mirror of https://github.com/ArduPilot/ardupilot
255 lines
6.2 KiB
C++
255 lines
6.2 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 = 16;
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static const uint16_t k_software_type = 20;
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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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k_param_software_type,
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// Misc
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//
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k_param_log_bitmask = 10,
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k_param_num_resets,
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k_param_reset_switch_chan,
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// IO pins
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k_param_rssi_pin = 20,
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k_param_battery_volt_pin,
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k_param_battery_curr_pin,
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// 110: Telemetry control
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//
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k_param_gcs0 = 110, // stream rates for port0
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k_param_gcs3, // stream rates for port3
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k_param_sysid_this_mav,
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k_param_sysid_my_gcs,
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k_param_serial0_baud,
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k_param_serial3_baud,
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k_param_telem_delay,
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//
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// 130: Sensor parameters
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//
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k_param_compass_enabled = 130,
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// 140: battery controls
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k_param_battery_monitoring = 140,
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k_param_volt_div_ratio,
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k_param_curr_amp_per_volt,
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k_param_input_voltage, // deprecated, can be deleted
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k_param_pack_capacity,
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//
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// 150: Navigation parameters
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//
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k_param_crosstrack_gain = 150,
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k_param_crosstrack_entry_angle,
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k_param_speed_cruise,
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k_param_speed_turn_gain,
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k_param_speed_turn_dist,
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k_param_ch7_option,
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//
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// 160: Radio settings
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//
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k_param_channel_steer = 160,
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k_param_rc_2,
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k_param_channel_throttle,
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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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// throttle control
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k_param_throttle_min = 170,
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k_param_throttle_max,
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k_param_throttle_cruise,
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k_param_throttle_slewrate,
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k_param_throttle_reduction,
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// failsafe control
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k_param_fs_action = 180,
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k_param_fs_timeout,
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k_param_fs_throttle_enabled,
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k_param_fs_throttle_value,
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k_param_fs_gcs_enabled,
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// obstacle control
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k_param_sonar_enabled = 190,
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k_param_sonar, // sonar object
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k_param_sonar_trigger_cm,
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k_param_sonar_turn_angle,
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k_param_sonar_turn_time,
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//
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// 210: driving modes
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//
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k_param_mode_channel = 210,
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k_param_mode1,
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k_param_mode2,
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k_param_mode3,
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k_param_mode4,
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k_param_mode5,
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k_param_mode6,
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//
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// 220: Waypoint data
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//
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k_param_command_total = 220,
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k_param_command_index,
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k_param_waypoint_radius,
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//
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// 240: PID Controllers
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k_param_pidNavSteer = 230,
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k_param_pidServoSteer,
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k_param_pidSpeedThrottle,
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// other objects
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k_param_sitl = 240,
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k_param_ahrs,
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k_param_ins,
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k_param_compass,
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// 254,255: reserved
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};
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AP_Int16 format_version;
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AP_Int8 software_type;
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// Misc
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//
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AP_Int16 log_bitmask;
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AP_Int16 num_resets;
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AP_Int8 reset_switch_chan;
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// IO pins
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AP_Int8 rssi_pin;
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AP_Int8 battery_volt_pin;
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AP_Int8 battery_curr_pin;
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// Telemetry control
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//
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AP_Int16 sysid_this_mav;
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AP_Int16 sysid_my_gcs;
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AP_Int8 serial0_baud;
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AP_Int8 serial3_baud;
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AP_Int8 telem_delay;
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// sensor parameters
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AP_Int8 compass_enabled;
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// battery controls
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AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
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AP_Float volt_div_ratio;
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AP_Float curr_amp_per_volt;
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AP_Int16 pack_capacity; // Battery pack capacity less reserve
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// navigation parameters
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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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AP_Float speed_cruise;
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AP_Int8 speed_turn_gain;
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AP_Float speed_turn_dist;
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AP_Int8 ch7_option;
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// RC channels
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RC_Channel channel_steer;
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RC_Channel_aux rc_2;
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RC_Channel channel_throttle;
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RC_Channel_aux rc_4;
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RC_Channel_aux rc_5;
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RC_Channel_aux rc_6;
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RC_Channel_aux rc_7;
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RC_Channel_aux rc_8;
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// Throttle
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//
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AP_Int8 throttle_min;
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AP_Int8 throttle_max;
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AP_Int8 throttle_cruise;
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AP_Int8 throttle_slewrate;
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// failsafe control
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AP_Int8 fs_action;
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AP_Float fs_timeout;
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AP_Int8 fs_throttle_enabled;
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AP_Int16 fs_throttle_value;
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AP_Int8 fs_gcs_enabled;
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// obstacle control
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AP_Int8 sonar_enabled;
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AP_Int16 sonar_trigger_cm;
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AP_Float sonar_turn_angle;
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AP_Float sonar_turn_time;
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// driving modes
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//
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AP_Int8 mode_channel;
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AP_Int8 mode1;
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AP_Int8 mode2;
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AP_Int8 mode3;
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AP_Int8 mode4;
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AP_Int8 mode5;
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AP_Int8 mode6;
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// Waypoints
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//
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AP_Int8 command_total;
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AP_Int8 command_index;
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AP_Float waypoint_radius;
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// PID controllers
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//
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PID pidNavSteer;
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PID pidServoSteer;
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PID pidSpeedThrottle;
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Parameters() :
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// RC channels
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channel_steer(CH_1),
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rc_2(CH_2),
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channel_throttle(CH_3),
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rc_4(CH_4),
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rc_5(CH_5),
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rc_6(CH_6),
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rc_7(CH_7),
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rc_8(CH_8),
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// PID controller initial P initial I initial D initial imax
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//-----------------------------------------------------------------------------------
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pidNavSteer (0.7, 0.1, 0.2, 2000),
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pidServoSteer (0.5, 0.1, 0.2, 2000),
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pidSpeedThrottle (0.7, 0.2, 0.2, 4000)
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{}
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};
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extern const AP_Param::Info var_info[];
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#endif // PARAMETERS_H
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