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
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AP_Param::erase_all();
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// save the current format version
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g.format_version.set_and_save(Parameters::k_format_version);
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cliSerial->println_P(PSTR("done."));
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} else {
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uint32_t before = hal.scheduler->micros();
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// Load all auto-loaded EEPROM variables
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AP_Param::load_all();
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cliSerial->printf_P(PSTR("load_all took %luus\n"), hal.scheduler->micros() - before);
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}
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}
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