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ardupilot/APMrover2/Parameters.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/*
ArduPlane parameter definitions
This firmware is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#define GSCALAR(v, name, def) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v, {def_value:def} }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, {group_info:class::var_info} }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info:class::var_info} }
const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(format_version, "FORMAT_VERSION", 0),
GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type),
GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
GSCALAR(serial3_baud, "SERIAL3_BAUD", SERIAL3_BAUD/1000),
GSCALAR(telem_delay, "TELEM_DELAY", 0),
GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP", PITCH_COMP),
GSCALAR(kff_rudder_mix, "KFF_RDDRMIX", RUDDER_MIX),
GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR", P_TO_T),
GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH", T_TO_P),
GSCALAR(manual_level, "MANUAL_LEVEL", 0),
GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", XTRACK_GAIN_SCALED),
GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD", XTRACK_ENTRY_ANGLE_CENTIDEGREE),
GSCALAR(altitude_mix, "ALT_MIX", ALTITUDE_MIX),
GSCALAR(airspeed_ratio, "ARSPD_RATIO", AIRSPEED_RATIO),
GSCALAR(airspeed_offset, "ARSPD_OFFSET", 0),
GSCALAR(command_total, "CMD_TOTAL", 0),
GSCALAR(command_index, "CMD_INDEX", 0),
GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT),
GSCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS_DEFAULT),
#if GEOFENCE_ENABLED == ENABLED
GSCALAR(fence_action, "FENCE_ACTION", 0),
GSCALAR(fence_total, "FENCE_TOTAL", 0),
GSCALAR(fence_channel, "FENCE_CHANNEL", 0),
GSCALAR(fence_minalt, "FENCE_MINALT", 0),
GSCALAR(fence_maxalt, "FENCE_MAXALT", 0),
#endif
GSCALAR(flybywire_airspeed_min, "ARSPD_FBW_MIN", AIRSPEED_FBW_MIN),
GSCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX", AIRSPEED_FBW_MAX),
GSCALAR(throttle_min, "THR_MIN", THROTTLE_MIN),
GSCALAR(throttle_max, "THR_MAX", THROTTLE_MAX),
GSCALAR(throttle_slewrate, "THR_SLEWRATE", THROTTLE_SLEW_LIMIT),
GSCALAR(throttle_fs_enabled, "THR_FAILSAFE", THROTTLE_FAILSAFE),
GSCALAR(throttle_fs_value, "THR_FS_VALUE", THROTTLE_FS_VALUE),
GSCALAR(throttle_cruise, "TRIM_THROTTLE", THROTTLE_CRUISE),
GSCALAR(short_fs_action, "FS_SHORT_ACTN", SHORT_FAILSAFE_ACTION),
GSCALAR(long_fs_action, "FS_LONG_ACTN", LONG_FAILSAFE_ACTION),
GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL", GCS_HEARTBEAT_FAILSAFE),
GSCALAR(flight_mode_channel, "FLTMODE_CH", FLIGHT_MODE_CHANNEL),
GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1),
GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2),
GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3),
GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4),
GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5),
GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6),
GSCALAR(roll_limit, "LIM_ROLL_CD", HEAD_MAX_CENTIDEGREE),
GSCALAR(pitch_limit_max, "LIM_PITCH_MAX", PITCH_MAX_CENTIDEGREE),
GSCALAR(pitch_limit_min, "LIM_PITCH_MIN", PITCH_MIN_CENTIDEGREE),
GSCALAR(auto_trim, "TRIM_AUTO", AUTO_TRIM),
GSCALAR(switch_enable, "SWITCH_ENABLE", REVERSE_SWITCH),
GSCALAR(mix_mode, "ELEVON_MIXING", ELEVON_MIXING),
