ardupilot/libraries/AP_Mount/AP_Mount_Params.cpp

175 lines
6.0 KiB
C++

#include "AP_Mount_Params.h"
#include <GCS_MAVLink/GCS_MAVLink.h>
// table of user settable parameters
const AP_Param::GroupInfo AP_Mount_Params::var_info[] = {
// 0 should not be used
// @Param: _TYPE
// @DisplayName: Mount Type
// @Description: Mount Type
// @Values: 0:None, 1:Servo, 2:3DR Solo, 3:Alexmos Serial, 4:SToRM32 MAVLink, 5:SToRM32 Serial, 6:Gremsy, 7:BrushlessPWM, 8:Siyi, 9:Scripting, 10:Xacti, 11:Viewpro
// @RebootRequired: True
// @User: Standard
AP_GROUPINFO_FLAGS("_TYPE", 1, AP_Mount_Params, type, 0, AP_PARAM_FLAG_ENABLE),
// @Param: _DEFLT_MODE
// @DisplayName: Mount default operating mode
// @Description: Mount default operating mode on startup and after control is returned from autopilot
// @Values: 0:Retracted,1:Neutral,2:MavLink Targeting,3:RC Targeting,4:GPS Point,5:SysID Target,6:Home Location
// @User: Standard
AP_GROUPINFO("_DEFLT_MODE", 2, AP_Mount_Params, default_mode, MAV_MOUNT_MODE_RC_TARGETING),
// @Param: _RC_RATE
// @DisplayName: Mount RC Rate
// @Description: Pilot rate control's maximum rate. Set to zero to use angle control
// @Units: deg/s
// @Range: 0 90
// @Increment: 1
// @User: Standard
AP_GROUPINFO("_RC_RATE", 3, AP_Mount_Params, rc_rate_max, 0),
// @Param: _ROLL_MIN
// @DisplayName: Mount Roll angle minimum
// @Description: Mount Roll angle minimum
// @Units: deg
// @Range: -180 180
// @Increment: 1
// @User: Standard
AP_GROUPINFO("_ROLL_MIN", 4, AP_Mount_Params, roll_angle_min, -30),
// @Param: _ROLL_MAX
// @DisplayName: Mount Roll angle maximum
// @Description: Mount Roll angle maximum
// @Units: deg
// @Range: -180 180
// @Increment: 1
// @User: Standard
AP_GROUPINFO("_ROLL_MAX", 5, AP_Mount_Params, roll_angle_max, 30),
// @Param: _PITCH_MIN
// @DisplayName: Mount Pitch angle minimum
// @Description: Mount Pitch angle minimum
// @Units: deg
// @Range: -90 90
// @Increment: 1
// @User: Standard
AP_GROUPINFO("_PITCH_MIN", 6, AP_Mount_Params, pitch_angle_min, -90),
// @Param: _PITCH_MAX
// @DisplayName: Mount Pitch angle maximum
// @Description: Mount Pitch angle maximum
// @Units: deg
// @Range: -90 90
// @Increment: 1
// @User: Standard
AP_GROUPINFO("_PITCH_MAX", 7, AP_Mount_Params, pitch_angle_max, 20),
// @Param: _YAW_MIN
// @DisplayName: Mount Yaw angle minimum
// @Description: Mount Yaw angle minimum
// @Units: deg
// @Range: -180 180
// @Increment: 1
// @User: Standard
AP_GROUPINFO("_YAW_MIN", 8, AP_Mount_Params, yaw_angle_min, -180),
// @Param: _YAW_MAX
// @DisplayName: Mount Yaw angle maximum
// @Description: Mount Yaw angle maximum
// @Units: deg
// @Range: -180 180
// @Increment: 1
// @User: Standard
AP_GROUPINFO("_YAW_MAX", 9, AP_Mount_Params, yaw_angle_max, 180),
// @Param: _RETRACT_X
// @DisplayName: Mount roll angle when in retracted position
// @Description: Mount roll angle when in retracted position
// @Units: deg
// @Range: -180.0 180.0
// @Increment: 1
// @User: Standard
// @Param: _RETRACT_Y
// @DisplayName: Mount pitch angle when in retracted position
// @Description: Mount pitch angle when in retracted position
// @Units: deg
// @Range: -180.0 180.0
// @Increment: 1
// @User: Standard
// @Param: _RETRACT_Z
// @DisplayName: Mount yaw angle when in retracted position
// @Description: Mount yaw angle when in retracted position
// @Units: deg
// @Range: -180.0 180.0
// @Increment: 1
// @User: Standard
AP_GROUPINFO("_RETRACT", 10, AP_Mount_Params, retract_angles, 0),
// @Param: _NEUTRAL_X
// @DisplayName: Mount roll angle when in neutral position
// @Description: Mount roll angle when in neutral position
// @Units: deg
// @Range: -180.0 180.0
// @Increment: 1
// @User: Standard
// @Param: _NEUTRAL_Y
// @DisplayName: Mount pitch angle when in neutral position
// @Description: Mount pitch angle when in neutral position
// @Units: deg
// @Range: -180.0 180.0
// @Increment: 1
// @User: Standard
// @Param: _NEUTRAL_Z
// @DisplayName: Mount yaw angle when in neutral position
// @Description: Mount yaw angle when in neutral position
// @Units: deg
// @Range: -180.0 180.0
// @Increment: 1
// @User: Standard
AP_GROUPINFO("_NEUTRAL", 11, AP_Mount_Params, neutral_angles, 0),
// @Param: _LEAD_RLL
// @DisplayName: Mount Roll stabilization lead time
// @Description: Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot
// @Units: s
// @Range: 0.0 0.2
// @Increment: .005
// @User: Standard
AP_GROUPINFO("_LEAD_RLL", 12, AP_Mount_Params, roll_stb_lead, 0.0f),
// @Param: _LEAD_PTCH
// @DisplayName: Mount Pitch stabilization lead time
// @Description: Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot
// @Units: s
// @Range: 0.0 0.2
// @Increment: .005
// @User: Standard
AP_GROUPINFO("_LEAD_PTCH", 13, AP_Mount_Params, pitch_stb_lead, 0.0f),
// @Param: _SYSID_DFLT
// @DisplayName: Mount Target sysID
// @Description: Default Target sysID for the mount to point to
// @RebootRequired: True
// @User: Standard
AP_GROUPINFO("_SYSID_DFLT", 14, AP_Mount_Params, sysid_default, 0),
// @Param: _DEVID
// @DisplayName: Mount Device ID
// @Description: Mount device ID, taking into account its type, bus and instance
// @ReadOnly: True
// @User: Advanced
AP_GROUPINFO_FLAGS("_DEVID", 15, AP_Mount_Params, dev_id, 0, AP_PARAM_FLAG_INTERNAL_USE_ONLY),
AP_GROUPEND
};
AP_Mount_Params::AP_Mount_Params(void) {
AP_Param::setup_object_defaults(this, var_info);
}