mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -04:00
a9349a6e87
Merged CopterLEDS and Piezo functions to eliminate pin conflict on APM2. Created new Parameter bit to turn piezo function on and off from MP. Moved GPS and Aux pin assignments to allow commonality between APM1 and 2. Set LED_Mode parameter default to 9 in order to make CopterLEDS completely backwards compatible with old Motor LEDS and Piezo code. Legacy users should see no difference.
419 lines
11 KiB
C++
419 lines
11 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef PARAMETERS_H
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#define PARAMETERS_H
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#include <AP_Common.h>
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// Global parameter class.
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//
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class Parameters {
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public:
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// The version of the layout as described by the parameter enum.
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//
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// When changing the parameter enum in an incompatible fashion, this
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// value should be incremented by one.
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//
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// The increment will prevent old parameters from being used incorrectly
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// by newer code.
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//
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static const uint16_t k_format_version = 118;
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// The parameter software_type is set up solely for ground station use
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// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
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// GCS will interpret values 0-9 as ArduPilotMega. Developers may use
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// values within that range to identify different branches.
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//
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static const uint16_t k_software_type = 10; // 0 for APM trunk
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// Parameter identities.
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//
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// The enumeration defined here is used to ensure that every parameter
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// or parameter group has a unique ID number. This number is used by
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// AP_Var to store and locate parameters in EEPROM.
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//
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// Note that entries without a number are assigned the next number after
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// the entry preceding them. When adding new entries, ensure that they
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// don't overlap.
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//
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// Try to group related variables together, and assign them a set
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// range in the enumeration. Place these groups in numerical order
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// at the end of the enumeration.
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//
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// WARNING: Care should be taken when editing this enumeration as the
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// AP_Var load/save code depends on the values here to identify
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// variables saved in EEPROM.
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//
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//
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enum {
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// Layout version number, always key zero.
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//
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k_param_format_version = 0,
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k_param_software_type,
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// Misc
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//
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k_param_log_bitmask = 20,
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k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change
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#if FRAME_CONFIG == HELI_FRAME
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//
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// 80: Heli
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//
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k_param_heli_servo_1 = 80,
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k_param_heli_servo_2,
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k_param_heli_servo_3,
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k_param_heli_servo_4,
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#endif
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//
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// 90: Motors
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//
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k_param_motors = 90,
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// 110: Telemetry control
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//
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k_param_gcs0 = 110,
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k_param_gcs3,
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k_param_sysid_this_mav,
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k_param_sysid_my_gcs,
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k_param_serial3_baud,
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//
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// 140: Sensor parameters
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//
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k_param_imu = 140, // sensor calibration
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k_param_battery_monitoring,
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k_param_volt_div_ratio,
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k_param_curr_amp_per_volt,
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k_param_input_voltage,
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k_param_pack_capacity,
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k_param_compass_enabled,
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k_param_compass,
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k_param_sonar_enabled,
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k_param_frame_orientation,
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k_param_optflow_enabled,
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k_param_low_voltage,
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k_param_ch7_option,
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k_param_auto_slew_rate,
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k_param_sonar_type,
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k_param_super_simple,
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k_param_rtl_land_enabled,
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k_param_axis_enabled,
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k_param_copter_leds_mode, //158
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k_param_ahrs, // AHRS group
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//
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// 160: Navigation parameters
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//
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k_param_RTL_altitude = 160,
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k_param_crosstrack_gain,
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k_param_auto_land_timeout,
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k_param_rtl_approach_alt,
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k_param_retro_loiter,
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//
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// 170: Radio settings
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//
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k_param_rc_1 = 170,
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k_param_rc_2,
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k_param_rc_3,
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k_param_rc_4,
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k_param_rc_5,
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k_param_rc_6,
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k_param_rc_7,
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k_param_rc_8,
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k_param_rc_camera_pitch,// rc_9
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k_param_rc_camera_roll, // rc_10
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k_param_throttle_min,
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k_param_throttle_max,
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k_param_throttle_fs_enabled,
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k_param_throttle_fs_action,
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k_param_throttle_fs_value,
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k_param_throttle_cruise,
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k_param_esc_calibrate,
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k_param_radio_tuning,
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k_param_radio_tuning_high,
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k_param_radio_tuning_low,
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k_param_camera_pitch_gain,
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k_param_camera_roll_gain,
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k_param_rc_speed,
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//
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// 200: flight modes
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//
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k_param_flight_mode1 = 200,
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k_param_flight_mode2,
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k_param_flight_mode3,
