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ardupilot/ArduCopter/Parameters.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef PARAMETERS_H
#define PARAMETERS_H
#include <AP_Common.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 = 114;
// The parameter software_type is set up solely for ground station use
// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
// GCS will interpret values 0-9 as ArduPilotMega. Developers may use
// values within that range to identify different branches.
//
static const uint16_t k_software_type = 10; // 0 for APM trunk
//
// 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_Var 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_Var 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,
// Misc
//
k_param_log_bitmask = 20,
k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change
#if FRAME_CONFIG == HELI_FRAME
//
// 80: Heli
//
k_param_heli_servo_1 = 80,
k_param_heli_servo_2,
k_param_heli_servo_3,
k_param_heli_servo_4,
k_param_heli_servo1_pos ,
k_param_heli_servo2_pos,
k_param_heli_servo3_pos,
k_param_heli_roll_max,
k_param_heli_pitch_max,
k_param_heli_collective_min,
k_param_heli_collective_max,
k_param_heli_collective_mid,
k_param_heli_ext_gyro_enabled,
k_param_heli_ext_gyro_gain,
k_param_heli_servo_averaging,
k_param_heli_servo_manual,
k_param_heli_phase_angle,
k_param_heli_coll_yaw_effect, // 97
#endif
// 110: Telemetry control
//
k_param_streamrates_port0 = 110,
k_param_streamrates_port3,
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial3_baud,
//
// 140: Sensor parameters
//
k_param_IMU_calibration = 140,
k_param_battery_monitoring,
k_param_volt_div_ratio,
k_param_curr_amp_per_volt,
k_param_input_voltage,
k_param_pack_capacity,
k_param_compass_enabled,
k_param_compass,
k_param_sonar,
k_param_frame_orientation,
k_param_top_bottom_ratio,
k_param_optflow_enabled,
k_param_low_voltage,
k_param_ch7_option,
k_param_sonar_type,
k_param_super_simple, //155
//
// 160: Navigation parameters
//
k_param_RTL_altitude = 160,
k_param_crosstrack_gain,
k_param_auto_land_timeout,
//
// 180: Radio settings
//
k_param_rc_1 = 180,
k_param_rc_2,
k_param_rc_3,
k_param_rc_4,
k_param_rc_5,
k_param_rc_6,
k_param_rc_7,
k_param_rc_8,
k_param_rc_9,
k_param_rc_10,
k_param_throttle_min,
k_param_throttle_max,
k_param_throttle_fs_enabled,
k_param_throttle_fs_action,
k_param_throttle_fs_value,
k_param_throttle_cruise,
k_param_esc_calibrate,
k_param_radio_tuning,
k_param_camera_pitch_gain,
k_param_camera_roll_gain,
//
// 210: flight modes
//
k_param_flight_mode1,
k_param_flight_mode2,
k_param_flight_mode3,
k_param_flight_mode4,
k_param_flight_mode5,
k_param_flight_mode6,
k_param_simple_modes,
//
// 220: Waypoint data
//
k_param_waypoint_mode = 220,
k_param_command_total,
k_param_command_index,
k_param_command_nav_index,
k_param_waypoint_radius,
k_param_loiter_radius,
k_param_waypoint_speed_max,
//
// 235: PI/D Controllers
//
k_param_stabilize_d = 234,
k_param_pi_rate_roll = 235,
k_param_pi_rate_pitch,
k_param_pi_rate_yaw,
k_param_pi_stabilize_roll,
k_param_pi_stabilize_pitch,
k_param_pi_stabilize_yaw,
k_param_pi_loiter_lat,
k_param_pi_loiter_lon,
k_param_pi_nav_lat,
k_param_pi_nav_lon,
k_param_pi_alt_hold,
k_param_pi_throttle,
k_param_pi_acro_roll,
k_param_pi_acro_pitch,
k_param_pi_optflow_roll,
k_param_pi_optflow_pitch, // 250
