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ardupilot/ArduCopter/Parameters.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/*
* ArduCopter parameter definitions
*
* This firmware is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*/
#define GSCALAR(v, name, def) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v, {def_value : def} }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, {group_info : class::var_info} }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info : class::var_info} }
const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(format_version, "SYSID_SW_MREV", 0),
GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type),
GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
// @Param: SERIAL3_BAUD
// @DisplayName: Telemetry Baud Rate
// @Description: The baud rate used on the telemetry port
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
// @User: Standard
GSCALAR(serial3_baud, "SERIAL3_BAUD", SERIAL3_BAUD/1000),
// @Param: TELEM_DELAY
// @DisplayName: Telemetry startup delay
// @Description: The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
// @User: Standard
// @Units: seconds
// @Range: 0 10
// @Increment: 1
GSCALAR(telem_delay, "TELEM_DELAY", 0),
// @Param: ALT_HOLD_RTL
// @DisplayName: RTL Altitude
// @Description: This is the altitude the model will move to before Returning to Launch. Set to zero to return at current altitude.
// @Units: centimeters
// @Range: 0 4000
// @Increment: 1
// @User: Standard
GSCALAR(RTL_altitude, "ALT_HOLD_RTL", RTL_HOLD_ALT),
// @Param: SONAR_ENABLE
// @DisplayName: Enable Sonar
// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(sonar_enabled, "SONAR_ENABLE", DISABLED),
GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL),
GSCALAR(battery_monitoring, "BATT_MONITOR", DISABLED),
// @Param: BATT_FAILSAFE
// @DisplayName: Battery Failsafe Enable
// @Description: Controls whether failsafe will be invoked when battery voltage or current runs low
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(battery_fs_enabled, "BATT_FAILSAFE", BATTERY_FAILSAFE),
// @Param: VOLT_DIVIDER
// @DisplayName: Voltage Divider
// @Description: TODO
GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO),
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT),
GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE),
// @Param: BATT_CAPACITY
// @DisplayName: Battery Capacity
// @Description: Battery capacity in milliamp-hours (mAh)
// @Units: mAh
GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE),
// @Param: MAG_ENABLE
// @DisplayName: Enable Compass
// @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER),
// @Param: FLOW_ENABLE
// @DisplayName: Enable Optical Flow
// @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(optflow_enabled, "FLOW_ENABLE", OPTFLOW),
// @Param: LOW_VOLT
// @DisplayName: Low Voltage
// @Description: Set this to the voltage you want to represent low voltage
// @Range: 0 20
// @Increment: .1
// @User: Standard
GSCALAR(low_voltage, "LOW_VOLT", LOW_VOLTAGE),
// @Param: SUPER_SIMPLE
// @DisplayName: Enable Super Simple Mode
// @Description: Setting this to Enabled(1) will enable Super Simple Mode. Setting this to Disabled(0) will disable Super Simple Mode
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(super_simple, "SUPER_SIMPLE", SUPER_SIMPLE),
// @Param: APPROACH_ALT
// @DisplayName: RTL Approach Altitude
// @Description: This is the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land.
// @Units: centimeters
// @Range: 0 1000
// @Increment: 1
// @User: Standard
GSCALAR(rtl_approach_alt, "APPROACH_ALT", RTL_APPROACH_ALT),
// @Param: TILT
// @DisplayName: Auto Tilt Compensation
// @Description: This is a feed-forward compensation which helps the aircraft achieve target waypoint speed.
// @Range: 0 100
// @Increment: 1
// @User: Advanced
GSCALAR(tilt_comp, "TILT", TILT_COMPENSATION),
// @Param: BATT_VOLT_PIN
// @DisplayName: Battery Voltage sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13.
// @Values: -1:Disabled, 0:A0, 1:A1, 13:A13
// @User: Standard
GSCALAR(battery_volt_pin, "BATT_VOLT_PIN", BATTERY_VOLT_PIN),
// @Param: BATT_CURR_PIN
// @DisplayName: Battery Current sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13.
