mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 23:18:28 -04:00
7e81756ccd
Upped gains for default JDrones Frame added gains for second PI loop for alt removed some tests for 1280 space constraints
397 lines
14 KiB
C++
397 lines
14 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef PARAMETERS_H
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#define PARAMETERS_H
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#include <AP_Common.h>
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// Global parameter class.
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//
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class Parameters {
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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 = 110;
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// The parameter software_type is set up solely for ground station use
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// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
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// GCS will interpret values 0-9 as ArduPilotMega. Developers may use
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// values within that range to identify different branches.
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//
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static const uint16_t k_software_type = 10; // 0 for APM trunk
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//
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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_Var 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_Var 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_software_type,
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// Misc
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//
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k_param_log_bitmask,
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#if FRAME_CONFIG == HELI_FRAME
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//
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// 80: Heli
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//
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k_param_heli_servo_1 = 80,
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k_param_heli_servo_2,
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k_param_heli_servo_3,
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k_param_heli_servo_4,
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k_param_heli_servo1_pos ,
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k_param_heli_servo2_pos,
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k_param_heli_servo3_pos,
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k_param_heli_roll_max,
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k_param_heli_pitch_max,
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k_param_heli_collective_min,
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k_param_heli_collective_max,
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k_param_heli_collective_mid,
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k_param_heli_ext_gyro_enabled,
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k_param_heli_ext_gyro_gain,
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k_param_heli_servo_averaging, // 94
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#endif
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// 110: Telemetry control
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//
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k_param_streamrates_port0 = 110,
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k_param_streamrates_port3,
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k_param_sysid_this_mav,
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k_param_sysid_my_gcs,
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k_param_serial3_baud,
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//
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// 140: Sensor parameters
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//
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k_param_IMU_calibration = 140,
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k_param_battery_monitoring,
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k_param_pack_capacity,
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k_param_compass_enabled,
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k_param_compass,
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k_param_sonar,
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k_param_frame_orientation,
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k_param_top_bottom_ratio,
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k_param_optflow_enabled,
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k_param_input_voltage,
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k_param_low_voltage,
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//
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// 160: Navigation parameters
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//
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k_param_crosstrack_entry_angle = 160,
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k_param_RTL_altitude,
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//
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// 180: Radio settings
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//
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k_param_rc_1 = 180,
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k_param_rc_2,
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k_param_rc_3,
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k_param_rc_4,
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k_param_rc_5,
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k_param_rc_6,
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k_param_rc_7,
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k_param_rc_8,
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k_param_rc_9,
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k_param_rc_10,
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k_param_throttle_min,
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k_param_throttle_max,
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k_param_throttle_fs_enabled,
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k_param_throttle_fs_action,
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k_param_throttle_fs_value,
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k_param_throttle_cruise,
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k_param_esc_calibrate,
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k_param_radio_tuning,
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//
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// 210: flight modes
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//
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k_param_flight_mode1,
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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_simple_modes,
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//
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// 220: Waypoint data
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//
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k_param_waypoint_mode = 220,
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k_param_waypoint_total,
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k_param_waypoint_index,
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k_param_command_must_index,
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k_param_waypoint_radius,
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k_param_loiter_radius,
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k_param_waypoint_speed_max,
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//
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// 240: PI/D Controllers
