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ardupilot/ArduPlane/Parameters.h

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#pragma once
#define AP_PARAM_VEHICLE_NAME plane
#include <AP_Common/AP_Common.h>
#include <AP_Gripper/AP_Gripper.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 = 13;
//////////////////////////////////////////////////////////////////
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type, // unused;
k_param_num_resets, // unused
k_param_NavEKF2,
k_param_g2,
k_param_avoidance_adsb,
k_param_landing,
k_param_NavEKF3,
k_param_can_mgr,
k_param_osd,
// Misc
//
k_param_auto_trim = 10, // unused
k_param_log_bitmask_old, // unused
k_param_pitch_trim, // replaced by pitch_trim
k_param_mix_mode,
k_param_reverse_elevons, // unused
k_param_reverse_ch1_elevon, // unused
k_param_reverse_ch2_elevon, // unused
k_param_flap_1_percent,
k_param_flap_1_speed,
k_param_flap_2_percent,
k_param_flap_2_speed,
k_param_reset_switch_chan, // unused - moved to RC option
k_param_manual_level, // unused
k_param_land_pitch_cd, // unused - moved to AP_Landing
k_param_ins_old, // *** Deprecated, remove with next eeprom number change
k_param_stick_mixing,
k_param_reset_mission_chan, // unused - moved to RC option
k_param_land_flare_alt, // unused - moved to AP_Landing
k_param_land_flare_sec, // unused - moved to AP_Landing
k_param_crosstrack_min_distance, // unused
k_param_rudder_steer, // unused
k_param_throttle_nudge,
k_param_alt_offset,
k_param_ins, // libraries/AP_InertialSensor variables
k_param_takeoff_throttle_min_speed,
k_param_takeoff_throttle_min_accel,
k_param_takeoff_heading_hold, // unused
k_param_level_roll_limit,
k_param_hil_servos_unused, // unused
k_param_vtail_output, // unused
k_param_nav_controller, // unused
k_param_elevon_output, // unused
k_param_att_controller, // unused
k_param_mixing_gain,
k_param_scheduler,
k_param_relay,
k_param_takeoff_throttle_delay,
k_param_mode_takeoff, // was skip_gyro_cal
k_param_auto_fbw_steer, // unused
k_param_waypoint_max_radius,
k_param_ground_steer_alt,
k_param_ground_steer_dps,
k_param_rally_limit_km_old, //unused anymore -- just holding this index
k_param_hil_err_limit_unused, // unused
k_param_sonar_old, // unused
k_param_log_bitmask,
k_param_BoardConfig,
k_param_rssi_range, // unused, replaced by rssi_ library parameters
k_param_flapin_channel_old, // unused, moved to RC_OPTION
k_param_flaperon_output, // unused
k_param_gps,
k_param_autotune_level,
k_param_rally,
k_param_serial0_baud, // deprecated
k_param_serial1_baud, // deprecated
k_param_serial2_baud, // deprecated
k_param_takeoff_tdrag_elevator,
k_param_takeoff_tdrag_speed1,
k_param_takeoff_rotate_speed,
k_param_takeoff_throttle_slewrate,
k_param_takeoff_throttle_max,
k_param_rangefinder,
k_param_terrain,
k_param_terrain_follow,
k_param_stab_pitch_down_cd_old, // deprecated
k_param_glide_slope_min,
k_param_stab_pitch_down,
k_param_terrain_lookahead,
k_param_fbwa_tdrag_chan, // unused - moved to RC option
k_param_rangefinder_landing,
k_param_land_flap_percent, // unused - moved to AP_Landing
k_param_takeoff_flap_percent,
k_param_flap_slewrate,
k_param_rtl_autoland,
k_param_override_channel,
k_param_stall_prevention,
k_param_optflow,
k_param_cli_enabled_old, // unused - CLI removed
k_param_trim_rc_at_start, // unused
k_param_hil_mode_unused, // unused
k_param_land_disarm_delay, // unused - moved to AP_Landing
k_param_glide_slope_threshold,
k_param_rudder_only,
