mirror of https://github.com/ArduPilot/ardupilot
422 lines
13 KiB
C++
422 lines
13 KiB
C++
#pragma once
|
|
|
|
#define AP_PARAM_VEHICLE_NAME sub
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
|
|
#include <AP_Arming/AP_Arming.h>
|
|
|
|
// Global parameter class.
|
|
//
|
|
class Parameters {
|
|
public:
|
|
// The version of the layout as described by the parameter enum.
|
|
//
|
|
// When changing the parameter enum in an incompatible fashion, this
|
|
// value should be incremented by one.
|
|
//
|
|
// The increment will prevent old parameters from being used incorrectly
|
|
// by newer code.
|
|
//
|
|
static const uint16_t k_format_version = 1;
|
|
|
|
// Parameter identities.
|
|
//
|
|
// The enumeration defined here is used to ensure that every parameter
|
|
// or parameter group has a unique ID number. This number is used by
|
|
// AP_Param to store and locate parameters in EEPROM.
|
|
//
|
|
// Note that entries without a number are assigned the next number after
|
|
// the entry preceding them. When adding new entries, ensure that they
|
|
// don't overlap.
|
|
//
|
|
// Try to group related variables together, and assign them a set
|
|
// range in the enumeration. Place these groups in numerical order
|
|
// at the end of the enumeration.
|
|
//
|
|
// WARNING: Care should be taken when editing this enumeration as the
|
|
// AP_Param load/save code depends on the values here to identify
|
|
// variables saved in EEPROM.
|
|
//
|
|
//
|
|
enum {
|
|
// Layout version number, always key zero.
|
|
//
|
|
k_param_format_version = 0,
|
|
k_param_software_type, // unused
|
|
|
|
k_param_g2, // 2nd block of parameters
|
|
|
|
k_param_sitl, // Simulation
|
|
|
|
// Telemetry
|
|
k_param_gcs0 = 10,
|
|
k_param_gcs1,
|
|
k_param_gcs2,
|
|
k_param_gcs3,
|
|
k_param_sysid_this_mav,
|
|
k_param_sysid_my_gcs,
|
|
|
|
// Hardware/Software configuration
|
|
k_param_BoardConfig = 20, // Board configuration (Pixhawk/Linux/etc)
|
|
k_param_scheduler, // Scheduler (for debugging/perf_info)
|
|
k_param_logger, // AP_Logger Logging
|
|
k_param_serial_manager_old, // Serial ports, AP_SerialManager
|
|
k_param_notify, // Notify Library, AP_Notify
|
|
k_param_arming = 26, // Arming checks
|
|
k_param_can_mgr,
|
|
|
|
// Sensor objects
|
|
k_param_ins = 30, // AP_InertialSensor
|
|
k_param_compass, // Compass
|
|
k_param_barometer, // Barometer/Depth Sensor
|
|
k_param_battery, // AP_BattMonitor
|
|
k_param_leak_detector, // Leak Detector
|
|
k_param_rangefinder, // Rangefinder
|
|
k_param_gps, // GPS
|
|
k_param_optflow, // Optical Flow
|
|
|
|
|
|
// Navigation libraries
|
|
k_param_ahrs = 50, // AHRS
|
|
k_param_NavEKF, // Extended Kalman Filter Inertial Navigation // remove
|
|
k_param_NavEKF2, // EKF2
|
|
k_param_attitude_control, // Attitude Control
|
|
k_param_pos_control, // Position Control
|
|
k_param_wp_nav, // Waypoint navigation
|
|
k_param_mission, // Mission library
|
|
k_param_fence_old, // only used for conversion
|
|
k_param_terrain, // Terrain database
|
|
k_param_rally, // Disabled
|
|
k_param_circle_nav, // Disabled
|
|
k_param_avoid, // Relies on proximity and fence
|
|
k_param_NavEKF3,
|
|
k_param_loiter_nav,
|
|
|
|
|
|
// Other external hardware interfaces
|
|
k_param_motors = 65, // Motors
|
|
k_param_relay, // Relay
|
|
k_param_camera, // Camera
|
|
k_param_camera_mount, // Camera gimbal
|
|
|
|