k_param_loiter_d,
// 254,255: reserved
};
AP_Int16 format_version;
AP_Int8 software_type;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int8 serial3_baud;
AP_Int16 RTL_altitude;
AP_Int8 sonar_enabled;
AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m range)
AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
AP_Float volt_div_ratio;
AP_Float curr_amp_per_volt;
AP_Float input_voltage;
AP_Int16 pack_capacity; // Battery pack capacity less reserve
AP_Int8 compass_enabled;
AP_Int8 optflow_enabled;
AP_Float low_voltage;
AP_Int8 super_simple;
// Waypoints
//
AP_Int8 waypoint_mode;
AP_Int8 command_total;
AP_Int8 command_index;
AP_Int8 command_nav_index;
AP_Int8 waypoint_radius;
AP_Int16 loiter_radius;
AP_Int16 waypoint_speed_max;
AP_Float crosstrack_gain;
AP_Int32 auto_land_timeout;
// Throttle
//
AP_Int16 throttle_min;
AP_Int16 throttle_max;
AP_Int8 throttle_fs_enabled;
AP_Int8 throttle_fs_action;
AP_Int16 throttle_fs_value;
AP_Int16 throttle_cruise;
// Flight modes
//
AP_Int8 flight_mode1;
AP_Int8 flight_mode2;
AP_Int8 flight_mode3;
AP_Int8 flight_mode4;
AP_Int8 flight_mode5;
AP_Int8 flight_mode6;
AP_Int8 simple_modes;
// Misc
//
AP_Int16 log_bitmask;
AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change
AP_Int8 esc_calibrate;
AP_Int8 radio_tuning;
AP_Int8 frame_orientation;
AP_Float top_bottom_ratio;
AP_Int8 ch7_option;
#if FRAME_CONFIG == HELI_FRAME
// Heli
RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail
AP_Int16 heli_servo1_pos, heli_servo2_pos, heli_servo3_pos; // servo positions (3 because we don't need pos for tail servo)
AP_Int16 heli_roll_max, heli_pitch_max; // maximum allowed roll and pitch of swashplate
AP_Int16 heli_coll_min, heli_coll_max, heli_coll_mid; // min and max collective. mid = main blades at zero pitch
AP_Int8 heli_ext_gyro_enabled; // 0 = no external tail gyro, 1 = external tail gyro
AP_Int16 heli_ext_gyro_gain; // radio output 1000~2000 (value output on CH_7)
AP_Int8 heli_servo_averaging; // 0 or 1 = no averaging (250hz) for **digital servos**, 2=average of two samples (125hz), 3=three samples (83.3hz) **analog servos**, 4=four samples (62.5hz), 5=5 samples(50hz)
AP_Int8 heli_servo_manual; // 0 = normal mode, 1 = radio inputs directly control swash. required for swash set-up
AP_Int16 heli_phase_angle; // 0 to 360 degrees. specifies mixing between roll and pitch for helis
AP_Float heli_coll_yaw_effect; // -5.0 ~ 5.0. Feed forward control from collective to yaw. 1.0 = move rudder right 1% for every 1% of collective above the mid point
#endif
// RC channels
RC_Channel rc_1;
RC_Channel rc_2;
RC_Channel rc_3;
RC_Channel rc_4;
RC_Channel rc_5;
RC_Channel rc_6;
RC_Channel rc_7;
RC_Channel rc_8;
RC_Channel rc_camera_pitch;
RC_Channel rc_camera_roll;
AP_Float camera_pitch_gain;
AP_Float camera_roll_gain;
AP_Float stablize_d;
AP_Float loiter_d;
// PI/D controllers
APM_PI pi_rate_roll;
APM_PI pi_rate_pitch;
APM_PI pi_rate_yaw;
APM_PI pi_stabilize_roll;
APM_PI pi_stabilize_pitch;
APM_PI pi_stabilize_yaw;
APM_PI pi_loiter_lat;
APM_PI pi_loiter_lon;
APM_PI pi_nav_lat;
APM_PI pi_nav_lon;
APM_PI pi_alt_hold;
APM_PI pi_throttle;
APM_PI pi_acro_roll;
APM_PI pi_acro_pitch;
PID pi_optflow_roll;
PID pi_optflow_pitch;
uint8_t junk;
// Note: keep initializers here in the same order as they are declared above.