k_param_gcs3, // 93
k_param_gcs_pid_mask,
k_param_crash_detection_enable,
k_param_land_abort_throttle_enable, // unused - moved to AP_Landing
k_param_rssi = 97,
k_param_rpm_sensor,
k_param_parachute,
k_param_arming = 100,
k_param_parachute_channel, // unused - moved to RC option
k_param_crash_accel_threshold,
k_param_override_safety, // unused
k_param_land_throttle_slewrate, // 104 unused - moved to AP_Landing
// 105: Extra parameters
k_param_fence_retalt = 105,
k_param_fence_autoenable,
k_param_fence_ret_rally,
k_param_q_attitude_control,
k_param_takeoff_pitch_limit_reduction_sec,
// 110: Telemetry control
//
k_param_gcs0 = 110, // stream rates for SERIAL0
k_param_gcs1, // stream rates for SERIAL1
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial1_baud_old, // deprecated
k_param_telem_delay,
k_param_serial0_baud_old, // deprecated
k_param_gcs2, // stream rates for SERIAL2
k_param_serial2_baud_old, // deprecated
k_param_serial2_protocol, // deprecated
// 120: Fly-by-wire control
//
k_param_airspeed_min = 120,
k_param_airspeed_max,
k_param_FBWB_min_altitude_cm, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)
k_param_flybywire_elev_reverse,
k_param_alt_control_algorithm, // unused
k_param_flybywire_climb_rate,
k_param_acro_roll_rate,
k_param_acro_pitch_rate,
k_param_acro_locking,
k_param_use_reverse_thrust = 129,
//
// 130: Sensor parameters
//
k_param_imu = 130, // unused
k_param_altitude_mix, // deprecated
k_param_compass_enabled_deprecated,
k_param_compass,
k_param_battery_monitoring, // unused
k_param_volt_div_ratio, // unused
k_param_curr_amp_per_volt, // unused
k_param_input_voltage, // deprecated, can be deleted
k_param_pack_capacity, // unused
k_param_sonar_enabled_old, // unused
k_param_ahrs, // AHRS group
k_param_barometer, // barometer ground calibration
k_param_airspeed, // only used for parameter conversion; AP_Airspeed parameters moved to AP_Vehicle
k_param_curr_amp_offset,
k_param_NavEKF, // deprecated - remove
k_param_mission, // mission library
k_param_serial_manager, // serial manager library
k_param_NavEKF2_old, // deprecated - remove
k_param_land_pre_flare_alt, // unused - moved to AP_Landing
k_param_land_pre_flare_airspeed = 149, // unused - moved to AP_Landing
//
// 150: Navigation parameters
//
k_param_crosstrack_gain = 150, // unused
k_param_crosstrack_entry_angle, // unused
k_param_roll_limit_cd,
k_param_pitch_limit_max_cd,
k_param_pitch_limit_min_cd,
k_param_airspeed_cruise,
k_param_RTL_altitude_cm,
k_param_inverted_flight_ch_unused, // unused
k_param_min_gndspeed_cm,
k_param_crosstrack_use_wind, // unused
//
// Camera and mount parameters
//
k_param_camera = 160,
k_param_camera_mount,
k_param_camera_mount2, // unused
k_param_adsb,
k_param_notify,
k_param_land_pre_flare_sec = 165, // unused - moved to AP_Landing
//
// Battery monitoring parameters
//
k_param_battery = 166,
k_param_rssi_pin, // unused, replaced by rssi_ library parameters - 167
k_param_battery_volt_pin, // unused - 168
k_param_battery_curr_pin, // unused - 169
//
// 170: Radio settings - all unused now
//
k_param_rc_1_old = 170,
k_param_rc_2_old,
k_param_rc_3_old,
k_param_rc_4_old,
k_param_rc_5_old,
k_param_rc_6_old,
k_param_rc_7_old,
k_param_rc_8_old,
k_param_rc_9_old,
k_param_rc_10_old,
k_param_rc_11_old,
k_param_throttle_min,
k_param_throttle_max,
k_param_throttle_fs_enabled,
k_param_throttle_fs_value,
k_param_throttle_cruise,
k_param_fs_action_short,
k_param_fs_action_long,