|
|
// RC_Channel settings (deprecated)
|
|
k_param_rc_1_old = 75,
|
|
k_param_rc_2_old,
|
|
k_param_rc_3_old,
|
|
k_param_rc_4_old,
|
|
k_param_rc_5_old,
|
|
k_param_rc_6_old,
|
|
k_param_rc_7_old,
|
|
k_param_rc_8_old,
|
|
k_param_rc_9_old,
|
|
k_param_rc_10_old,
|
|
k_param_rc_11_old,
|
|
k_param_rc_12_old,
|
|
k_param_rc_13_old,
|
|
k_param_rc_14_old,
|
|
|
|
// Joystick gain parameters
|
|
k_param_gain_default,
|
|
k_param_maxGain,
|
|
k_param_minGain,
|
|
k_param_numGainSettings,
|
|
k_param_cam_tilt_step, // deprecated
|
|
k_param_lights_step, // deprecated
|
|
|
|
// Joystick button mapping parameters
|
|
k_param_jbtn_0 = 95,
|
|
k_param_jbtn_1,
|
|
k_param_jbtn_2,
|
|
k_param_jbtn_3,
|
|
k_param_jbtn_4,
|
|
k_param_jbtn_5,
|
|
k_param_jbtn_6,
|
|
k_param_jbtn_7,
|
|
k_param_jbtn_8,
|
|
k_param_jbtn_9,
|
|
k_param_jbtn_10,
|
|
k_param_jbtn_11,
|
|
k_param_jbtn_12,
|
|
k_param_jbtn_13,
|
|
k_param_jbtn_14,
|
|
k_param_jbtn_15,
|
|
|
|
// 16 more for MANUAL_CONTROL extensions
|
|
k_param_jbtn_16,
|
|
k_param_jbtn_17,
|
|
k_param_jbtn_18,
|
|
k_param_jbtn_19,
|
|
k_param_jbtn_20,
|
|
k_param_jbtn_21,
|
|
k_param_jbtn_22,
|
|
k_param_jbtn_23,
|
|
k_param_jbtn_24,
|
|
k_param_jbtn_25,
|
|
k_param_jbtn_26,
|
|
k_param_jbtn_27,
|
|
k_param_jbtn_28,
|
|
k_param_jbtn_29,
|
|
k_param_jbtn_30,
|
|
k_param_jbtn_31,
|
|
|
|
// PID Controllers
|
|
k_param_p_pos_xy = 126, // deprecated
|
|
k_param_p_alt_hold, // deprecated
|
|
k_param_pi_vel_xy, // deprecated
|
|
k_param_p_vel_z, // deprecated
|
|
k_param_pid_accel_z, // deprecated
|
|
|
|
|
|
// Failsafes
|
|
k_param_failsafe_gcs = 140,
|
|
k_param_failsafe_leak, // leak failsafe behavior
|
|
k_param_failsafe_pressure, // internal pressure failsafe behavior
|
|
k_param_failsafe_pressure_max, // maximum internal pressure in pascal before failsafe is triggered
|
|
k_param_failsafe_temperature, // internal temperature failsafe behavior
|
|
k_param_failsafe_temperature_max, // maximum internal temperature in degrees C before failsafe is triggered
|
|
k_param_failsafe_terrain, // terrain failsafe behavior
|
|
k_param_fs_ekf_thresh,
|
|
k_param_fs_ekf_action,
|
|
k_param_fs_crash_check,
|
|
k_param_failsafe_battery_enabled, // unused - moved to AP_BattMonitor
|
|
k_param_fs_batt_mah, // unused - moved to AP_BattMonitor
|
|
k_param_fs_batt_voltage, // unused - moved to AP_BattMonitor
|
|
k_param_failsafe_pilot_input,
|
|
k_param_failsafe_pilot_input_timeout,
|
|
|
|
|
|
// Misc Sub settings
|
|
k_param_log_bitmask = 165,
|
|
k_param_angle_max = 167,
|
|
k_param_rangefinder_gain, // deprecated
|
|
k_param_wp_yaw_behavior = 170,
|
|
k_param_xtrack_angle_limit, // Angle limit for crosstrack correction in Auto modes (degrees)
|
|
k_param_pilot_speed_up, // renamed from k_param_pilot_velocity_z_max
|
|
k_param_pilot_accel_z,
|
|
k_param_compass_enabled_deprecated,
|
|
k_param_surface_depth,
|
|
k_param_rc_speed, // Main output pwm frequency
|
|
k_param_gcs_pid_mask = 178,
|
|
k_param_throttle_filt,
|
|
k_param_throttle_deadzone, // Used in auto-throttle modes
|
|
k_param_terrain_follow = 182, // deprecated
|
|
k_param_rc_feel_rp,
|
|
k_param_throttle_gain,
|
|
k_param_cam_tilt_center, // deprecated
|
|
k_param_frame_configuration,
|
|
|
|
// Acro Mode parameters
|
|
k_param_acro_yaw_p = 220, // Used in all modes for get_pilot_desired_yaw_rate
|
|
k_param_acro_trainer,
|
|
k_param_acro_expo,
