mirror of https://github.com/ArduPilot/ardupilot
448 lines
16 KiB
C++
448 lines
16 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 = 120;
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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
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// 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
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// trunk
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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_software_type,
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k_param_ins_old, // *** Deprecated, remove with next eeprom number change
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k_param_ins, // libraries/AP_InertialSensor variables
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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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// Misc
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//
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k_param_log_bitmask = 20,
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k_param_log_last_filenumber, // *** Deprecated - remove
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// with next eeprom number
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// change
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k_param_toy_yaw_rate, // THOR The memory
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// location for the
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// Yaw Rate 1 = fast,
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// 2 = med, 3 = slow
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k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change
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k_param_rssi_pin,
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k_param_throttle_accel_enabled,
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k_param_yaw_override_behaviour,
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k_param_acro_trainer_enabled,
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k_param_pilot_velocity_z_max, // 28
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// 65: AP_Limits Library
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k_param_limits = 65,
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k_param_gpslock_limit,
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k_param_geofence_limit,
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k_param_altitude_limit,
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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_pitch_ff,
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k_param_heli_roll_ff,
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k_param_heli_yaw_ff,
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//
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// 90: Motors
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//
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k_param_motors = 90,
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//
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// 100: Inertial Nav
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//
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k_param_inertial_nav = 100,
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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_gcs3,
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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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k_param_telem_delay,
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//
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// 140: Sensor parameters
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//
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k_param_imu = 140, // deprecated - can be deleted
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k_param_battery_monitoring = 141,
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k_param_volt_div_ratio,
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k_param_curr_amp_per_volt,
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k_param_input_voltage, // deprecated - can be deleted
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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_enabled,
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k_param_frame_orientation,
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k_param_optflow_enabled,
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k_param_low_voltage,
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k_param_ch7_option,
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k_param_auto_slew_rate,
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k_param_sonar_type,
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k_param_super_simple = 155,
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k_param_axis_enabled = 157,
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k_param_copter_leds_mode,
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k_param_ahrs, // AHRS group
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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_crosstrack_gain, // deprecated - remove with next eeprom number change
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k_param_rtl_loiter_time,
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k_param_rtl_alt_final,
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k_param_tilt_comp, //164 deprecated - remove with next eeprom number change
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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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k_param_camera_mount2,
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//
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// Batery monitoring parameters
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//
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k_param_battery_volt_pin = 168,
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k_param_battery_curr_pin, // 169
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//
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// 170: Radio settings
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//
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k_param_rc_1 = 170,
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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_10,
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k_param_rc_11,
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k_param_throttle_min,
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k_param_throttle_max,
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k_param_failsafe_throttle,
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k_param_throttle_fs_action, // remove
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k_param_failsafe_throttle_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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k_param_radio_tuning_high,
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k_param_radio_tuning_low,
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k_param_rc_speed = 192,
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k_param_failsafe_battery_enabled,
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k_param_throttle_mid,
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k_param_failsafe_gps_enabled, // 195
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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_simple_modes,
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//
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// 210: Waypoint data
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//
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k_param_waypoint_mode = 210, // remove
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k_param_command_total,
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k_param_command_index,
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k_param_command_nav_index, // remove
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k_param_waypoint_radius,
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k_param_circle_radius,
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k_param_waypoint_speed_max,
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k_param_land_speed,
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k_param_auto_velocity_z_min,
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k_param_auto_velocity_z_max, // 219
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//
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// 220: PI/D Controllers
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//
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k_param_acro_p = 221,
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k_param_axis_lock_p, // remove
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k_param_pid_rate_roll,
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k_param_pid_rate_pitch,
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k_param_pid_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_pid_loiter_rate_lat,
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k_param_pid_loiter_rate_lon,
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k_param_pid_nav_lat,
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k_param_pid_nav_lon,
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k_param_pi_alt_hold,
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k_param_pid_throttle,
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k_param_pid_optflow_roll,
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k_param_pid_optflow_pitch,
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k_param_acro_balance_roll, // scalar (not PID)
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k_param_acro_balance_pitch, // scalar (not PID)
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k_param_pid_throttle_accel, // 241
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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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AP_Int8 telem_delay;
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AP_Int16 rtl_altitude;
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AP_Int8 sonar_enabled;
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AP_Int8 sonar_type; // 0 = XL, 1 = LV,
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// 2 = XLL (XL with 10m range)
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// 3 = HRLV
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AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only,
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// 4=voltage and current
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AP_Float volt_div_ratio;
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AP_Float curr_amp_per_volt;