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//
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k_param_pi_rate_roll = 240,
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k_param_pi_rate_pitch,
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k_param_pi_rate_yaw,
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k_param_pi_stabilize_roll,
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k_param_pi_stabilize_pitch,
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k_param_pi_stabilize_yaw,
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k_param_pi_loiter_lat,
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k_param_pi_loiter_lon,
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k_param_pi_nav_lat,
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k_param_pi_nav_lon,
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k_param_pi_alt_hold,
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k_param_pi_throttle,
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k_param_pi_crosstrack,
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// 254,255: reserved
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};
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AP_Int16 format_version;
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AP_Int8 software_type;
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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 serial3_baud;
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// Crosstrack navigation
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//
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AP_Int16 crosstrack_entry_angle;
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// Waypoints
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//
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AP_Int8 waypoint_mode;
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AP_Int8 waypoint_total;
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AP_Int8 waypoint_index;
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AP_Int8 command_must_index;
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AP_Int8 waypoint_radius;
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AP_Int8 loiter_radius;
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AP_Int16 waypoint_speed_max;
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// Throttle
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//
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AP_Int16 throttle_min;
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AP_Int16 throttle_max;
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AP_Int8 throttle_fs_enabled;
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AP_Int8 throttle_fs_action;
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AP_Int16 throttle_fs_value;
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AP_Int16 throttle_cruise;
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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 simple_modes;
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// Radio settings
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//
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//AP_Var_group pwm_roll;
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//AP_Var_group pwm_pitch;
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//AP_Var_group pwm_throttle;
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//AP_Var_group pwm_yaw;
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// Misc
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//
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AP_Int16 log_bitmask;
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AP_Int16 RTL_altitude;
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AP_Int8 sonar_enabled;
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AP_Int8 battery_monitoring; // 0=disabled, 1=3 cell lipo, 2=4 cell lipo, 3=total voltage only, 4=total voltage and current
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AP_Int16 pack_capacity; // Battery pack capacity less reserve
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AP_Int8 compass_enabled;
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AP_Int8 esc_calibrate;
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AP_Int8 radio_tuning;
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AP_Int8 frame_orientation;
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AP_Float top_bottom_ratio;
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AP_Int8 optflow_enabled;
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AP_Float input_voltage;
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AP_Float low_voltage;
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#if FRAME_CONFIG == HELI_FRAME
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// Heli
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RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail
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AP_Int16 heli_servo1_pos, heli_servo2_pos, heli_servo3_pos; // servo positions (3 because we don't need pos for tail servo)
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AP_Int16 heli_roll_max, heli_pitch_max; // maximum allowed roll and pitch of swashplate
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AP_Int16 heli_coll_min, heli_coll_max, heli_coll_mid; // min and max collective. mid = main blades at zero pitch
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AP_Int8 heli_ext_gyro_enabled; // 0 = no external tail gyro, 1 = external tail gyro
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AP_Int16 heli_ext_gyro_gain; // radio output 1000~2000 (value output on CH_7)
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AP_Int8 heli_servo_averaging; // 0 or 1 = no averaging (250hz) for **digital servos**, 2=average of two samples (125hz), 3=three samples (83.3hz) **analog servos**, 4=four samples (62.5hz), 5=5 samples(50hz)
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#endif
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// RC channels
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RC_Channel rc_1;
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RC_Channel rc_2;
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RC_Channel rc_3;
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RC_Channel rc_4;
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RC_Channel rc_5;
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RC_Channel rc_6;
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RC_Channel rc_7;
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RC_Channel rc_8;
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RC_Channel rc_camera_pitch;
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RC_Channel rc_camera_roll;
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// PI/D controllers
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APM_PI pi_rate_roll;
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APM_PI pi_rate_pitch;
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APM_PI pi_rate_yaw;
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APM_PI pi_stabilize_roll;
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APM_PI pi_stabilize_pitch;
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APM_PI pi_stabilize_yaw;
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APM_PI pi_loiter_lat;
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APM_PI pi_loiter_lon;
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APM_PI pi_nav_lat;
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APM_PI pi_nav_lon;
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APM_PI pi_alt_hold;
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APM_PI pi_throttle;
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APM_PI pi_crosstrack;
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uint8_t junk;
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// Note: keep initializers here in the same order as they are declared above.