|
|
k_param_acro_rp_p,
|
|
k_param_acro_balance_roll,
|
|
k_param_acro_balance_pitch,
|
|
|
|
// RPM Sensor
|
|
k_param_rpm_sensor = 232, // Disabled
|
|
|
|
// RC_Mapper Library
|
|
k_param_rcmap, // Disabled
|
|
|
|
k_param_gcs4,
|
|
k_param_gcs5,
|
|
k_param_gcs6,
|
|
|
|
k_param_cam_slew_limit = 237, // deprecated
|
|
k_param_lights_steps,
|
|
k_param_pilot_speed_dn,
|
|
k_param_rangefinder_signal_min,
|
|
k_param_surftrak_depth,
|
|
|
|
k_param_vehicle = 257, // vehicle common block of parameters
|
|
};
|
|
|
|
AP_Int16 format_version;
|
|
|
|
// Telemetry control
|
|
//
|
|
AP_Int16 sysid_this_mav;
|
|
AP_Int16 sysid_my_gcs;
|
|
|
|
AP_Float throttle_filt;
|
|
|
|
#if AP_RANGEFINDER_ENABLED
|
|
AP_Int8 rangefinder_signal_min; // minimum signal quality for good rangefinder readings
|
|
AP_Float surftrak_depth; // surftrak will try to keep sub below this depth
|
|
#endif
|
|
|
|
AP_Int8 failsafe_leak; // leak detection failsafe behavior
|
|
AP_Int8 failsafe_gcs; // ground station failsafe behavior
|
|
AP_Int8 failsafe_pressure;
|
|
AP_Int8 failsafe_temperature;
|
|
AP_Int32 failsafe_pressure_max;
|
|
AP_Int8 failsafe_temperature_max;
|
|
AP_Int8 failsafe_terrain;
|
|
AP_Int8 failsafe_pilot_input; // pilot input failsafe behavior
|
|
AP_Float failsafe_pilot_input_timeout;
|
|
|
|
AP_Int8 xtrack_angle_limit;
|
|
|
|
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
|
|
AP_Int8 rc_feel_rp; // controls vehicle response to user input with 0 being extremely soft and 100 begin extremely crisp
|
|
|
|
// Waypoints
|
|
//
|
|
AP_Int16 pilot_speed_up; // maximum vertical ascending velocity the pilot may request
|
|
AP_Int16 pilot_speed_dn; // maximum vertical descending velocity the pilot may request
|
|
AP_Int16 pilot_accel_z; // vertical acceleration the pilot may request
|
|
|
|
// Throttle
|
|
//
|
|
AP_Int16 throttle_deadzone;
|
|
|
|
// Misc
|
|
//
|
|
AP_Int32 log_bitmask;
|
|
|
|
AP_Int8 fs_ekf_action;
|
|
AP_Int8 fs_crash_check;
|
|
AP_Float fs_ekf_thresh;
|
|
AP_Int16 gcs_pid_mask;
|
|
|
|
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
|
|
|
|
AP_Float gain_default;
|
|
AP_Float maxGain;
|
|
AP_Float minGain;
|
|
AP_Int8 numGainSettings;
|
|
AP_Float throttle_gain;
|
|
|
|
AP_Int16 lights_steps;
|
|
|
|
// Joystick button parameters
|
|
JSButton jbtn_0;
|
|
JSButton jbtn_1;
|
|
JSButton jbtn_2;
|
|
JSButton jbtn_3;
|
|
JSButton jbtn_4;
|
|
JSButton jbtn_5;
|
|
JSButton jbtn_6;
|
|
JSButton jbtn_7;
|
|
JSButton jbtn_8;
|
|
JSButton jbtn_9;
|
|
JSButton jbtn_10;
|
|
JSButton jbtn_11;
|
|
JSButton jbtn_12;
|
|
JSButton jbtn_13;
|
|
JSButton jbtn_14;
|
|
JSButton jbtn_15;
|
|
// 16 - 31 from manual_control extension
|
|
JSButton jbtn_16;
|
|
JSButton jbtn_17;
|
|
JSButton jbtn_18;
|
|
JSButton jbtn_19;
|
|
JSButton jbtn_20;
|
|
JSButton jbtn_21;
|
|
JSButton jbtn_22;
|
|
JSButton jbtn_23;
|
|
JSButton jbtn_24;
|
|
JSButton jbtn_25;
|
|
JSButton jbtn_26;
|
|
JSButton jbtn_27;
|
|
JSButton jbtn_28;
|
|
JSButton jbtn_29;
|
|
JSButton jbtn_30;
|
|
JSButton jbtn_31;
|
|
|
|
// Acro parameters
|
|
AP_Float acro_rp_p;
|
|
AP_Float acro_yaw_p;
|
|
AP_Float acro_balance_roll;
|
|
AP_Float acro_balance_pitch;
|
|
AP_Int8 acro_trainer;
|
|
AP_Float acro_expo;
|
|
|
|
AP_Float surface_depth;
|
|
AP_Int8 frame_configuration;
|
|
|
|
// Note: keep initializers here in the same order as they are declared
|
|
// above.
