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ardupilot/ArduCopter/Parameters.h

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#pragma once
#define AP_PARAM_VEHICLE_NAME copter
#include <AP_Common/AP_Common.h>
#include "RC_Channel.h"
#include <AP_Proximity/AP_Proximity.h>
#if MODE_FOLLOW_ENABLED == ENABLED
# include <AP_Follow/AP_Follow.h>
#endif
#if WEATHERVANE_ENABLED == ENABLED
#include <AC_AttitudeControl/AC_WeatherVane.h>
#endif
// Global parameter class.
//
class Parameters {
public:
// The version of the layout as described by the parameter enum.
//
// When changing the parameter enum in an incompatible fashion, this
// value should be incremented by one.
//
// The increment will prevent old parameters from being used incorrectly
// by newer code.
//
static const uint16_t k_format_version = 120;
// Parameter identities.
//
// The enumeration defined here is used to ensure that every parameter
// or parameter group has a unique ID number. This number is used by
// AP_Param to store and locate parameters in EEPROM.
//
// Note that entries without a number are assigned the next number after
// the entry preceding them. When adding new entries, ensure that they
// don't overlap.
//
// Try to group related variables together, and assign them a set
// range in the enumeration. Place these groups in numerical order
// at the end of the enumeration.
//
// WARNING: Care should be taken when editing this enumeration as the
// AP_Param load/save code depends on the values here to identify
// variables saved in EEPROM.
//
//
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type, // deprecated
k_param_ins_old, // *** Deprecated, remove with next eeprom number change
k_param_ins, // libraries/AP_InertialSensor variables
k_param_NavEKF2_old, // deprecated - remove
k_param_NavEKF2,
k_param_g2, // 2nd block of parameters
k_param_NavEKF3,
k_param_can_mgr,
k_param_osd,
// simulation
k_param_sitl = 10,
// barometer object (needed for SITL)
k_param_barometer,
// scheduler object (for debugging)
k_param_scheduler,
// relay object
k_param_relay,
// (old) EPM object
k_param_epm_unused,
// BoardConfig object
k_param_BoardConfig,
// GPS object
k_param_gps,
// Parachute object
k_param_parachute,
// Landing gear object
k_param_landinggear, // 18
// Input Management object
k_param_input_manager, // 19
// Misc
//
k_param_log_bitmask_old = 20, // Deprecated
k_param_log_last_filenumber, // *** Deprecated - remove
// with next eeprom number
// change
k_param_toy_yaw_rate, // deprecated - remove
k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change
k_param_rssi_pin, // unused, replaced by rssi_ library parameters
k_param_throttle_accel_enabled, // deprecated - remove
k_param_wp_yaw_behavior,
k_param_acro_trainer,
k_param_pilot_speed_up, // renamed from k_param_pilot_velocity_z_max
k_param_circle_rate, // deprecated - remove
k_param_rangefinder_gain, // deprecated - remove
k_param_ch8_option_old, // deprecated
k_param_arming_check_old, // deprecated - remove
k_param_sprayer,
k_param_angle_max,
k_param_gps_hdop_good,
k_param_battery,
k_param_fs_batt_mah, // unused - moved to AP_BattMonitor
k_param_angle_rate_max, // remove
k_param_rssi_range, // unused, replaced by rssi_ library parameters
k_param_rc_feel_rp, // deprecated