// @Values: -1:Disabled, 1:A1, 2:A2, 13:A13
// @User: Standard
GSCALAR(battery_curr_pin, "BATT_CURR_PIN", BATTERY_CURR_PIN),
// @Param: RSSI_PIN
// @DisplayName: Receiver RSSI sensing pin
// @Description: This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum
// @Values: -1:Disabled, 0:A0, 1:A1, 2:A2, 13:A13
// @User: Standard
GSCALAR(rssi_pin, "RSSI_PIN", -1),
GSCALAR(waypoint_mode, "WP_MODE", 0),
GSCALAR(command_total, "WP_TOTAL", 0),
GSCALAR(command_index, "WP_INDEX", 0),
GSCALAR(command_nav_index, "WP_MUST_INDEX",0),
// @Param: WP_RADIUS
// @DisplayName: Waypoint Radius
// @Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit.
// @Units: Meters
// @Range: 1 127
// @Increment: 1
// @User: Standard
GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT),
// @Param: WP_LOITER_RAD
// @DisplayName: Waypoint Loiter Radius
// @Description: Defines the distance from the waypoint center, the vehicle will maintain during a loiter
// @Units: Meters
// @Range: 1 127
// @Increment: 1
// @User: Standard
GSCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS),
// @Param: WP_SPEED_MAX
// @DisplayName: Waypoint Max Speed Target
// @Description: Defines the speed which the aircraft will attempt to maintain during a WP mission.
// @Units: Centimeters/Second
// @Increment: 100
// @User: Standard
GSCALAR(waypoint_speed_max, "WP_SPEED_MAX", WAYPOINT_SPEED_MAX),
// @Param: XTRK_GAIN_SC
// @DisplayName: Cross-Track Gain
// @Description: This controls the rate that the Auto Controller will attempt to return original track
// @Units: Dimensionless
// @User: Standard
GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", CROSSTRACK_GAIN),
// @Param: XTRK_MIN_DIST
// @DisplayName: Crosstrack mininum distance
// @Description: Minimum distance in meters between waypoints to do crosstrack correction.
// @Units: Meters
// @Range: 0 32767
// @Increment: 1
// @User: Standard
GSCALAR(crosstrack_min_distance, "XTRK_MIN_DIST", CROSSTRACK_MIN_DISTANCE),
GSCALAR(auto_land_timeout, "AUTO_LAND", AUTO_LAND_TIME*1000),
// @Param: LAND_SPEED
// @DisplayName: Land speed
// @Description: The descent speed for the final stage of landing in cm/s
// @Units: cm/s
// @Range: 10 200
// @Increment: 10
// @User: Standard
GSCALAR(land_speed, "LAND_SPEED", LAND_SPEED),
// @Param: THR_MIN
// @DisplayName: Minimum Throttle
// @Description: The minimum throttle which the autopilot will apply.
// @Units: ms
// @Range: 0 1000
// @Increment: 1
// @User: Standard
GSCALAR(throttle_min, "THR_MIN", MINIMUM_THROTTLE),
// @Param: THR_MAX
// @DisplayName: Maximum Throttle
// @Description: The maximum throttle which the autopilot will apply.
// @Units: ms
// @Range: 0 1000
// @Increment: 1
// @User: Standard
GSCALAR(throttle_max, "THR_MAX", MAXIMUM_THROTTLE),
// @Param: THR_FAILSAFE
// @DisplayName: Throttle Failsafe Enable
// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(throttle_fs_enabled, "THR_FAILSAFE", THROTTLE_FAILSAFE),
GSCALAR(throttle_fs_action, "THR_FS_ACTION", THROTTLE_FAILSAFE_ACTION),
// @Param: THR_FS_VALUE
// @DisplayName: Throttle Failsafe Value
// @Description: The PWM level on channel 3 below which throttle sailsafe triggers
// @User: Standard
GSCALAR(throttle_fs_value, "THR_FS_VALUE", THROTTLE_FS_VALUE),
GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE),
GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1),
GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2),
GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3),
GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4),
GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5),
GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6),
GSCALAR(simple_modes, "SIMPLE", 0),
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: bitmap of log fields to enable
// @User: Advanced
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
GSCALAR(log_last_filenumber, "LOG_LASTFILE", 0),
// THOR
// Added to allow change of Rate in the Mission planner
GSCALAR(toy_yaw_rate, "TOY_RATE", 1),
GSCALAR(esc_calibrate, "ESC", 0),
GSCALAR(radio_tuning, "TUNE", 0),
GSCALAR(radio_tuning_low, "TUNE_LOW", 0),
GSCALAR(radio_tuning_high, "TUNE_HIGH", 1000),
GSCALAR(frame_orientation, "FRAME", FRAME_ORIENTATION),
GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION),
// @Param: AUTO_SLEW
// @DisplayName: Auto Slew Rate
// @Description: This restricts the rate of change of the attitude allowed by the Auto Controller
// @Units: Degrees/Second
// @Range: 1 45
// @Increment: 1
// @User: Advanced
GSCALAR(auto_slew_rate, "AUTO_SLEW", AUTO_SLEW_RATE),
#if FRAME_CONFIG == HELI_FRAME
GGROUP(heli_servo_1, "HS1_", RC_Channel),
GGROUP(heli_servo_2, "HS2_", RC_Channel),
GGROUP(heli_servo_3, "HS3_", RC_Channel),
GGROUP(heli_servo_4, "HS4_", RC_Channel),
GSCALAR(heli_pitch_ff, "H_PITCH_FF", HELI_PITCH_FF),
GSCALAR(heli_roll_ff, "H_ROLL_FF", HELI_ROLL_FF),
GSCALAR(heli_yaw_ff, "H_YAW_FF", HELI_YAW_FF),
#endif
#if CAMERA == ENABLED
// @Group: CAM_
// @Path: ../libraries/AP_Camera/AP_Camera.cpp
GGROUP(camera, "CAM_", AP_Camera),
#endif
// RC channel
//-----------
// @Group: RC1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_1, "RC1_", RC_Channel),
// @Group: RC2_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_2, "RC2_", RC_Channel),
// @Group: RC3_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_3, "RC3_", RC_Channel),
// @Group: RC4_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_4, "RC4_", RC_Channel),
// @Group: RC5_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_5, "RC5_", RC_Channel_aux),
// @Group: RC6_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_6, "RC6_", RC_Channel_aux),
// @Group: RC7_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_7, "RC7_", RC_Channel_aux),
// @Group: RC8_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_8, "RC8_", RC_Channel_aux),
#if MOUNT == ENABLED
// @Group: RC10_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_10, "RC10_", RC_Channel_aux),
// @Group: RC11_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_11, "RC11_", RC_Channel_aux),
#endif
// @Param: RC_SPEED
// @DisplayName: ESC Update Speed
// @Description: This is the speed in Hertz that your ESCs will receive updates
// @Units: Hertz (Hz)
// @Values: 125,400,490
// @User: Advanced
GSCALAR(rc_speed, "RC_SPEED", RC_FAST_SPEED),
// variable
//---------
//GSCALAR(stabilize_d, "STAB_D", STABILIZE_D),
// @Param: STAB_D_S
// @DisplayName: Stabilize D Schedule
// @Description: This value is a percentage of scheduling applied to the Stabilize D term.
// @Range: 0 1
// @Increment: .01
// @User: Advanced
//GSCALAR(stabilize_d_schedule, "STAB_D_S", STABILIZE_D_SCHEDULE),
// Acro parameters
GSCALAR(acro_p, "ACRO_P", ACRO_P),
GSCALAR(axis_lock_p, "AXIS_P", AXIS_LOCK_P),
GSCALAR(axis_enabled, "AXIS_ENABLE", AXIS_LOCK_ENABLED),
// @Param: ACRO_BAL_ROLL
// @DisplayName: Acro Balance Roll
// @Description: rate at which roll angle returns to level in acro mode
// @Range: 0 300
// @Increment: 1
// @User: Advanced
GSCALAR(acro_balance_roll, "ACRO_BAL_ROLL", ACRO_BALANCE_ROLL),
// @Param: ACRO_BAL_PITCH
// @DisplayName: Acro Balance Pitch
