mirror of https://github.com/ArduPilot/ardupilot
181 lines
6.2 KiB
C++
181 lines
6.2 KiB
C++
#include "AP_Mount_Params.h"
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#include <GCS_MAVLink/GCS_MAVLink.h>
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// table of user settable parameters
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const AP_Param::GroupInfo AP_Mount_Params::var_info[] = {
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// 0 should not be used
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// @Param: _TYPE
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// @DisplayName: Mount Type
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// @Description: Mount Type
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// @Values: 0:None, 1:Servo, 2:3DR Solo, 3:Alexmos Serial, 4:SToRM32 MAVLink, 5:SToRM32 Serial, 6:Gremsy, 7:BrushlessPWM, 8:Siyi, 9:Scripting, 10:Xacti, 11:Viewpro
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// @RebootRequired: True
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// @User: Standard
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AP_GROUPINFO_FLAGS("_TYPE", 1, AP_Mount_Params, type, 0, AP_PARAM_FLAG_ENABLE),
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// @Param: _DEFLT_MODE
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// @DisplayName: Mount default operating mode
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// @Description: Mount default operating mode on startup and after control is returned from autopilot
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// @Values: 0:Retracted,1:Neutral,2:MavLink Targeting,3:RC Targeting,4:GPS Point,5:SysID Target,6:Home Location
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// @User: Standard
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AP_GROUPINFO("_DEFLT_MODE", 2, AP_Mount_Params, default_mode, MAV_MOUNT_MODE_RC_TARGETING),
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// @Param: _RC_RATE
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// @DisplayName: Mount RC Rate
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// @Description: Pilot rate control's maximum rate. Set to zero to use angle control
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// @Units: deg/s
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// @Range: 0 90
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("_RC_RATE", 3, AP_Mount_Params, rc_rate_max, 0),
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// @Param: _ROLL_MIN
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// @DisplayName: Mount Roll angle minimum
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// @Description: Mount Roll angle minimum
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// @Units: deg
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// @Range: -180 180
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("_ROLL_MIN", 4, AP_Mount_Params, roll_angle_min, -30),
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// @Param: _ROLL_MAX
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// @DisplayName: Mount Roll angle maximum
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// @Description: Mount Roll angle maximum
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// @Units: deg
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// @Range: -180 180
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("_ROLL_MAX", 5, AP_Mount_Params, roll_angle_max, 30),
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// @Param: _PITCH_MIN
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// @DisplayName: Mount Pitch angle minimum
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// @Description: Mount Pitch angle minimum
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// @Units: deg
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// @Range: -90 90
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("_PITCH_MIN", 6, AP_Mount_Params, pitch_angle_min, -90),
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// @Param: _PITCH_MAX
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// @DisplayName: Mount Pitch angle maximum
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// @Description: Mount Pitch angle maximum
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// @Units: deg
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// @Range: -90 90
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("_PITCH_MAX", 7, AP_Mount_Params, pitch_angle_max, 20),
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// @Param: _YAW_MIN
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// @DisplayName: Mount Yaw angle minimum
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// @Description: Mount Yaw angle minimum
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// @Units: deg
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// @Range: -180 180
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("_YAW_MIN", 8, AP_Mount_Params, yaw_angle_min, -180),
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// @Param: _YAW_MAX
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// @DisplayName: Mount Yaw angle maximum
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// @Description: Mount Yaw angle maximum
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// @Units: deg
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// @Range: -180 180
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("_YAW_MAX", 9, AP_Mount_Params, yaw_angle_max, 180),
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// @Param: _RETRACT_X
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// @DisplayName: Mount roll angle when in retracted position
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// @Description: Mount roll angle when in retracted position
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// @Units: deg
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// @Range: -180.0 180.0
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// @Increment: 1
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// @User: Standard
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// @Param: _RETRACT_Y
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// @DisplayName: Mount pitch angle when in retracted position
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// @Description: Mount pitch angle when in retracted position
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// @Units: deg
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// @Range: -180.0 180.0
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// @Increment: 1
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// @User: Standard
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// @Param: _RETRACT_Z
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// @DisplayName: Mount yaw angle when in retracted position
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// @Description: Mount yaw angle when in retracted position
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// @Units: deg
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// @Range: -180.0 180.0
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("_RETRACT", 10, AP_Mount_Params, retract_angles, 0),
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// @Param: _NEUTRAL_X
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// @DisplayName: Mount roll angle when in neutral position
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// @Description: Mount roll angle when in neutral position
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// @Units: deg
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// @Range: -180.0 180.0
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// @Increment: 1
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// @User: Standard
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// @Param: _NEUTRAL_Y
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// @DisplayName: Mount pitch angle when in neutral position
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// @Description: Mount pitch angle when in neutral position
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// @Units: deg
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// @Range: -180.0 180.0
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// @Increment: 1
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// @User: Standard
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// @Param: _NEUTRAL_Z
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// @DisplayName: Mount yaw angle when in neutral position
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// @Description: Mount yaw angle when in neutral position
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// @Units: deg
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// @Range: -180.0 180.0
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("_NEUTRAL", 11, AP_Mount_Params, neutral_angles, 0),
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// @Param: _LEAD_RLL
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// @DisplayName: Mount Roll stabilization lead time
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// @Description: Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot
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// @Units: s
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// @Range: 0.0 0.2
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// @Increment: .005
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// @User: Standard
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AP_GROUPINFO("_LEAD_RLL", 12, AP_Mount_Params, roll_stb_lead, 0.0f),
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// @Param: _LEAD_PTCH
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// @DisplayName: Mount Pitch stabilization lead time
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// @Description: Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot
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// @Units: s
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// @Range: 0.0 0.2
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// @Increment: .005
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// @User: Standard
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AP_GROUPINFO("_LEAD_PTCH", 13, AP_Mount_Params, pitch_stb_lead, 0.0f),
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// @Param: _SYSID_DFLT
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// @DisplayName: Mount Target sysID
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// @Description: Default Target sysID for the mount to point to
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// @RebootRequired: True
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// @User: Standard
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AP_GROUPINFO("_SYSID_DFLT", 14, AP_Mount_Params, sysid_default, 0),
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// @Param: _DEVID
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// @DisplayName: Mount Device ID
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// @Description: Mount device ID, taking into account its type, bus and instance
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// @User: Advanced
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AP_GROUPINFO_FLAGS("_DEVID", 15, AP_Mount_Params, dev_id, 0, AP_PARAM_FLAG_INTERNAL_USE_ONLY),
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// @Param: _OPTIONS
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// @DisplayName: Mount options
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// @Description: Mount options bitmask
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// @Bitmask: 0:RC lock state from previous mode
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// @User: Standard
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AP_GROUPINFO("_OPTIONS", 16, AP_Mount_Params, options, 0),
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AP_GROUPEND
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};
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AP_Mount_Params::AP_Mount_Params(void) {
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AP_Param::setup_object_defaults(this, var_info);
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}
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