k_param_NavEKF, // deprecated - remove
k_param_mission, // mission library
k_param_rc_13_old,
k_param_rc_14_old,
k_param_rally,
k_param_poshold_brake_rate,
k_param_poshold_brake_angle_max,
k_param_pilot_accel_z,
k_param_serial0_baud, // deprecated - remove
k_param_serial1_baud, // deprecated - remove
k_param_serial2_baud, // deprecated - remove
k_param_land_repositioning,
k_param_rangefinder, // rangefinder object
k_param_fs_ekf_thresh,
k_param_terrain,
k_param_acro_rp_expo, // deprecated - remove
k_param_throttle_deadzone,
k_param_optflow,
k_param_dcmcheck_thresh, // deprecated - remove
k_param_log_bitmask,
k_param_cli_enabled_old, // deprecated - remove
k_param_throttle_filt,
k_param_throttle_behavior,
k_param_pilot_takeoff_alt, // 64
// 65: AP_Limits Library
k_param_limits = 65, // deprecated - remove
k_param_gpslock_limit, // deprecated - remove
k_param_geofence_limit, // deprecated - remove
k_param_altitude_limit, // deprecated - remove
k_param_fence_old, // only used for conversion
k_param_gps_glitch, // deprecated
k_param_baro_glitch, // 71 - deprecated
// AP_ADSB Library
k_param_adsb, // 72
k_param_notify, // 73
// 74: precision landing object
k_param_precland = 74,
//
// 75: Singlecopter, CoaxCopter
//
k_param_single_servo_1 = 75, // remove
k_param_single_servo_2, // remove
k_param_single_servo_3, // remove
k_param_single_servo_4, // 78 - remove
//
// 80: Heli
//
k_param_heli_servo_1 = 80, // remove
k_param_heli_servo_2, // remove
k_param_heli_servo_3, // remove
k_param_heli_servo_4, // remove
k_param_heli_pitch_ff, // remove
k_param_heli_roll_ff, // remove
k_param_heli_yaw_ff, // remove
k_param_heli_stab_col_min, // remove
k_param_heli_stab_col_max, // remove
k_param_heli_servo_rsc, // 89 = full! - remove
//
// 90: misc2
//
k_param_motors = 90,
k_param_disarm_delay,
k_param_fs_crash_check,
k_param_throw_motor_start,
k_param_rtl_alt_type,
k_param_avoid,
k_param_avoidance_adsb,
// 97: RSSI
k_param_rssi = 97,
//
// 100: Inertial Nav
//
k_param_inertial_nav = 100, // deprecated
k_param_wp_nav,
k_param_attitude_control,
k_param_pos_control,
k_param_circle_nav,
k_param_loiter_nav, // 105
k_param_custom_control,
// 110: Telemetry control
//
k_param_gcs0 = 110,
k_param_gcs1,
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial1_baud_old, // deprecated
k_param_telem_delay,
k_param_gcs2,
k_param_serial2_baud_old, // deprecated
k_param_serial2_protocol, // deprecated
k_param_serial_manager,
k_param_ch9_option_old,
k_param_ch10_option_old,
k_param_ch11_option_old,
k_param_ch12_option_old,
k_param_takeoff_trigger_dz_old,
k_param_gcs3,
k_param_gcs_pid_mask, // 126
k_param_gcs4,
k_param_gcs5,
k_param_gcs6,
//
// 135 : reserved for Solo until features merged with master
//
k_param_rtl_speed_cms = 135,
k_param_fs_batt_curr_rtl,
k_param_rtl_cone_slope, // 137
//
// 140: Sensor parameters
//
k_param_imu = 140, // deprecated - can be deleted
k_param_battery_monitoring = 141, // deprecated - can be deleted
k_param_volt_div_ratio, // deprecated - can be deleted
k_param_curr_amp_per_volt, // deprecated - can be deleted
k_param_input_voltage, // deprecated - can be deleted
k_param_pack_capacity, // deprecated - can be deleted
k_param_compass_enabled_deprecated,
k_param_compass,