Parameters() :
// variable default key name
//-------------------------------------------------------------------------------------------------------------------
format_version (k_format_version, k_param_format_version, PSTR("SYSID_SW_MREV")),
software_type (k_software_type, k_param_software_type, PSTR("SYSID_SW_TYPE")),
sysid_this_mav (MAV_SYSTEM_ID, k_param_sysid_this_mav, PSTR("SYSID_THISMAV")),
sysid_my_gcs (255, k_param_sysid_my_gcs, PSTR("SYSID_MYGCS")),
serial3_baud (SERIAL3_BAUD/1000, k_param_serial3_baud, PSTR("SERIAL3_BAUD")),
RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")),
sonar_enabled (DISABLED, k_param_sonar, PSTR("SONAR_ENABLE")),
sonar_type (AP_RANGEFINDER_MAXSONARXL, k_param_sonar_type, PSTR("SONAR_TYPE")),
battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")),
volt_div_ratio (VOLT_DIV_RATIO, k_param_volt_div_ratio, PSTR("VOLT_DIVIDER")),
curr_amp_per_volt (CURR_AMP_PER_VOLT, k_param_curr_amp_per_volt, PSTR("AMP_PER_VOLT")),
input_voltage (INPUT_VOLTAGE, k_param_input_voltage, PSTR("INPUT_VOLTS")),
pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")),
compass_enabled (MAGNETOMETER, k_param_compass_enabled, PSTR("MAG_ENABLE")),
optflow_enabled (OPTFLOW, k_param_optflow_enabled, PSTR("FLOW_ENABLE")),
low_voltage (LOW_VOLTAGE, k_param_low_voltage, PSTR("LOW_VOLT")),
super_simple (SUPER_SIMPLE, k_param_super_simple, PSTR("SUPER_SIMPLE")),
waypoint_mode (0, k_param_waypoint_mode, PSTR("WP_MODE")),
command_total (0, k_param_command_total, PSTR("WP_TOTAL")),
command_index (0, k_param_command_index, PSTR("WP_INDEX")),
command_nav_index (0, k_param_command_nav_index, PSTR("WP_MUST_INDEX")),
waypoint_radius (WP_RADIUS_DEFAULT * 100, k_param_waypoint_radius, PSTR("WP_RADIUS")),
loiter_radius (LOITER_RADIUS, k_param_loiter_radius, PSTR("WP_LOITER_RAD")),
waypoint_speed_max (WAYPOINT_SPEED_MAX, k_param_waypoint_speed_max, PSTR("WP_SPEED_MAX")),
crosstrack_gain (CROSSTRACK_GAIN, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SC")),
auto_land_timeout (AUTO_LAND_TIME * 1000, k_param_auto_land_timeout, PSTR("AUTO_LAND")),
throttle_min (0, k_param_throttle_min, PSTR("THR_MIN")),
throttle_max (1000, k_param_throttle_max, PSTR("THR_MAX")),
throttle_fs_enabled (THROTTLE_FAILSAFE, k_param_throttle_fs_enabled, PSTR("THR_FAILSAFE")),
throttle_fs_action (THROTTLE_FAILSAFE_ACTION, k_param_throttle_fs_action, PSTR("THR_FS_ACTION")),
throttle_fs_value (THROTTLE_FS_VALUE, k_param_throttle_fs_value, PSTR("THR_FS_VALUE")),
throttle_cruise (THROTTLE_CRUISE, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")),
flight_mode1 (FLIGHT_MODE_1, k_param_flight_mode1, PSTR("FLTMODE1")),
flight_mode2 (FLIGHT_MODE_2, k_param_flight_mode2, PSTR("FLTMODE2")),
flight_mode3 (FLIGHT_MODE_3, k_param_flight_mode3, PSTR("FLTMODE3")),
flight_mode4 (FLIGHT_MODE_4, k_param_flight_mode4, PSTR("FLTMODE4")),
flight_mode5 (FLIGHT_MODE_5, k_param_flight_mode5, PSTR("FLTMODE5")),
flight_mode6 (FLIGHT_MODE_6, k_param_flight_mode6, PSTR("FLTMODE6")),
simple_modes (0, k_param_simple_modes, PSTR("SIMPLE")),
log_bitmask (DEFAULT_LOG_BITMASK, k_param_log_bitmask, PSTR("LOG_BITMASK")),
log_last_filenumber (0, k_param_log_last_filenumber, PSTR("LOG_LASTFILE")),
esc_calibrate (0, k_param_esc_calibrate, PSTR("ESC")),
radio_tuning (0, k_param_radio_tuning, PSTR("TUNE")),
frame_orientation (FRAME_ORIENTATION, k_param_frame_orientation, PSTR("FRAME")),
top_bottom_ratio (TOP_BOTTOM_RATIO, k_param_top_bottom_ratio, PSTR("TB_RATIO")),
ch7_option (CH7_SAVE_WP, k_param_ch7_option, PSTR("CH7_OPT")),
#if FRAME_CONFIG == HELI_FRAME
heli_servo_1 (k_param_heli_servo_1, PSTR("HS1_")),
heli_servo_2 (k_param_heli_servo_2, PSTR("HS2_")),
heli_servo_3 (k_param_heli_servo_3, PSTR("HS3_")),
heli_servo_4 (k_param_heli_servo_4, PSTR("HS4_")),
heli_servo1_pos (-60, k_param_heli_servo1_pos, PSTR("SV1_POS_")),
heli_servo2_pos (60, k_param_heli_servo2_pos, PSTR("SV2_POS_")),