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k_param_flight_mode4,
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k_param_flight_mode5,
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k_param_flight_mode6,
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k_param_simple_modes,
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//
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// 210: Waypoint data
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//
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k_param_waypoint_mode = 210,
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k_param_command_total,
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k_param_command_index,
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k_param_command_nav_index,
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k_param_waypoint_radius,
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k_param_loiter_radius,
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k_param_waypoint_speed_max,
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//
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// 220: PI/D Controllers
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//
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k_param_stabilize_d_schedule = 219,
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k_param_stabilize_d = 220,
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k_param_acro_p,
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k_param_axis_lock_p,
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k_param_pid_rate_roll,
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k_param_pid_rate_pitch,
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k_param_pid_rate_yaw,
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k_param_pi_stabilize_roll,
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k_param_pi_stabilize_pitch,
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k_param_pi_stabilize_yaw,
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k_param_pi_loiter_lat,
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k_param_pi_loiter_lon,
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k_param_pid_loiter_rate_lat,
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k_param_pid_loiter_rate_lon,
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k_param_pid_nav_lat,
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k_param_pid_nav_lon,
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k_param_pi_alt_hold,
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k_param_pid_throttle,
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k_param_pid_optflow_roll,
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k_param_pid_optflow_pitch,
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// 254,255: reserved
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};
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AP_Int16 format_version;
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AP_Int8 software_type;
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// Telemetry control
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//
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AP_Int16 sysid_this_mav;
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AP_Int16 sysid_my_gcs;
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AP_Int8 serial3_baud;
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AP_Int16 RTL_altitude;
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AP_Int8 sonar_enabled;
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AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m range)
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AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
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AP_Float volt_div_ratio;
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AP_Float curr_amp_per_volt;
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AP_Float input_voltage;
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AP_Int16 pack_capacity; // Battery pack capacity less reserve
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AP_Int8 compass_enabled;
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AP_Int8 optflow_enabled;
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AP_Float low_voltage;
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AP_Int8 super_simple;
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AP_Int8 rtl_land_enabled;
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AP_Float rtl_approach_alt;
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AP_Int8 retro_loiter;
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AP_Int8 axis_enabled;
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AP_Int8 copter_leds_mode; // Operating mode of LED lighting system
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// Waypoints
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//
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AP_Int8 waypoint_mode;
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AP_Int8 command_total;
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AP_Int8 command_index;
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AP_Int8 command_nav_index;
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AP_Int8 waypoint_radius;
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AP_Int16 loiter_radius;
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AP_Int16 waypoint_speed_max;
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AP_Float crosstrack_gain;
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AP_Int32 auto_land_timeout;
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// Throttle
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//
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AP_Int16 throttle_min;
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AP_Int16 throttle_max;
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AP_Int8 throttle_fs_enabled;
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AP_Int8 throttle_fs_action;
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AP_Int16 throttle_fs_value;
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AP_Int16 throttle_cruise;
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// Flight modes
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//
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AP_Int8 flight_mode1;
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AP_Int8 flight_mode2;
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AP_Int8 flight_mode3;
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AP_Int8 flight_mode4;
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AP_Int8 flight_mode5;
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AP_Int8 flight_mode6;
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AP_Int8 simple_modes;
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// Misc
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//
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AP_Int16 log_bitmask;
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AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change
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AP_Int8 esc_calibrate;
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AP_Int8 radio_tuning;
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AP_Int16 radio_tuning_high;
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AP_Int16 radio_tuning_low;
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AP_Int8 frame_orientation;
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AP_Int8 ch7_option;
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AP_Int16 auto_slew_rate;
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#if FRAME_CONFIG == HELI_FRAME
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// Heli
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RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail
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#endif
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// RC channels
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RC_Channel rc_1;
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RC_Channel rc_2;
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RC_Channel rc_3;
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RC_Channel rc_4;
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RC_Channel rc_5;
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RC_Channel rc_6;
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RC_Channel rc_7;
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RC_Channel rc_8;
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RC_Channel rc_camera_pitch;
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RC_Channel rc_camera_roll;
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AP_Int16 rc_speed; // speed of fast RC Channels in Hz
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AP_Float camera_pitch_gain;
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AP_Float camera_roll_gain;
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AP_Float stabilize_d;
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AP_Float stabilize_d_schedule;
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// PI/D controllers
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AP_Float acro_p;
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AP_Float axis_lock_p;
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AC_PID pid_rate_roll;
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AC_PID pid_rate_pitch;
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AC_PID pid_rate_yaw;
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AC_PID pid_loiter_rate_lat;
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AC_PID pid_loiter_rate_lon;
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AC_PID pid_nav_lat;
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AC_PID pid_nav_lon;
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AC_PID pid_throttle;
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AC_PID pid_optflow_roll;
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AC_PID pid_optflow_pitch;
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APM_PI pi_loiter_lat;
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APM_PI pi_loiter_lon;
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APM_PI pi_stabilize_roll;
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APM_PI pi_stabilize_pitch;
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APM_PI pi_stabilize_yaw;
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APM_PI pi_alt_hold;
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// Note: keep initializers here in the same order as they are declared above.