k_param_rangefinder_enabled_old, // deprecated
k_param_frame_type,
k_param_optflow_enabled, // deprecated
k_param_fs_batt_voltage, // unused - moved to AP_BattMonitor
k_param_ch7_option_old,
k_param_auto_slew_rate, // deprecated - can be deleted
k_param_rangefinder_type_old, // deprecated
k_param_super_simple = 155,
k_param_axis_enabled = 157, // deprecated - remove with next eeprom number change
k_param_copter_leds_mode, // deprecated - remove with next eeprom number change
k_param_ahrs, // AHRS group // 159
//
// 160: Navigation parameters
//
k_param_rtl_altitude = 160,
k_param_crosstrack_gain, // deprecated - remove with next eeprom number change
k_param_rtl_loiter_time,
k_param_rtl_alt_final,
k_param_tilt_comp, // 164 deprecated - remove with next eeprom number change
//
// Camera and mount parameters
//
k_param_camera = 165,
k_param_camera_mount,
k_param_camera_mount2, // deprecated
//
// Battery monitoring parameters
//
k_param_battery_volt_pin = 168, // deprecated - can be deleted
k_param_battery_curr_pin, // 169 deprecated - can be deleted
//
// 170: Radio settings
//
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_10_old,
k_param_rc_11_old,
k_param_throttle_min, // remove
k_param_throttle_max, // remove
k_param_failsafe_throttle,
k_param_throttle_fs_action, // remove
k_param_failsafe_throttle_value,
k_param_throttle_trim, // remove
k_param_esc_calibrate,
k_param_radio_tuning,
k_param_radio_tuning_high_old, // unused
k_param_radio_tuning_low_old, // unused
k_param_rc_speed = 192,
k_param_failsafe_battery_enabled, // unused - moved to AP_BattMonitor
k_param_throttle_mid, // remove
k_param_failsafe_gps_enabled, // remove
k_param_rc_9_old,
k_param_rc_12_old,
k_param_failsafe_gcs,
k_param_rcmap, // 199
//
// 200: flight modes
//
k_param_flight_mode1 = 200,
k_param_flight_mode2,
k_param_flight_mode3,
k_param_flight_mode4,
k_param_flight_mode5,
k_param_flight_mode6,
k_param_simple_modes,
k_param_flight_mode_chan,
k_param_initial_mode,
//
// 210: Waypoint data
//
k_param_waypoint_mode = 210, // remove
k_param_command_total, // remove
k_param_command_index, // remove
k_param_command_nav_index, // remove
k_param_waypoint_radius, // remove
k_param_circle_radius, // remove
k_param_waypoint_speed_max, // remove
k_param_land_speed,
k_param_auto_velocity_z_min, // remove
k_param_auto_velocity_z_max, // remove - 219
k_param_land_speed_high,
//
// 220: PI/D Controllers
//
k_param_acro_rp_p = 221, // remove
k_param_axis_lock_p, // remove
k_param_pid_rate_roll, // remove
k_param_pid_rate_pitch, // remove
k_param_pid_rate_yaw, // remove
k_param_p_stabilize_roll, // remove
k_param_p_stabilize_pitch, // remove
k_param_p_stabilize_yaw, // remove
k_param_p_pos_xy, // remove
k_param_p_loiter_lon, // remove
k_param_pid_loiter_rate_lat, // remove
k_param_pid_loiter_rate_lon, // remove
k_param_pid_nav_lat, // remove
k_param_pid_nav_lon, // remove
k_param_p_alt_hold, // remove
k_param_p_vel_z, // remove
k_param_pid_optflow_roll, // remove
k_param_pid_optflow_pitch, // remove
k_param_acro_balance_roll_old, // remove
k_param_acro_balance_pitch_old, // remove
k_param_pid_accel_z, // remove
k_param_acro_balance_roll,
k_param_acro_balance_pitch,
k_param_acro_yaw_p, // remove
k_param_autotune_axis_bitmask, // remove
k_param_autotune_aggressiveness, // remove
