mirror of https://github.com/ArduPilot/ardupilot
259 lines
6.4 KiB
C++
259 lines
6.4 KiB
C++
// -*- 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 = 16;
|
|
static const uint16_t k_software_type = 20;
|
|
|
|
enum {
|
|
// Layout version number, always key zero.
|
|
//
|
|
k_param_format_version = 0,
|
|
k_param_software_type,
|
|
|
|
// Misc
|
|
//
|
|
k_param_log_bitmask = 10,
|
|
k_param_num_resets,
|
|
k_param_reset_switch_chan,
|
|
|
|
// IO pins
|
|
k_param_rssi_pin = 20,
|
|
k_param_battery_volt_pin,
|
|
k_param_battery_curr_pin,
|
|
|
|
|
|
// 110: Telemetry control
|
|
//
|
|
k_param_gcs0 = 110, // stream rates for port0
|
|
k_param_gcs3, // stream rates for port3
|
|
k_param_sysid_this_mav,
|
|
k_param_sysid_my_gcs,
|
|
k_param_serial0_baud,
|
|
k_param_serial3_baud,
|
|
k_param_telem_delay,
|
|
|
|
//
|
|
// 130: Sensor parameters
|
|
//
|
|
k_param_compass_enabled = 130,
|
|
|
|
// 140: battery controls
|
|
k_param_battery_monitoring = 140,
|
|
k_param_volt_div_ratio,
|
|
k_param_curr_amp_per_volt,
|
|
k_param_input_voltage, // deprecated, can be deleted
|
|
k_param_pack_capacity,
|
|
|
|
//
|
|
// 150: Navigation parameters
|
|
//
|
|
k_param_crosstrack_gain = 150,
|
|
k_param_crosstrack_entry_angle,
|
|
k_param_speed_cruise,
|
|
k_param_speed_turn_gain,
|
|
k_param_speed_turn_dist,
|
|
k_param_ch7_option,
|
|
|
|
//
|
|
// 160: Radio settings
|
|
//
|
|
k_param_channel_steer = 160,
|
|
k_param_rc_2,
|
|
k_param_channel_throttle,
|
|
k_param_rc_4,
|
|
k_param_rc_5,
|
|
k_param_rc_6,
|
|
k_param_rc_7,
|
|
k_param_rc_8,
|
|
|
|
// throttle control
|
|
k_param_throttle_min = 170,
|
|
k_param_throttle_max,
|
|
k_param_throttle_cruise,
|
|
k_param_throttle_slewrate,
|
|
k_param_throttle_reduction,
|
|
k_param_skid_steer_in,
|
|
k_param_skid_steer_out,
|
|
|
|
// failsafe control
|
|
k_param_fs_action = 180,
|
|
k_param_fs_timeout,
|
|
k_param_fs_throttle_enabled,
|
|
k_param_fs_throttle_value,
|
|
k_param_fs_gcs_enabled,
|
|
|
|
// obstacle control
|
|
k_param_sonar_enabled = 190,
|
|
k_param_sonar, // sonar object
|
|
k_param_sonar_trigger_cm,
|
|
k_param_sonar_turn_angle,
|
|
k_param_sonar_turn_time,
|
|
|
|
//
|
|
// 210: driving modes
|
|
//
|
|
k_param_mode_channel = 210,
|
|
k_param_mode1,
|
|
k_param_mode2,
|
|
k_param_mode3,
|
|
k_param_mode4,
|
|
k_param_mode5,
|
|
k_param_mode6,
|
|
|
|
//
|
|
// 220: Waypoint data
|
|
//
|
|
k_param_command_total = 220,
|
|
k_param_command_index,
|
|
k_param_waypoint_radius,
|
|
|
|
//
|
|
// 240: PID Controllers
|
|
k_param_pidNavSteer = 230,
|
|
k_param_pidServoSteer,
|
|
k_param_pidSpeedThrottle,
|
|
|
|
// other objects
|
|
k_param_sitl = 240,