k_param_gcs_heartbeat_fs_enabled,
k_param_throttle_slewrate,
k_param_throttle_suppress_manual,
k_param_throttle_passthru_stabilize,
k_param_rc_12_old,
k_param_fs_batt_voltage, // unused - moved to AP_BattMonitor
k_param_fs_batt_mah, // unused - moved to AP_BattMonitor
k_param_fs_timeout_short,
k_param_fs_timeout_long,
k_param_rc_13_old,
k_param_rc_14_old,
k_param_tuning,
//
// 200: Feed-forward gains
//
k_param_kff_pitch_compensation = 200, // unused
k_param_kff_rudder_mix,
k_param_kff_pitch_to_throttle, // unused
k_param_kff_throttle_to_pitch,
k_param_scaling_speed,
k_param_quadplane,
k_param_rtl_radius,
k_param_land_then_servos_neutral, // unused - moved to AP_Landing
k_param_rc_15_old,
k_param_rc_16_old,
//
// 210: flight modes
//
k_param_flight_mode_channel = 210,
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_initial_mode,
k_param_land_slope_recalc_shallow_threshold, // unused - moved to AP_Landing
k_param_land_slope_recalc_steep_threshold_to_abort, // unused - moved to AP_Landing
//
// 220: Waypoint data
//
k_param_waypoint_mode = 220, // unused
k_param_command_total, // unused
k_param_command_index, // unused
k_param_waypoint_radius,
k_param_loiter_radius,
k_param_fence_action,
k_param_fence_total,
k_param_fence_channel, // unused - moved to RC option
k_param_fence_minalt,
k_param_fence_maxalt,
// other objects
k_param_sitl = 230,
k_param_afs,
k_param_rollController,
k_param_pitchController,
k_param_yawController,
k_param_L1_controller,
k_param_rcmap,
k_param_TECS_controller,
k_param_rally_total_old, //unused
k_param_steerController,
//
// 240: PID Controllers
k_param_pidNavRoll = 240, // unused
k_param_pidServoRoll, // unused
k_param_pidServoPitch, // unused
k_param_pidNavPitchAirspeed, // unused
k_param_pidServoRudder, // unused
k_param_pidTeThrottle, // unused
k_param_pidNavPitchAltitude, // unused
k_param_pidWheelSteer, // unused
k_param_mixing_offset,
k_param_dspoiler_rud_rate,
k_param_logger = 253, // Logging Group
// 254,255: reserved
k_param_vehicle = 257, // vehicle common block of parameters
k_param_gcs4, // stream rates
k_param_gcs5, // stream rates
k_param_gcs6, // stream rates
k_param_fence, // vehicle fence - unused
k_param_acro_yaw_rate,
k_param_takeoff_throttle_max_t,
k_param_autotune_options,
};
AP_Int16 format_version;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int8 telem_delay;
AP_Enum<RtlAutoland> rtl_autoland;
AP_Int8 crash_accel_threshold;
// Feed-forward gains
//
AP_Float kff_rudder_mix;
AP_Float kff_pitch_to_throttle;
AP_Float kff_throttle_to_pitch;
AP_Float ground_steer_alt;
AP_Int16 ground_steer_dps;
AP_Float stab_pitch_down;
// speed used for speed scaling
AP_Float scaling_speed;
// Waypoints
//
AP_Int16 waypoint_radius;
AP_Int16 waypoint_max_radius;
AP_Int16 rtl_radius;
// Fly-by-wire
//
AP_Int8 flybywire_elev_reverse;
AP_Int8 flybywire_climb_rate;
// Throttle
//
AP_Int8 throttle_suppress_manual;
AP_Int8 throttle_passthru_stabilize;
AP_Int8 throttle_fs_enabled;
AP_Int16 throttle_fs_value;
AP_Int8 throttle_nudge;
AP_Int32 use_reverse_thrust;
// Failsafe
AP_Int8 fs_action_short;
AP_Int8 fs_action_long;
AP_Float fs_timeout_short;
AP_Float fs_timeout_long;
AP_Int8 gcs_heartbeat_fs_enabled;
// Flight modes
//
AP_Int8 flight_mode_channel;
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 initial_mode;
// Navigational manoeuvring limits
//
AP_Int16 alt_offset;
AP_Int16 acro_roll_rate;
AP_Int16 acro_pitch_rate;
AP_Int16 acro_yaw_rate;
AP_Int8 acro_locking;