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Parameters() :
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// variable default key name
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//-------------------------------------------------------------------------------------------------------------------
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format_version (k_format_version, k_param_format_version, PSTR("SYSID_SW_MREV")),
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software_type (k_software_type, k_param_software_type, PSTR("SYSID_SW_TYPE")),
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sysid_this_mav (MAV_SYSTEM_ID, k_param_sysid_this_mav, PSTR("SYSID_THISMAV")),
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sysid_my_gcs (255, k_param_sysid_my_gcs, PSTR("SYSID_MYGCS")),
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serial3_baud (SERIAL3_BAUD/1000, k_param_serial3_baud, PSTR("SERIAL3_BAUD")),
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//crosstrack_gain (XTRACK_GAIN * 100, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SC")),
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crosstrack_entry_angle (XTRACK_ENTRY_ANGLE * 100, k_param_crosstrack_entry_angle, PSTR("XTRK_ANGLE_CD")),
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sonar_enabled (DISABLED, k_param_sonar, PSTR("SONAR_ENABLE")),
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battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")),
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pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")),
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compass_enabled (MAGNETOMETER, k_param_compass_enabled, PSTR("MAG_ENABLE")),
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optflow_enabled (OPTFLOW, k_param_optflow_enabled, PSTR("FLOW_ENABLE")),
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input_voltage (INPUT_VOLTAGE, k_param_input_voltage, PSTR("IN_VOLT")),
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low_voltage (LOW_VOLTAGE, k_param_low_voltage, PSTR("LOW_VOLT")),
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waypoint_mode (0, k_param_waypoint_mode, PSTR("WP_MODE")),
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waypoint_total (0, k_param_waypoint_total, PSTR("WP_TOTAL")),
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waypoint_index (0, k_param_waypoint_index, PSTR("WP_INDEX")),
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command_must_index (0, k_param_command_must_index, PSTR("WP_MUST_INDEX")),
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waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")),
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loiter_radius (LOITER_RADIUS * 100, k_param_loiter_radius, PSTR("WP_LOITER_RAD")),
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waypoint_speed_max (WAYPOINT_SPEED_MAX, k_param_waypoint_speed_max, PSTR("WP_SPEED_MAX")),
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throttle_min (0, k_param_throttle_min, PSTR("THR_MIN")),
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throttle_max (1000, k_param_throttle_max, PSTR("THR_MAX")),
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throttle_fs_enabled (THROTTLE_FAILSAFE, k_param_throttle_fs_enabled, PSTR("THR_FAILSAFE")),
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throttle_fs_action (THROTTLE_FAILSAFE_ACTION, k_param_throttle_fs_action, PSTR("THR_FS_ACTION")),
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throttle_fs_value (THROTTLE_FS_VALUE, k_param_throttle_fs_value, PSTR("THR_FS_VALUE")),
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throttle_cruise (THROTTLE_CRUISE, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")),
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flight_mode1 (FLIGHT_MODE_1, k_param_flight_mode1, PSTR("FLTMODE1")),
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flight_mode2 (FLIGHT_MODE_2, k_param_flight_mode2, PSTR("FLTMODE2")),
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flight_mode3 (FLIGHT_MODE_3, k_param_flight_mode3, PSTR("FLTMODE3")),
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flight_mode4 (FLIGHT_MODE_4, k_param_flight_mode4, PSTR("FLTMODE4")),
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flight_mode5 (FLIGHT_MODE_5, k_param_flight_mode5, PSTR("FLTMODE5")),
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flight_mode6 (FLIGHT_MODE_6, k_param_flight_mode6, PSTR("FLTMODE6")),
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simple_modes (0, k_param_simple_modes, PSTR("SIMPLE")),
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log_bitmask (DEFAULT_LOG_BITMASK, k_param_log_bitmask, PSTR("LOG_BITMASK")),
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RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")),
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esc_calibrate (0, k_param_esc_calibrate, PSTR("ESC")),
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radio_tuning (0, k_param_radio_tuning, PSTR("TUNE")),
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frame_orientation (FRAME_ORIENTATION, k_param_frame_orientation, PSTR("FRAME")),
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top_bottom_ratio (TOP_BOTTOM_RATIO, k_param_top_bottom_ratio, PSTR("TB_RATIO")),
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#if FRAME_CONFIG == HELI_FRAME
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heli_servo_1 (k_param_heli_servo_1, PSTR("HS1_")),
