ardupilot/AntennaTracker/Parameters.h

185 lines
5.4 KiB
C++

#pragma once
#include <AC_PID/AC_PID.h>
#include <AP_Param/AP_Param.h>
// Global parameter class.
//
class Parameters {
public:
/*
* The value of k_format_version determines whether the existing
* eeprom data is considered valid. You should only change this
* value under the following circumstances:
*
* 1) the meaning of an existing eeprom parameter changes
*
* 2) the value of an existing k_param_* enum value changes
*
* Adding a new parameter should _not_ require a change to
* k_format_version except under special circumstances. If you
* change it anyway then all ArduPlane users will need to reload all
* their parameters. We want that to be an extremely rare
* thing. Please do not just change it "just in case".
*
* To determine if a k_param_* value has changed, use the rules of
* C++ enums to work out the value of the neighboring enum
* values. If you don't know the C++ enum rules then please ask for
* help.
*/
//////////////////////////////////////////////////////////////////
// STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE
// COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!!
static const uint16_t k_format_version = 1;
//////////////////////////////////////////////////////////////////
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type, // deprecated
k_param_gcs0 = 100, // stream rates for uartA
k_param_gcs1, // stream rates for uartC
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial0_baud, // deprecated
k_param_serial1_baud, // deprecated
k_param_imu,
k_param_compass_enabled_deprecated,
k_param_compass,
k_param_ahrs, // AHRS group
k_param_barometer,
k_param_scheduler,
k_param_ins,
k_param_sitl,
k_param_pidPitch_old, // deprecated
k_param_pidYaw_old, // deprecated
k_param_gcs2, // stream rates for uartD
k_param_serial2_baud, // deprecated
k_param_yaw_slew_time,
k_param_pitch_slew_time,
k_param_min_reverse_time,
k_param_start_latitude,
k_param_start_longitude,
k_param_startup_delay,
k_param_BoardConfig,
k_param_gps,
k_param_scan_speed_unused, // deprecated
k_param_proxy_mode_unused, // deprecated
k_param_servo_pitch_type,
k_param_onoff_yaw_rate,
k_param_onoff_pitch_rate,
k_param_onoff_yaw_mintime,
k_param_onoff_pitch_mintime,
k_param_yaw_trim,
k_param_pitch_trim,
k_param_yaw_range,
k_param_pitch_range, //deprecated
k_param_distance_min,
k_param_sysid_target, // 138
k_param_gcs3, // stream rates for fourth MAVLink port
k_param_log_bitmask, // 140
k_param_notify,
k_param_BoardConfig_CAN,
k_param_battery,
//
// 150: Telemetry control
//
k_param_serial_manager, // serial manager library
k_param_servo_yaw_type,
k_param_alt_source,
k_param_mavlink_update_rate,
k_param_pitch_min,
k_param_pitch_max,
//
// 200 : Radio settings
//
k_param_channel_yaw_old = 200,
k_param_channel_pitch_old,
k_param_pidPitch2Srv,
k_param_pidYaw2Srv,
k_param_rc_channels,
k_param_servo_channels,
k_param_stats = 218,
k_param_scripting = 219,
//
// 220: Waypoint data
//
k_param_command_total = 220,
// 254,255: reserved
k_param_gcs_pid_mask = 225,
k_param_scan_speed_yaw,
k_param_scan_speed_pitch,
k_param_initial_mode,
k_param_disarm_pwm,
k_param_logger = 253, // 253 - Logging Group
k_param_vehicle = 257, // vehicle common block of parameters
};
AP_Int16 format_version;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int16 sysid_target;
AP_Float yaw_slew_time;
AP_Float pitch_slew_time;
AP_Float min_reverse_time;
AP_Int16 scan_speed_yaw;
AP_Int16 scan_speed_pitch;
AP_Float start_latitude;
AP_Float start_longitude;
AP_Float startup_delay;
AP_Int8 servo_pitch_type;
AP_Int8 servo_yaw_type;
AP_Int8 alt_source;
AP_Int8 mavlink_update_rate;
AP_Float onoff_yaw_rate;
AP_Float onoff_pitch_rate;
AP_Float onoff_yaw_mintime;
AP_Float onoff_pitch_mintime;
AP_Float yaw_trim;
AP_Float pitch_trim;
AP_Int16 yaw_range; // yaw axis total range of motion in degrees
AP_Int16 distance_min; // target's must be at least this distance from tracker to be tracked
AP_Int16 pitch_min;
AP_Int16 pitch_max;
AP_Int16 gcs_pid_mask;
AP_Int8 initial_mode;
AP_Int8 disarm_pwm;
// Waypoints
//
AP_Int8 command_total; // 1 if HOME is set
AP_Int32 log_bitmask;
// AC_PID controllers
AC_PID pidPitch2Srv;
AC_PID pidYaw2Srv;
Parameters() :
pidPitch2Srv(0.2, 0.0f, 0.05f, 0.02f, 4000.0f, 0.0f, 0.0f, 0.0f, 0.1f),
pidYaw2Srv (0.2, 0.0f, 0.05f, 0.02f, 4000.0f, 0.0f, 0.0f, 0.0f, 0.1f)
{}
};
extern const AP_Param::Info var_info[];