mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 17:08:28 -04:00
8f17f95cbc
updated motor setup test to be sequencial pulses of the motors in CW order. Fixed Mission scripting logic fixed Free yaw error in neutral throttle fixed D term issue with Baro hold - was too high incremented firmware revision, removed frame var removed setup show from startup removed unused EEPROM functions fixed broken demo mission fixed non working loiter with delay git-svn-id: https://arducopter.googlecode.com/svn/trunk@2275 f9c3cf11-9bcb-44bc-f272-b75c42450872
293 lines
11 KiB
C++
293 lines
11 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 = 7;
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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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// Misc
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//
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k_param_log_bitmask,
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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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//
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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_ground_temperature,
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k_param_ground_pressure,
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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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//
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// 160: Navigation parameters
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//
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k_param_crosstrack_gain = 160,
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k_param_crosstrack_entry_angle,
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k_param_pitch_max,
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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_flight_modes,
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k_param_esc_calibrate,
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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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//
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// 240: PID Controllers
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//
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// Heading-to-roll PID:
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// heading error from commnd to roll command deviation from trim
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// (bank to turn strategy)
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//
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k_param_pid_acro_rate_roll = 240,
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k_param_pid_acro_rate_pitch,
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k_param_pid_acro_rate_yaw,
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k_param_pid_stabilize_roll,
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k_param_pid_stabilize_pitch,
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k_param_pid_yaw,
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k_param_pid_nav_lat,
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k_param_pid_nav_lon,
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k_param_pid_nav_wp,
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k_param_pid_baro_throttle,
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k_param_pid_sonar_throttle,
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// special D term alternatives
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k_param_stabilize_dampener,
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k_param_hold_yaw_dampener,
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// 255: reserved
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};
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AP_Int16 format_version;
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// Crosstrack navigation
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//
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AP_Float crosstrack_gain;
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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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// 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_VarA<uint8_t,6> flight_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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AP_Int16 pitch_max;
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// Misc
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//
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AP_Int16 log_bitmask;
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AP_Int16 ground_temperature;
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AP_Int16 ground_pressure;
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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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// 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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// PID controllers
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PID pid_acro_rate_roll;
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PID pid_acro_rate_pitch;
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PID pid_acro_rate_yaw;
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PID pid_stabilize_roll;
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PID pid_stabilize_pitch;
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PID pid_yaw;
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PID pid_nav_lat;
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PID pid_nav_lon;
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PID pid_nav_wp;
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PID pid_baro_throttle;
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PID pid_sonar_throttle;
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AP_Float stabilize_dampener;
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AP_Float hold_yaw_dampener;
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uint8_t junk;
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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, NULL),
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crosstrack_gain (XTRACK_GAIN * 100, k_param_crosstrack_gain, PSTR("XTRK_GAIN")),
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crosstrack_entry_angle (XTRACK_ENTRY_ANGLE * 100, k_param_crosstrack_entry_angle, PSTR("XTRACK_ANGLE")),
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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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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_DEFAULT, k_param_loiter_radius, PSTR("LOITER_RADIUS")),
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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 (100, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")),
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flight_modes (k_param_flight_modes, PSTR("FLIGHT_MODES")),
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pitch_max (PITCH_MAX * 100, k_param_pitch_max, PSTR("PITCH_MAX")),
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log_bitmask (MASK_LOG_SET_DEFAULTS, k_param_log_bitmask, PSTR("LOG_BITMASK")),
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ground_temperature (0, k_param_ground_temperature, PSTR("GND_TEMP")),
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ground_pressure (0, k_param_ground_pressure, PSTR("GND_ABS_PRESS")),
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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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// 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, NULL),
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rc_camera_roll (k_param_rc_10, NULL),
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// PID controller group key name initial P initial I initial D initial imax
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//--------------------------------------------------------------------------------------------------------------------------------------------------------------------
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pid_acro_rate_roll (k_param_pid_acro_rate_roll, PSTR("ACR_RLL_"), ACRO_RATE_ROLL_P, ACRO_RATE_ROLL_I, ACRO_RATE_ROLL_D, ACRO_RATE_ROLL_IMAX * 100),
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pid_acro_rate_pitch (k_param_pid_acro_rate_pitch, PSTR("ACR_PIT_"), ACRO_RATE_PITCH_P, ACRO_RATE_PITCH_I, ACRO_RATE_PITCH_D, ACRO_RATE_PITCH_IMAX * 100),
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pid_acro_rate_yaw (k_param_pid_acro_rate_yaw, PSTR("ACR_YAW_"), ACRO_RATE_YAW_P, ACRO_RATE_YAW_I, ACRO_RATE_YAW_D, ACRO_RATE_YAW_IMAX * 100),
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pid_stabilize_roll (k_param_pid_stabilize_roll, PSTR("STB_RLL_"), STABILIZE_ROLL_P, STABILIZE_ROLL_I, 0, STABILIZE_ROLL_IMAX * 100),
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pid_stabilize_pitch (k_param_pid_stabilize_pitch, PSTR("STB_PIT_"), STABILIZE_PITCH_P, STABILIZE_PITCH_I, 0, STABILIZE_PITCH_IMAX * 100),
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pid_yaw (k_param_pid_yaw, PSTR("STB_YAW_"), YAW_P, YAW_I, 0, YAW_IMAX * 100),
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pid_nav_lat (k_param_pid_nav_lat, PSTR("NAV_LAT_"), NAV_LOITER_P, NAV_LOITER_I, NAV_LOITER_D, NAV_LOITER_IMAX * 100),
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pid_nav_lon (k_param_pid_nav_lon, PSTR("NAV_LON_"), NAV_LOITER_P, NAV_LOITER_I, NAV_LOITER_D, NAV_LOITER_IMAX * 100),
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pid_nav_wp (k_param_pid_nav_wp, PSTR("NAV_WP_"), NAV_WP_P, NAV_WP_I, NAV_WP_D, NAV_WP_IMAX * 100),
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pid_baro_throttle (k_param_pid_baro_throttle, PSTR("THR_BAR_"), THROTTLE_BARO_P, THROTTLE_BARO_I, THROTTLE_BARO_D, THROTTLE_BARO_IMAX),
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pid_sonar_throttle (k_param_pid_sonar_throttle, PSTR("THR_SON_"), THROTTLE_SONAR_P, THROTTLE_SONAR_I, THROTTLE_SONAR_D, THROTTLE_SONAR_IMAX),
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stabilize_dampener (STABILIZE_ROLL_D, k_param_stabilize_dampener, PSTR("STB_DAMP")),
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hold_yaw_dampener (YAW_D, k_param_hold_yaw_dampener, PSTR("YAW_DAMP")),
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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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