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Parameters() :
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// variable default
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//----------------------------------------
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format_version (k_format_version),
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software_type (k_software_type),
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sysid_this_mav (MAV_SYSTEM_ID),
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sysid_my_gcs (255),
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serial3_baud (SERIAL3_BAUD/1000),
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RTL_altitude (ALT_HOLD_HOME * 100),
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sonar_enabled (DISABLED),
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sonar_type (AP_RANGEFINDER_MAXSONARXL),
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battery_monitoring (DISABLED),
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volt_div_ratio (VOLT_DIV_RATIO),
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curr_amp_per_volt (CURR_AMP_PER_VOLT),
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input_voltage (INPUT_VOLTAGE),
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pack_capacity (HIGH_DISCHARGE),
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compass_enabled (MAGNETOMETER),
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optflow_enabled (OPTFLOW),
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low_voltage (LOW_VOLTAGE),
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super_simple (SUPER_SIMPLE),
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rtl_land_enabled (RTL_AUTO_LAND),
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rtl_approach_alt (0.0),
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retro_loiter (RETRO_LOITER_MODE),
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axis_enabled (AXIS_LOCK_ENABLED),
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copter_leds_mode (9),
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waypoint_mode (0),
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command_total (0),
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command_index (0),
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command_nav_index (0),
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waypoint_radius (WP_RADIUS_DEFAULT * 100),
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loiter_radius (LOITER_RADIUS),
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waypoint_speed_max (WAYPOINT_SPEED_MAX),
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crosstrack_gain (CROSSTRACK_GAIN),
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auto_land_timeout (AUTO_LAND_TIME * 1000),
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throttle_min (0),
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throttle_max (1000),
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throttle_fs_enabled (THROTTLE_FAILSAFE),
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throttle_fs_action (THROTTLE_FAILSAFE_ACTION),
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throttle_fs_value (THROTTLE_FS_VALUE),
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throttle_cruise (THROTTLE_CRUISE),
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flight_mode1 (FLIGHT_MODE_1),
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flight_mode2 (FLIGHT_MODE_2),
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flight_mode3 (FLIGHT_MODE_3),
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flight_mode4 (FLIGHT_MODE_4),
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flight_mode5 (FLIGHT_MODE_5),
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flight_mode6 (FLIGHT_MODE_6),
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simple_modes (0),
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log_bitmask (DEFAULT_LOG_BITMASK),
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log_last_filenumber (0),
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esc_calibrate (0),
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radio_tuning (0),
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radio_tuning_high (1000),
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radio_tuning_low (0),
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frame_orientation (FRAME_ORIENTATION),
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ch7_option (CH7_OPTION),
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auto_slew_rate (AUTO_SLEW_RATE),
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rc_speed(RC_FAST_SPEED),
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camera_pitch_gain (CAM_PITCH_GAIN),
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camera_roll_gain (CAM_ROLL_GAIN),
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stabilize_d (STABILIZE_D),
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stabilize_d_schedule (STABILIZE_D_SCHEDULE),
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acro_p (ACRO_P),
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axis_lock_p (AXIS_LOCK_P),
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// PID controller initial P initial I initial D initial imax
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//-----------------------------------------------------------------------------------------------------
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pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100),
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pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100),
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pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100),
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pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100),
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pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100),
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pid_nav_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
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pid_nav_lon (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
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pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX),
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pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100),
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pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100),
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// PI controller initial P initial I initial imax
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//----------------------------------------------------------------------
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pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX * 100),
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pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX * 100),
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pi_stabilize_roll (STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100),
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pi_stabilize_pitch (STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100),
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pi_stabilize_yaw (STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100),
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pi_alt_hold (ALT_HOLD_P, ALT_HOLD_I, ALT_HOLD_IMAX)
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{
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}
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};
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#endif // PARAMETERS_H
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