// @Description: rate at which pitch angle returns to level in acro mode
// @Range: 0 300
// @Increment: 1
// @User: Advanced
GSCALAR(acro_balance_pitch, "ACRO_BAL_PITCH", ACRO_BALANCE_PITCH),
GSCALAR(copter_leds_mode, "LED_MODE", 9),
// PID controller
//---------------
GGROUP(pid_rate_roll, "RATE_RLL_", AC_PID),
GGROUP(pid_rate_pitch, "RATE_PIT_", AC_PID),
GGROUP(pid_rate_yaw, "RATE_YAW_", AC_PID),
GGROUP(pid_loiter_rate_lat, "LOITER_LAT_", AC_PID),
GGROUP(pid_loiter_rate_lon, "LOITER_LON_", AC_PID),
GGROUP(pid_nav_lat, "NAV_LAT_", AC_PID),
GGROUP(pid_nav_lon, "NAV_LON_", AC_PID),
GGROUP(pid_throttle, "THR_RATE_", AC_PID),
GGROUP(pid_throttle_accel,"THR_ACCEL_", AC_PID),
GGROUP(pid_optflow_roll, "OF_RLL_", AC_PID),
GGROUP(pid_optflow_pitch, "OF_PIT_", AC_PID),
// PI controller
//--------------
GGROUP(pi_stabilize_roll, "STB_RLL_", APM_PI),
GGROUP(pi_stabilize_pitch, "STB_PIT_", APM_PI),
GGROUP(pi_stabilize_yaw, "STB_YAW_", APM_PI),
GGROUP(pi_alt_hold, "THR_ALT_", APM_PI),
GGROUP(pi_loiter_lat, "HLD_LAT_", APM_PI),
GGROUP(pi_loiter_lon, "HLD_LON_", APM_PI),
// variables not in the g class which contain EEPROM saved variables
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
// @Group: INS_
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
#if HIL_MODE == HIL_MODE_DISABLED
GOBJECT(ins, "INS_", AP_InertialSensor),
#endif
#if INERTIAL_NAV == ENABLED
// @Group: INAV_
// @Path: ../libraries/AP_InertialNav/AP_InertialNav.cpp
GOBJECT(inertial_nav, "INAV_", AP_InertialNav),
#endif
GOBJECT(gcs0, "SR0_", GCS_MAVLINK),
GOBJECT(gcs3, "SR3_", GCS_MAVLINK),
// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
GOBJECT(ahrs, "AHRS_", AP_AHRS),
#if MOUNT == ENABLED
// @Group: MNT_
// @Path: ../libraries/AP_Mount/AP_Mount.cpp
GOBJECT(camera_mount, "MNT_", AP_Mount),
#endif
#if MOUNT2 == ENABLED
// @Group: MNT2_
// @Path: ../libraries/AP_Mount/AP_Mount.cpp
GOBJECT(camera_mount2, "MNT2_", AP_Mount),
#endif
#ifdef DESKTOP_BUILD
GOBJECT(sitl, "SIM_", SITL),
#endif
//@Group: LIM_
//@Path: ../libraries/AP_Limits/AP_Limits.cpp,../libraries/AP_Limits/AP_Limit_GPSLock.cpp, ../libraries/AP_Limits/AP_Limit_Geofence.cpp, ../libraries/AP_Limits/AP_Limit_Altitude.cpp, ../libraries/AP_Limits/AP_Limit_Module.cpp
GOBJECT(limits, "LIM_", AP_Limits),
GOBJECT(gpslock_limit, "LIM_", AP_Limit_GPSLock),
GOBJECT(geofence_limit, "LIM_", AP_Limit_Geofence),
GOBJECT(altitude_limit, "LIM_", AP_Limit_Altitude),
#if FRAME_CONFIG == HELI_FRAME
// @Group: H_
// @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp
GOBJECT(motors, "H_", AP_MotorsHeli),
#else
GOBJECT(motors, "MOT_", AP_Motors),
#endif
AP_VAREND
};
static void load_parameters(void)
{
// change the default for the AHRS_GPS_GAIN for ArduCopter
// if it hasn't been set by the user
if (!ahrs.gps_gain.load()) {
ahrs.gps_gain.set_and_save(1.0);
}
// setup different AHRS gains for ArduCopter than the default
// but allow users to override in their config
if (!ahrs._kp.load()) {
ahrs._kp.set_and_save(0.1);
}
if (!ahrs._kp_yaw.load()) {
ahrs._kp_yaw.set_and_save(0.1);
}
#if SECONDARY_DMP_ENABLED == ENABLED
if (!ahrs2._kp.load()) {
ahrs2._kp.set(0.1);
}
if (!ahrs2._kp_yaw.load()) {
ahrs2._kp_yaw.set(0.1);
}
#endif
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
cliSerial->printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
default_dead_zones();
cliSerial->println_P(PSTR("done."));
} else {
uint32_t before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
cliSerial->printf_P(PSTR("load_all took %luus\n"), micros() - before);
}
}
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