mirror of https://github.com/ArduPilot/ardupilot
119 lines
4.8 KiB
C
119 lines
4.8 KiB
C
#pragma once
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#include "RC_Channel_config.h"
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#if AP_RC_CHANNEL_ENABLED
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#include "RC_Channel.h"
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/*
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this header file is expected to be #included by Vehicle subclasses
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of RC_Channels after defining RC_CHANNELS_SUBCLASS and
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RC_CHANNEL_SUBCLASS - for example, Rover defines
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RC_CHANNELS_SUBCLASS to be RC_Channels_Rover in Rover/RC_Channels.cpp, and then includes this header.
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This scheme reduces code duplicate between the Vehicles, and avoids the chance of things getting out of sync.
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*/
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const AP_Param::GroupInfo RC_Channels::var_info[] = {
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// @Group: 1_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[0], "1_", 1, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Group: 2_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[1], "2_", 2, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Group: 3_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[2], "3_", 3, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Group: 4_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[3], "4_", 4, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Group: 5_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[4], "5_", 5, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Group: 6_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[5], "6_", 6, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Group: 7_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[6], "7_", 7, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Group: 8_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[7], "8_", 8, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Group: 9_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[8], "9_", 9, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Group: 10_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[9], "10_", 10, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Group: 11_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[10], "11_", 11, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Group: 12_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[11], "12_", 12, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Group: 13_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[12], "13_", 13, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Group: 14_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[13], "14_", 14, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Group: 15_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[14], "15_", 15, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Group: 16_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[15], "16_", 16, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
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// @Param: _OVERRIDE_TIME
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// @DisplayName: RC override timeout
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// @Description: Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled
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// @User: Advanced
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// @Range: 0.0 120.0
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// @Units: s
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AP_GROUPINFO("_OVERRIDE_TIME", 32, RC_CHANNELS_SUBCLASS, _override_timeout, 3.0),
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// @Param: _OPTIONS
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// @DisplayName: RC options
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// @Description: RC input options
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// @User: Advanced
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// @Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 12:Annotate CRSF flight mode with * on disarm, 13: Use 420kbaud for ELRS protocol
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AP_GROUPINFO("_OPTIONS", 33, RC_CHANNELS_SUBCLASS, _options, (uint32_t)RC_Channels::Option::ARMING_CHECK_THROTTLE),
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// _PROTOCOLS copied to AP_Periph/Parameters.cpp
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// @Param: _PROTOCOLS
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// @DisplayName: RC protocols enabled
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// @Description: Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.
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// @User: Advanced
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// @Bitmask: 0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2,13:FastSBUS,14:DroneCAN,15:Ghost
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AP_GROUPINFO("_PROTOCOLS", 34, RC_CHANNELS_SUBCLASS, _protocols, 1),
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// @Param: _FS_TIMEOUT
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// @DisplayName: RC Failsafe timeout
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// @Description: RC failsafe will trigger this many seconds after loss of RC
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// @User: Standard
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// @Range: 0.5 10.0
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// @Units: s
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AP_GROUPINFO_FRAME("_FS_TIMEOUT", 35, RC_CHANNELS_SUBCLASS, _fs_timeout, 1.0, AP_PARAM_FRAME_COPTER),
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AP_GROUPEND
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};
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#endif // AP_RC_CHANNEL_ENABLED
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