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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) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, class::var_info }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, class::var_info }
static const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(format_version, "FORMAT_VERSION"),
GSCALAR(software_type, "SYSID_SW_TYPE"),
GSCALAR(sysid_this_mav, "SYSID_THISMAV"),
GSCALAR(sysid_my_gcs, "SYSID_MYGCS"),
GSCALAR(serial3_baud, "SERIAL3_BAUD"),
GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP"),
GSCALAR(kff_rudder_mix, "KFF_RDDRMIX"),
GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR"),
GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH"),
GSCALAR(manual_level, "MANUAL_LEVEL"),
GSCALAR(crosstrack_gain, "XTRK_GAIN_SC"),
GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD"),
GSCALAR(altitude_mix, "ALT_MIX"),
GSCALAR(airspeed_ratio, "ARSPD_RATIO"),
GSCALAR(airspeed_offset, "ARSPD_OFFSET"),
GSCALAR(command_total, "CMD_TOTAL"),
GSCALAR(command_index, "CMD_INDEX"),
GSCALAR(waypoint_radius, "WP_RADIUS"),
GSCALAR(loiter_radius, "WP_LOITER_RAD"),
#if GEOFENCE_ENABLED == ENABLED
GSCALAR(fence_action, "FENCE_ACTION"),
GSCALAR(fence_total, "FENCE_TOTAL"),
GSCALAR(fence_channel, "FENCE_CHANNEL"),
GSCALAR(fence_minalt, "FENCE_MINALT"),
GSCALAR(fence_maxalt, "FENCE_MAXALT"),
#endif
GSCALAR(flybywire_airspeed_min, "ARSPD_FBW_MIN"),
GSCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX"),
GSCALAR(throttle_min, "THR_MIN"),
GSCALAR(throttle_max, "THR_MAX"),
GSCALAR(throttle_slewrate, "THR_SLEWRATE"),
GSCALAR(throttle_fs_enabled, "THR_FAILSAFE"),
GSCALAR(throttle_fs_value, "THR_FS_VALUE"),
GSCALAR(throttle_cruise, "TRIM_THROTTLE"),
GSCALAR(short_fs_action, "FS_SHORT_ACTN"),
GSCALAR(long_fs_action, "FS_LONG_ACTN"),
GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL"),
GSCALAR(flight_mode_channel, "FLTMODE_CH"),
GSCALAR(flight_mode1, "FLTMODE1"),
GSCALAR(flight_mode2, "FLTMODE2"),
GSCALAR(flight_mode3, "FLTMODE3"),
GSCALAR(flight_mode4, "FLTMODE4"),
GSCALAR(flight_mode5, "FLTMODE5"),
GSCALAR(flight_mode6, "FLTMODE6"),
GSCALAR(roll_limit, "LIM_ROLL_CD"),
GSCALAR(pitch_limit_max, "LIM_PITCH_MAX"),
GSCALAR(pitch_limit_min, "LIM_PITCH_MIN"),
GSCALAR(auto_trim, "TRIM_AUTO"),
GSCALAR(switch_enable, "SWITCH_ENABLE"),
GSCALAR(mix_mode, "ELEVON_MIXING"),
GSCALAR(reverse_elevons, "ELEVON_REVERSE"),
GSCALAR(reverse_ch1_elevon, "ELEVON_CH1_REV"),
GSCALAR(reverse_ch2_elevon, "ELEVON_CH2_REV"),
GSCALAR(num_resets, "SYS_NUM_RESETS"),
GSCALAR(log_bitmask, "LOG_BITMASK"),
GSCALAR(log_last_filenumber, "LOG_LASTFILE"),
GSCALAR(reset_switch_chan, "RST_SWITCH_CH"),
GSCALAR(airspeed_cruise, "TRIM_ARSPD_CM"),
GSCALAR(min_gndspeed, "MIN_GNDSPD_CM"),
GSCALAR(ch7_option, "CH7_OPT"),
GSCALAR(pitch_trim, "TRIM_PITCH_CD"),
GSCALAR(RTL_altitude, "ALT_HOLD_RTL"),
GSCALAR(FBWB_min_altitude, "ALT_HOLD_FBWCM"),
GSCALAR(ground_temperature, "GND_TEMP"),
GSCALAR(ground_pressure, "GND_ABS_PRESS"),
GSCALAR(compass_enabled, "MAG_ENABLE"),
GSCALAR(flap_1_percent, "FLAP_1_PERCNT"),
GSCALAR(flap_1_speed, "FLAP_1_SPEED"),
GSCALAR(flap_2_percent, "FLAP_2_PERCNT"),
GSCALAR(flap_2_speed, "FLAP_2_SPEED"),
GSCALAR(battery_monitoring, "BATT_MONITOR"),
GSCALAR(volt_div_ratio, "VOLT_DIVIDER"),
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT"),
GSCALAR(input_voltage, "INPUT_VOLTS"),
GSCALAR(pack_capacity, "BATT_CAPACITY"),
GSCALAR(inverted_flight_ch, "INVERTEDFLT_CH"),
#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"),
GSCALAR(sonar_type, "SONAR_TYPE"),
#endif
#endif
GSCALAR(airspeed_enabled, "ARSPD_ENABLE"),
// ************************************************************
// APMrover parameters - JLN update
GSCALAR(closed_loop_nav, "ROV_CL_NAV"),
GSCALAR(auto_wp_radius, "ROV_AWPR_NAV"),
GSCALAR(sonar_trigger, "ROV_SONAR_TRIG"),
GSCALAR(turn_gain, "ROV_GAIN"),
GSCALAR(booster, "ROV_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)
};
static void load_parameters(void)
{
// setup the AP_Var subsystem for storage to EEPROM
if (!AP_Param::setup(var_info, sizeof(var_info)/sizeof(var_info[0]), WP_START_BYTE)) {
// this can only happen on startup, and its a definate coding
// error. Best not to continue so the programmer catches it
while (1) {
Serial.println_P(PSTR("ERROR: Failed to setup AP_Param"));
delay(1000);
}
}
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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