// Misc
//
AP_Int8 rudder_only;
AP_Float mixing_gain;
AP_Int16 mixing_offset;
AP_Int16 dspoiler_rud_rate;
AP_Int32 log_bitmask;
AP_Int32 RTL_altitude_cm;
AP_Float pitch_trim;
AP_Int16 FBWB_min_altitude_cm;
AP_Int8 flap_1_percent;
AP_Int8 flap_1_speed;
AP_Int8 flap_2_percent;
AP_Int8 flap_2_speed;
AP_Int8 takeoff_flap_percent;
AP_Enum<StickMixing> stick_mixing;
AP_Float takeoff_throttle_min_speed;
AP_Float takeoff_throttle_min_accel;
AP_Int8 takeoff_throttle_delay;
AP_Int8 takeoff_tdrag_elevator;
AP_Float takeoff_tdrag_speed1;
AP_Float takeoff_rotate_speed;
AP_Int8 takeoff_throttle_slewrate;
AP_Float takeoff_pitch_limit_reduction_sec;
AP_Int8 level_roll_limit;
#if AP_TERRAIN_AVAILABLE
AP_Int32 terrain_follow;
AP_Int16 terrain_lookahead;
#endif
AP_Int16 glide_slope_min;
AP_Float glide_slope_threshold;
AP_Int8 rangefinder_landing;
AP_Int8 flap_slewrate;
#if HAL_WITH_IO_MCU
AP_Int8 override_channel;
#endif
AP_Int16 gcs_pid_mask;
};
/*
2nd block of parameters, to avoid going past 256 top level keys
*/
class ParametersG2 {
public:
ParametersG2(void);
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
// button reporting library
#if HAL_BUTTON_ENABLED
AP_Button *button_ptr;
#endif
#if STATS_ENABLED == ENABLED
// vehicle statistics
AP_Stats stats;
#endif
#if AP_ICENGINE_ENABLED
// internal combustion engine control
AP_ICEngine ice_control;
#endif
// RC input channels
RC_Channels_Plane rc_channels;
// control over servo output ranges
SRV_Channels servo_channels;
// whether to enforce acceptance of packets only from sysid_my_gcs
AP_Int8 sysid_enforce;
#if HAL_SOARING_ENABLED
// ArduSoar parameters
SoaringController soaring_controller;
#endif
// dual motor tailsitter rudder to differential thrust scaling: 0-100%
AP_Int8 rudd_dt_gain;
// mask of channels to do manual pass-thru for
AP_Int32 manual_rc_mask;
// home reset altitude threshold
AP_Int8 home_reset_threshold;
#if AP_GRIPPER_ENABLED
// Payload Gripper
AP_Gripper gripper;
#endif
AP_Int32 flight_options;
#if AP_SCRIPTING_ENABLED
AP_Scripting scripting;
#endif // AP_SCRIPTING_ENABLED
AP_Int8 takeoff_throttle_accel_count;
AP_Int8 takeoff_timeout;
#if AP_LANDINGGEAR_ENABLED
AP_LandingGear landing_gear;
#endif
// crow flaps weighting
AP_Int8 crow_flap_weight_outer;
AP_Int8 crow_flap_weight_inner;
AP_Int8 crow_flap_options;
AP_Int8 crow_flap_aileron_matching;
// Forward throttle battery voltage compensation
class FWD_BATT_CMP {
public:
// Calculate the throttle scale to compensate for battery voltage drop
void update();
// Apply throttle scale to min and max limits
void apply_min_max(int8_t &min_throttle, int8_t &max_throttle) const;
// Apply throttle scale to throttle demand
float apply_throttle(float throttle) const;
AP_Float batt_voltage_max;
AP_Float batt_voltage_min;
AP_Int8 batt_idx;
private:
bool enabled;
float ratio;
} fwd_batt_cmp;
#if OFFBOARD_GUIDED == ENABLED
// guided yaw heading PID
AC_PID guidedHeading{5000.0, 0.0, 0.0, 0 , 10.0, 5.0, 5.0 , 5.0 , 0.0};
#endif
#if AP_SCRIPTING_ENABLED && AP_FOLLOW_ENABLED
AP_Follow follow;
#endif
AP_Float fs_ekf_thresh;
// min initial climb in RTL
AP_Int16 rtl_climb_min;
AP_Int8 man_expo_roll;
AP_Int8 man_expo_pitch;
AP_Int8 man_expo_rudder;
AP_Int32 oneshot_mask;
AP_Int8 axis_bitmask; // axes to be autotuned
// just to make compilation easier when all things are compiled out...
uint8_t unused_integer;
};
extern const AP_Param::Info var_info[];
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