k_param_pi_vel_xy, // remove
k_param_fs_ekf_action,
k_param_rtl_climb_min,
k_param_rpm_sensor,
k_param_autotune_min_d, // remove
k_param_arming, // 252 - AP_Arming
k_param_logger = 253, // 253 - Logging Group
// 254,255: reserved
k_param_vehicle = 257, // vehicle common block of parameters
k_param_throw_altitude_min,
k_param_throw_altitude_max,
// the k_param_* space is 9-bits in size
// 511: reserved
};
AP_Int16 format_version;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int8 telem_delay;
AP_Float throttle_filt;
AP_Int16 throttle_behavior;
AP_Float pilot_takeoff_alt;
#if MODE_RTL_ENABLED == ENABLED
AP_Int32 rtl_altitude;
AP_Int16 rtl_speed_cms;
AP_Float rtl_cone_slope;
AP_Int16 rtl_alt_final;
AP_Int16 rtl_climb_min; // rtl minimum climb in cm
AP_Int32 rtl_loiter_time;
AP_Enum<ModeRTL::RTLAltType> rtl_alt_type;
#endif
AP_Int8 failsafe_gcs; // ground station failsafe behavior
AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position
AP_Int8 super_simple;
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
#if MODE_POSHOLD_ENABLED == ENABLED
AP_Int16 poshold_brake_rate; // PosHold flight mode's rotation rate during braking in deg/sec
AP_Int16 poshold_brake_angle_max; // PosHold flight mode's max lean angle during braking in centi-degrees
#endif
// Waypoints
//
AP_Int16 land_speed;
AP_Int16 land_speed_high;
AP_Int16 pilot_speed_up; // maximum vertical ascending velocity the pilot may request
AP_Int16 pilot_accel_z; // vertical acceleration the pilot may request
// Throttle
//
AP_Int8 failsafe_throttle;
AP_Int16 failsafe_throttle_value;
AP_Int16 throttle_deadzone;
// Flight modes
//
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 simple_modes;
AP_Int8 flight_mode_chan;
AP_Int8 initial_mode;
// Misc
//
AP_Int32 log_bitmask;
AP_Int8 esc_calibrate;
AP_Int8 radio_tuning;
AP_Int8 frame_type;
AP_Int8 disarm_delay;
AP_Int8 land_repositioning;
AP_Int8 fs_ekf_action;
AP_Int8 fs_crash_check;
AP_Float fs_ekf_thresh;
AP_Int16 gcs_pid_mask;
#if MODE_THROW_ENABLED == ENABLED
AP_Enum<ModeThrow::PreThrowMotorState> throw_motor_start;
AP_Int16 throw_altitude_min; // minimum altitude in m above which a throw can be detected
AP_Int16 throw_altitude_max; // maximum altitude in m below which a throw can be detected
#endif
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
// Acro parameters
AP_Float acro_balance_roll;
AP_Float acro_balance_pitch;
#endif
#if MODE_ACRO_ENABLED == ENABLED
// Acro parameters
AP_Int8 acro_trainer;
#endif
// Note: keep initializers here in the same order as they are declared
// above.
Parameters()
{
}
};
/*
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[];
static const struct AP_Param::GroupInfo var_info2[];
// altitude at which nav control can start in takeoff
AP_Float wp_navalt_min;
// button checking
#if HAL_BUTTON_ENABLED
AP_Button *button_ptr;
#endif
#if MODE_THROW_ENABLED == ENABLED
// Throw mode parameters
AP_Int8 throw_nextmode;
AP_Enum<ModeThrow::ThrowType> throw_type;
#endif
// ground effect compensation enable/disable
AP_Int8 gndeffect_comp_enabled;
#if AP_TEMPCALIBRATION_ENABLED
// temperature calibration handling
AP_TempCalibration temp_calibration;
#endif
#if AP_BEACON_ENABLED
// beacon (non-GPS positioning) library
AP_Beacon beacon;
#endif