heli_servo3_pos (180, k_param_heli_servo3_pos, PSTR("SV3_POS_")),
heli_roll_max (4500, k_param_heli_roll_max, PSTR("ROL_MAX_")),
heli_pitch_max (4500, k_param_heli_pitch_max, PSTR("PIT_MAX_")),
heli_coll_min (1250, k_param_heli_collective_min, PSTR("COL_MIN_")),
heli_coll_max (1750, k_param_heli_collective_max, PSTR("COL_MAX_")),
heli_coll_mid (1500, k_param_heli_collective_mid, PSTR("COL_MID_")),
heli_ext_gyro_enabled (0, k_param_heli_ext_gyro_enabled, PSTR("GYR_ENABLE_")),
heli_ext_gyro_gain (1350, k_param_heli_ext_gyro_gain, PSTR("GYR_GAIN_")),
heli_servo_averaging (0, k_param_heli_servo_averaging, PSTR("SV_AVG")),
heli_servo_manual (0, k_param_heli_servo_manual, PSTR("HSV_MAN")),
heli_phase_angle (0, k_param_heli_phase_angle, PSTR("H_PHANG")),
heli_coll_yaw_effect (0, k_param_heli_coll_yaw_effect, PSTR("H_COLYAW")),
#endif
// RC channel group key name
//----------------------------------------------------------------------
rc_1 (k_param_rc_1, PSTR("RC1_")),
rc_2 (k_param_rc_2, PSTR("RC2_")),
rc_3 (k_param_rc_3, PSTR("RC3_")),
rc_4 (k_param_rc_4, PSTR("RC4_")),
rc_5 (k_param_rc_5, PSTR("RC5_")),
rc_6 (k_param_rc_6, PSTR("RC6_")),
rc_7 (k_param_rc_7, PSTR("RC7_")),
rc_8 (k_param_rc_8, PSTR("RC8_")),
rc_camera_pitch (k_param_rc_9, PSTR("CAM_P_")),
rc_camera_roll (k_param_rc_10, PSTR("CAM_R_")),
// variable default key name
//-------------------------------------------------------------------------------------------------------------------
camera_pitch_gain (CAM_PITCH_GAIN, k_param_camera_pitch_gain, PSTR("CAM_P_G")),
camera_roll_gain (CAM_ROLL_GAIN, k_param_camera_roll_gain, PSTR("CAM_R_G")),
stablize_d (STABILIZE_D, k_param_stabilize_d, PSTR("STAB_D")),
loiter_d (LOITER_D, k_param_loiter_d, PSTR("LOITER_D")),
// PI controller group key name initial P initial I initial imax
//--------------------------------------------------------------------------------------------------------------------------------------------------------------------
pi_rate_roll (k_param_pi_rate_roll, PSTR("RATE_RLL_"), RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_IMAX * 100),
pi_rate_pitch (k_param_pi_rate_pitch, PSTR("RATE_PIT_"), RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_IMAX * 100),
pi_rate_yaw (k_param_pi_rate_yaw, PSTR("RATE_YAW_"), RATE_YAW_P, RATE_YAW_I, RATE_YAW_IMAX * 100),
pi_stabilize_roll (k_param_pi_stabilize_roll, PSTR("STB_RLL_"), STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100),
pi_stabilize_pitch (k_param_pi_stabilize_pitch, PSTR("STB_PIT_"), STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100),
pi_stabilize_yaw (k_param_pi_stabilize_yaw, PSTR("STB_YAW_"), STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100),
pi_loiter_lat (k_param_pi_loiter_lat, PSTR("HLD_LAT_"), LOITER_P, LOITER_I, LOITER_IMAX * 100),
pi_loiter_lon (k_param_pi_loiter_lon, PSTR("HLD_LON_"), LOITER_P, LOITER_I, LOITER_IMAX * 100),
pi_nav_lat (k_param_pi_nav_lat, PSTR("NAV_LAT_"), NAV_P, NAV_I, NAV_IMAX * 100),
pi_nav_lon (k_param_pi_nav_lon, PSTR("NAV_LON_"), NAV_P, NAV_I, NAV_IMAX * 100),
pi_alt_hold (k_param_pi_alt_hold, PSTR("THR_ALT_"), THR_HOLD_P, THR_HOLD_I, THR_HOLD_IMAX),
pi_throttle (k_param_pi_throttle, PSTR("THR_RATE_"), THROTTLE_P, THROTTLE_I, THROTTLE_IMAX),
pi_acro_roll (k_param_pi_acro_roll, PSTR("ACRO_RLL_"), ACRO_ROLL_P, ACRO_ROLL_I, ACRO_ROLL_IMAX * 100),
pi_acro_pitch (k_param_pi_acro_pitch, PSTR("ACRO_PIT_"), ACRO_PITCH_P, ACRO_PITCH_I, ACRO_PITCH_IMAX * 100),
pi_optflow_roll (k_param_pi_optflow_roll, PSTR("OF_RLL_"), OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100),
pi_optflow_pitch (k_param_pi_optflow_pitch, PSTR("OF_PIT_"), OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100),
junk(0) // XXX just so that we can add things without worrying about the trailing comma
{
}
};
#endif // PARAMETERS_H
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