|
|
Parameters()
|
|
{
|
|
}
|
|
};
|
|
|
|
/*
|
|
2nd block of parameters, to avoid going past 256 top level keys
|
|
*/
|
|
class ParametersG2 {
|
|
public:
|
|
ParametersG2(void);
|
|
|
|
// var_info for holding Parameter information
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
#if HAL_PROXIMITY_ENABLED
|
|
// proximity (aka object avoidance) library
|
|
AP_Proximity proximity;
|
|
#endif
|
|
|
|
// RC input channels
|
|
RC_Channels_Sub rc_channels;
|
|
|
|
// control over servo output ranges
|
|
SRV_Channels servo_channels;
|
|
|
|
AP_Float backup_origin_lat;
|
|
AP_Float backup_origin_lon;
|
|
AP_Float backup_origin_alt;
|
|
};
|
|
|
|
extern const AP_Param::Info var_info[];
|
|
|
|
// Sub-specific default parameters
|
|
static const struct AP_Param::defaults_table_struct defaults_table[] = {
|
|
{ "BRD_SAFETY_DEFLT", 0 },
|
|
{ "ARMING_CHECK", AP_Arming::ARMING_CHECK_RC |
|
|
AP_Arming::ARMING_CHECK_VOLTAGE |
|
|
AP_Arming::ARMING_CHECK_BATTERY},
|
|
{ "CIRCLE_RATE", 2.0f},
|
|
{ "ATC_ACCEL_Y_MAX", 110000.0f},
|
|
{ "ATC_RATE_Y_MAX", 180.0f},
|
|
{ "RC3_TRIM", 1100},
|
|
{ "COMPASS_OFFS_MAX", 1000},
|
|
{ "INS_GYR_CAL", 0},
|
|
#if HAL_MOUNT_ENABLED
|
|
{ "MNT1_TYPE", 1},
|
|
{ "MNT1_DEFLT_MODE", MAV_MOUNT_MODE_RC_TARGETING},
|
|
{ "MNT1_RC_RATE", 30},
|
|
#endif
|
|
{ "RC7_OPTION", 214}, // MOUNT1_YAW
|
|
{ "RC8_OPTION", 213}, // MOUNT1_PITCH
|
|
{ "MOT_PWM_MIN", 1100},
|
|
{ "MOT_PWM_MAX", 1900},
|
|
{ "PSC_JERK_Z", 50.0f},
|
|
{ "WPNAV_SPEED", 100.0f},
|
|
{ "PILOT_SPEED_UP", 100.0f},
|
|
{ "PSC_VELXY_P", 6.0f},
|
|
{ "EK3_SRC1_VELZ", 0},
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
|
|
#if AP_BARO_PROBE_EXT_PARAMETER_ENABLED
|
|
{ "BARO_PROBE_EXT", 0},
|
|
#endif
|
|
{ "BATT_MONITOR", 4},
|
|
{ "BATT_CAPACITY", 0},
|
|
{ "LEAK1_PIN", 27},
|
|
{ "SCHED_LOOP_RATE", 200},
|
|
{ "SERVO13_FUNCTION", 59}, // k_rcin9, lights 1
|
|
{ "SERVO14_FUNCTION", 60}, // k_rcin10, lights 2
|
|
{ "SERVO16_FUNCTION", 7}, // k_mount_tilt
|
|
{ "SERVO16_REVERSED", 1},
|
|
#else
|
|
#if AP_BARO_PROBE_EXT_PARAMETER_ENABLED
|
|
{ "BARO_PROBE_EXT", 768},
|
|
#endif
|
|
{ "SERVO9_FUNCTION", 59}, // k_rcin9, lights 1
|
|
{ "SERVO10_FUNCTION", 7}, // k_mount_tilt
|
|
#endif
|
|
};
|