#if HAL_PROXIMITY_ENABLED
// proximity (aka object avoidance) library
AP_Proximity proximity;
#endif
// whether to enforce acceptance of packets only from sysid_my_gcs
AP_Int8 sysid_enforce;
#if ADVANCED_FAILSAFE == ENABLED
// advanced failsafe library
AP_AdvancedFailsafe_Copter afs;
#endif
// developer options
AP_Int32 dev_options;
#if MODE_ACRO_ENABLED == ENABLED
AP_Float acro_thr_mid;
#endif
// frame class
AP_Int8 frame_class;
// RC input channels
RC_Channels_Copter rc_channels;
// control over servo output ranges
SRV_Channels servo_channels;
#if MODE_SMARTRTL_ENABLED == ENABLED
// Safe RTL library
AP_SmartRTL smart_rtl;
#endif
// wheel encoder and winch
#if AP_WINCH_ENABLED
AP_Winch winch;
#endif
// Additional pilot velocity items
AP_Int16 pilot_speed_dn;
// Land alt final stage
AP_Int16 land_alt_low;
#if TOY_MODE_ENABLED == ENABLED
ToyMode toy_mode;
#endif
#if MODE_FLOWHOLD_ENABLED
// we need a pointer to the mode for the G2 table
void *mode_flowhold_ptr;
#endif
#if MODE_FOLLOW_ENABLED == ENABLED
// follow
AP_Follow follow;
#endif
#if USER_PARAMS_ENABLED == ENABLED
// User custom parameters
UserParameters user_parameters;
#endif
#if AUTOTUNE_ENABLED == ENABLED
// we need a pointer to autotune for the G2 table
void *autotune_ptr;
#endif
AP_Float tuning_min;
AP_Float tuning_max;
#if AC_OAPATHPLANNER_ENABLED == ENABLED
// object avoidance path planning
AP_OAPathPlanner oa;
#endif
#if MODE_SYSTEMID_ENABLED == ENABLED
// we need a pointer to the mode for the G2 table
void *mode_systemid_ptr;
#endif
// vibration failsafe enable/disable
AP_Int8 fs_vibe_enabled;
// Failsafe options bitmask #36
AP_Int32 fs_options;
#if MODE_AUTOROTATE_ENABLED == ENABLED
// Autonmous autorotation
AC_Autorotation arot;
#endif
#if MODE_ZIGZAG_ENABLED == ENABLED
// we need a pointer to the mode for the G2 table
void *mode_zigzag_ptr;
#endif
// command model parameters
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
AC_CommandModel command_model_acro_rp;
#endif
#if MODE_ACRO_ENABLED == ENABLED || MODE_DRIFT_ENABLED == ENABLED
AC_CommandModel command_model_acro_y;
#endif
AC_CommandModel command_model_pilot;
#if MODE_ACRO_ENABLED == ENABLED
AP_Int8 acro_options;
#endif
#if MODE_AUTO_ENABLED == ENABLED
AP_Int32 auto_options;
#endif
#if MODE_GUIDED_ENABLED == ENABLED
AP_Int32 guided_options;
#endif
AP_Float fs_gcs_timeout;
#if MODE_RTL_ENABLED == ENABLED
AP_Int32 rtl_options;
#endif
AP_Int32 flight_options;
#if RANGEFINDER_ENABLED == ENABLED
AP_Float rangefinder_filt;
#endif
#if MODE_GUIDED_ENABLED == ENABLED
AP_Float guided_timeout;
#endif
AP_Int8 surftrak_mode;
AP_Int8 failsafe_dr_enable;
AP_Int16 failsafe_dr_timeout;
AP_Float surftrak_tc;
// ramp time of throttle during take-off
AP_Float takeoff_throttle_slew_time;
AP_Float takeoff_throttle_max;
#if HAL_WITH_ESC_TELEM && FRAME_CONFIG != HELI_FRAME
AP_Int16 takeoff_rpm_min;
AP_Int16 takeoff_rpm_max;
#endif
// EKF variance filter cutoff
AP_Float fs_ekf_filt_hz;
#if WEATHERVANE_ENABLED == ENABLED
AC_WeatherVane weathervane;
#endif
// payload place parameters
AP_Float pldp_thrust_placed_fraction;
AP_Float pldp_range_finder_minimum_m;
AP_Float pldp_delay_s;
AP_Float pldp_descent_speed_ms;
};
extern const AP_Param::Info var_info[];
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