|
|
k_param_ahrs,
|
|
k_param_ins,
|
|
k_param_compass,
|
|
|
|
// 254,255: reserved
|
|
};
|
|
|
|
AP_Int16 format_version;
|
|
AP_Int8 software_type;
|
|
|
|
// Misc
|
|
//
|
|
AP_Int16 log_bitmask;
|
|
AP_Int16 num_resets;
|
|
AP_Int8 reset_switch_chan;
|
|
|
|
// IO pins
|
|
AP_Int8 rssi_pin;
|
|
AP_Int8 battery_volt_pin;
|
|
AP_Int8 battery_curr_pin;
|
|
|
|
// Telemetry control
|
|
//
|
|
AP_Int16 sysid_this_mav;
|
|
AP_Int16 sysid_my_gcs;
|
|
AP_Int8 serial0_baud;
|
|
AP_Int8 serial3_baud;
|
|
AP_Int8 telem_delay;
|
|
|
|
// sensor parameters
|
|
AP_Int8 compass_enabled;
|
|
|
|
// battery controls
|
|
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_Int16 pack_capacity; // Battery pack capacity less reserve
|
|
|
|
// navigation parameters
|
|
//
|
|
AP_Float crosstrack_gain;
|
|
AP_Int16 crosstrack_entry_angle;
|
|
AP_Float speed_cruise;
|
|
AP_Int8 speed_turn_gain;
|
|
AP_Float speed_turn_dist;
|
|
AP_Int8 ch7_option;
|
|
|
|
// RC channels
|
|
RC_Channel channel_steer;
|
|
RC_Channel_aux rc_2;
|
|
RC_Channel channel_throttle;
|
|
RC_Channel_aux rc_4;
|
|
RC_Channel_aux rc_5;
|
|
RC_Channel_aux rc_6;
|
|
RC_Channel_aux rc_7;
|
|
RC_Channel_aux rc_8;
|
|
|
|
// Throttle
|
|
//
|
|
AP_Int8 throttle_min;
|
|
AP_Int8 throttle_max;
|
|
AP_Int8 throttle_cruise;
|
|
AP_Int8 throttle_slewrate;
|
|
AP_Int8 skid_steer_in;
|
|
AP_Int8 skid_steer_out;
|
|
|
|
// failsafe control
|
|
AP_Int8 fs_action;
|
|
AP_Float fs_timeout;
|
|
AP_Int8 fs_throttle_enabled;
|
|
AP_Int16 fs_throttle_value;
|
|
AP_Int8 fs_gcs_enabled;
|
|
|
|
// obstacle control
|
|
AP_Int8 sonar_enabled;
|
|
AP_Int16 sonar_trigger_cm;
|
|
AP_Float sonar_turn_angle;
|
|
AP_Float sonar_turn_time;
|
|
|
|
|
|
// driving modes
|
|
//
|
|
AP_Int8 mode_channel;
|
|
AP_Int8 mode1;
|
|
AP_Int8 mode2;
|
|
AP_Int8 mode3;
|
|
AP_Int8 mode4;
|
|
AP_Int8 mode5;
|
|
AP_Int8 mode6;
|
|
|
|
// Waypoints
|
|
//
|
|
AP_Int8 command_total;
|
|
AP_Int8 command_index;
|
|
AP_Float waypoint_radius;
|
|
|
|
// PID controllers
|
|
//
|
|
PID pidNavSteer;
|
|
PID pidServoSteer;
|
|
PID pidSpeedThrottle;
|
|
|
|
Parameters() :
|
|
// RC channels
|
|
channel_steer(CH_1),
|
|
rc_2(CH_2),
|
|
channel_throttle(CH_3),
|
|
rc_4(CH_4),
|
|
rc_5(CH_5),
|
|
rc_6(CH_6),
|
|
rc_7(CH_7),
|
|
rc_8(CH_8),
|
|
|
|
// PID controller initial P initial I initial D initial imax
|
|
//-----------------------------------------------------------------------------------
|
|
pidNavSteer (0.7, 0.1, 0.2, 2000),
|
|
pidServoSteer (0.5, 0.1, 0.2, 2000),
|
|
pidSpeedThrottle (0.7, 0.2, 0.2, 4000)
|
|
{}
|
|
};
|
|
|
|
extern const AP_Param::Info var_info[];
|
|
|
|
#endif // PARAMETERS_H
|
|
|