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heli_servo_2 (k_param_heli_servo_2, PSTR("HS2_")),
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heli_servo_3 (k_param_heli_servo_3, PSTR("HS3_")),
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heli_servo_4 (k_param_heli_servo_4, PSTR("HS4_")),
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heli_servo1_pos (-60, k_param_heli_servo1_pos, PSTR("SV1_POS_")),
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heli_servo2_pos (60, k_param_heli_servo2_pos, PSTR("SV2_POS_")),
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heli_servo3_pos (180, k_param_heli_servo3_pos, PSTR("SV3_POS_")),
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heli_roll_max (4500, k_param_heli_roll_max, PSTR("ROL_MAX_")),
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heli_pitch_max (4500, k_param_heli_pitch_max, PSTR("PIT_MAX_")),
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heli_coll_min (1000, k_param_heli_collective_min, PSTR("COL_MIN_")),
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heli_coll_max (2000, k_param_heli_collective_max, PSTR("COL_MAX_")),
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heli_coll_mid (1500, k_param_heli_collective_mid, PSTR("COL_MID_")),
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heli_ext_gyro_enabled (0, k_param_heli_ext_gyro_enabled, PSTR("GYR_ENABLE_")),
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heli_ext_gyro_gain (1000, k_param_heli_ext_gyro_gain, PSTR("GYR_GAIN_")),
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heli_servo_averaging (0, k_param_heli_servo_averaging, PSTR("SV_AVG")),
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#endif
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// RC channel group key name
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//----------------------------------------------------------------------
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rc_1 (k_param_rc_1, PSTR("RC1_")),
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rc_2 (k_param_rc_2, PSTR("RC2_")),
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rc_3 (k_param_rc_3, PSTR("RC3_")),
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rc_4 (k_param_rc_4, PSTR("RC4_")),
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rc_5 (k_param_rc_5, PSTR("RC5_")),
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rc_6 (k_param_rc_6, PSTR("RC6_")),
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rc_7 (k_param_rc_7, PSTR("RC7_")),
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rc_8 (k_param_rc_8, PSTR("RC8_")),
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rc_camera_pitch (k_param_rc_9, PSTR("RC_CP_")),
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rc_camera_roll (k_param_rc_10, PSTR("RC_CR_")),
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// PI controller group key name initial P initial I initial imax
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//--------------------------------------------------------------------------------------------------------------------------------------------------------------------
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pi_rate_roll (k_param_pi_rate_roll, PSTR("RATE_RLL_"), RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_IMAX * 100),
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pi_rate_pitch (k_param_pi_rate_pitch, PSTR("RATE_PIT_"), RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_IMAX * 100),
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pi_rate_yaw (k_param_pi_rate_yaw, PSTR("RATE_YAW_"), RATE_YAW_P, RATE_YAW_I, RATE_YAW_IMAX * 100),
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pi_stabilize_roll (k_param_pi_stabilize_roll, PSTR("STB_RLL_"), STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100),
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pi_stabilize_pitch (k_param_pi_stabilize_pitch, PSTR("STB_PIT_"), STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100),
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pi_stabilize_yaw (k_param_pi_stabilize_yaw, PSTR("STB_YAW_"), STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100),
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pi_loiter_lat (k_param_pi_loiter_lat, PSTR("HLD_LAT_"), LOITER_P, LOITER_I, LOITER_IMAX * 100),
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pi_loiter_lon (k_param_pi_loiter_lon, PSTR("HLD_LON_"), LOITER_P, LOITER_I, LOITER_IMAX * 100),
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pi_nav_lat (k_param_pi_nav_lat, PSTR("NAV_LAT_"), NAV_P, NAV_I, NAV_IMAX * 100),
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pi_nav_lon (k_param_pi_nav_lon, PSTR("NAV_LON_"), NAV_P, NAV_I, NAV_IMAX * 100),
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pi_alt_hold (k_param_pi_alt_hold, PSTR("THR_ALT_"), THR_HOLD_P, THR_HOLD_I, THR_HOLD_IMAX),
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pi_throttle (k_param_pi_throttle, PSTR("THR_RATE_"), THROTTLE_P, THROTTLE_I, THROTTLE_IMAX),
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pi_crosstrack (k_param_pi_crosstrack, PSTR("XTRACK_"), XTRACK_P, XTRACK_I, XTRACK_IMAX),
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junk(0) // XXX just so that we can add things without worrying about the trailing comma
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{
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}
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};
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#endif // PARAMETERS_H
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