GSCALAR(reverse_elevons, "ELEVON_REVERSE", ELEVON_REVERSE),
GSCALAR(reverse_ch1_elevon, "ELEVON_CH1_REV", ELEVON_CH1_REVERSE),
GSCALAR(reverse_ch2_elevon, "ELEVON_CH2_REV", ELEVON_CH2_REVERSE),
GSCALAR(num_resets, "SYS_NUM_RESETS", 0),
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
GSCALAR(log_last_filenumber, "LOG_LASTFILE", 0),
GSCALAR(reset_switch_chan, "RST_SWITCH_CH", 0),
GSCALAR(airspeed_cruise, "TRIM_ARSPD_CM", AIRSPEED_CRUISE_CM),
GSCALAR(min_gndspeed, "MIN_GNDSPD_CM", MIN_GNDSPEED_CM),
GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION),
GSCALAR(pitch_trim, "TRIM_PITCH_CD", 0),
GSCALAR(RTL_altitude, "ALT_HOLD_RTL", ALT_HOLD_HOME_CM),
GSCALAR(FBWB_min_altitude, "ALT_HOLD_FBWCM", ALT_HOLD_FBW_CM),
GSCALAR(ground_temperature, "GND_TEMP", 0),
GSCALAR(ground_pressure, "GND_ABS_PRESS", 0),
GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER),
GSCALAR(flap_1_percent, "FLAP_1_PERCNT", FLAP_1_PERCENT),
GSCALAR(flap_1_speed, "FLAP_1_SPEED", FLAP_2_SPEED),
GSCALAR(flap_2_percent, "FLAP_2_PERCNT", FLAP_2_PERCENT),
GSCALAR(flap_2_speed, "FLAP_2_SPEED", FLAP_2_SPEED),
GSCALAR(battery_monitoring, "BATT_MONITOR", DISABLED),
GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO),
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT),
GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE),
GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE),
GSCALAR(inverted_flight_ch, "INVERTEDFLT_CH", 0),
#if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_SONAR == ENABLED
// @Param: SONAR_ENABLE
// @DisplayName: Enable Sonar
// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(sonar_enabled, "SONAR_ENABLE", SONAR_ENABLED),
GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL),
#endif
#endif
GSCALAR(airspeed_enabled, "ARSPD_ENABLE", AIRSPEED_SENSOR),
// ************************************************************
// APMrover parameters - JLN update
GSCALAR(closed_loop_nav, "ROV_CL_NAV", CLOSED_LOOP_NAV),
GSCALAR(auto_wp_radius, "ROV_AWPR_NAV", AUTO_WP_RADIUS),
GSCALAR(sonar_trigger, "ROV_SONAR_TRIG", SONAR_TRIGGER),
GSCALAR(turn_gain, "ROV_GAIN", TURN_GAIN),
GSCALAR(booster, "ROV_BOOSTER", BOOSTER),
// ************************************************************
GGROUP(channel_roll, "RC1_", RC_Channel),
GGROUP(channel_pitch, "RC2_", RC_Channel),
GGROUP(channel_throttle, "RC3_", RC_Channel),
GGROUP(channel_rudder, "RC4_", RC_Channel),
GGROUP(rc_5, "RC5_", RC_Channel_aux),
GGROUP(rc_6, "RC6_", RC_Channel_aux),
GGROUP(rc_7, "RC7_", RC_Channel_aux),
GGROUP(rc_8, "RC8_", RC_Channel_aux),
GGROUP(pidNavRoll, "HDNG2RLL_", PID),
GGROUP(pidServoRoll, "RLL2SRV_", PID),
GGROUP(pidServoPitch, "PTCH2SRV_", PID),
GGROUP(pidNavPitchAirspeed, "ARSP2PTCH_", PID),
GGROUP(pidServoRudder, "YW2SRV_", PID),
GGROUP(pidTeThrottle, "ENRGY2THR_", PID),
GGROUP(pidNavPitchAltitude, "ALT2PTCH_", PID),
// variables not in the g class which contain EEPROM saved variables
GOBJECT(compass, "COMPASS_", Compass),
GOBJECT(gcs0, "SR0_", GCS_MAVLINK),
GOBJECT(gcs3, "SR3_", GCS_MAVLINK),
GOBJECT(imu, "IMU_", IMU),
AP_VAREND
};
static void load_parameters(void)
{
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
Serial.printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
Serial.println_P(PSTR("done."));
} else {
unsigned long before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before);
}
}
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