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AP_Int16 pack_capacity; // Battery pack capacity less reserve
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AP_Int8 failsafe_battery_enabled; // battery failsafe enabled
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AP_Int8 failsafe_gps_enabled; // gps failsafe enabled
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AP_Int8 compass_enabled;
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AP_Int8 optflow_enabled;
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AP_Float low_voltage;
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AP_Int8 super_simple;
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AP_Int16 rtl_alt_final;
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AP_Int8 axis_enabled;
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AP_Int8 copter_leds_mode; // Operating mode of LED
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// lighting system
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AP_Int8 battery_volt_pin;
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AP_Int8 battery_curr_pin;
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AP_Int8 rssi_pin;
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AP_Int8 throttle_accel_enabled; // enable/disable accel based throttle controller
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AP_Int8 yaw_override_behaviour; // controls when autopilot takes back normal control of yaw after pilot overrides
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// Waypoints
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//
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AP_Int8 command_total;
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AP_Int8 command_index;
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AP_Int16 waypoint_radius;
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AP_Int16 circle_radius;
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AP_Int16 waypoint_speed_max;
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AP_Int32 rtl_loiter_time;
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AP_Int16 land_speed;
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AP_Int16 auto_velocity_z_min; // minimum vertical velocity (i.e. maximum descent) the autopilot may request
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AP_Int16 auto_velocity_z_max; // maximum vertical velocity the autopilot may request
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AP_Int16 pilot_velocity_z_max; // maximum vertical velocity the pilot may request
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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 failsafe_throttle;
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AP_Int16 failsafe_throttle_value;
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AP_Int16 throttle_cruise;
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AP_Int16 throttle_mid;
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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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// Misc
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//
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AP_Int16 log_bitmask;
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AP_Int8 toy_yaw_rate; // THOR The
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// Yaw Rate 1
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// = fast, 2 =
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// med, 3 =
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// slow
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AP_Int8 esc_calibrate;
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AP_Int8 radio_tuning;
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AP_Int16 radio_tuning_high;
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AP_Int16 radio_tuning_low;
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AP_Int8 frame_orientation;
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AP_Int8 ch7_option;
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AP_Int16 auto_slew_rate;
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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_Float heli_pitch_ff; // pitch rate feed-forward
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AP_Float heli_roll_ff; // roll rate feed-forward
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AP_Float heli_yaw_ff; // yaw rate feed-forward
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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_aux rc_5;
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RC_Channel_aux rc_6;
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RC_Channel_aux rc_7;
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RC_Channel_aux rc_8;
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#if MOUNT == ENABLED
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RC_Channel_aux rc_10;
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RC_Channel_aux rc_11;
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#endif
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AP_Int16 rc_speed; // speed of fast RC Channels in Hz
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// Acro parameters
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AP_Float acro_p;
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AP_Int16 acro_balance_roll;
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AP_Int16 acro_balance_pitch;
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AP_Int8 acro_trainer_enabled;
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// PI/D controllers
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AC_PID pid_rate_roll;
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AC_PID pid_rate_pitch;
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AC_PID pid_rate_yaw;
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AC_PID pid_loiter_rate_lat;
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AC_PID pid_loiter_rate_lon;
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AC_PID pid_nav_lat;
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AC_PID pid_nav_lon;
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AC_PID pid_throttle;
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AC_PID pid_throttle_accel;
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AC_PID pid_optflow_roll;
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AC_PID pid_optflow_pitch;
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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_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_alt_hold;
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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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#if FRAME_CONFIG == HELI_FRAME
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heli_servo_1 (CH_1),
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heli_servo_2 (CH_2),
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heli_servo_3 (CH_3),
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heli_servo_4 (CH_4),
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#endif
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rc_1 (CH_1),
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rc_2 (CH_2),
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rc_3 (CH_3),
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rc_4 (CH_4),
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rc_5 (CH_5),
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rc_6 (CH_6),
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rc_7 (CH_7),
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rc_8 (CH_8),
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#if MOUNT == ENABLED
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rc_10 (CH_10),
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rc_11 (CH_11),
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#endif
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// PID controller initial P initial I initial D
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// initial imax
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//-----------------------------------------------------------------------------------------------------
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pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100),
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pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100),
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pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100),
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pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100),
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pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100),
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pid_nav_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
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pid_nav_lon (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
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pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX),
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pid_throttle_accel (THROTTLE_ACCEL_P, THROTTLE_ACCEL_I, THROTTLE_ACCEL_D, THROTTLE_ACCEL_IMAX),
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pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100),
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pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100),
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// PI controller initial P initial I initial
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// imax
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//----------------------------------------------------------------------
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pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX * 100),
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pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX * 100),
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pi_stabilize_roll (STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100),
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pi_stabilize_pitch (STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100),
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pi_stabilize_yaw (STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100),
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pi_alt_hold (ALT_HOLD_P, ALT_HOLD_I, ALT_HOLD_IMAX)
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{
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}
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};
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extern const AP_Param::Info var_info[];
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#endif // PARAMETERS_H
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