mirror of https://github.com/ArduPilot/ardupilot
346 lines
11 KiB
C++
346 lines
11 KiB
C++
#pragma once
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#include <AP_Common/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 = 1;
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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
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// 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 = 40; // 0 for APM
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// 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_Param 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_Param 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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k_param_g2, // 2nd block of parameters
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k_param_sitl, // Simulation
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// Telemetry
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k_param_gcs0 = 10,
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k_param_gcs1,
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k_param_gcs2,
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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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// Hardware/Software configuration
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k_param_BoardConfig = 20, // Board configuration (PX4/Linux/etc)
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k_param_scheduler, // Scheduler (for debugging/perf_info)
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k_param_DataFlash, // DataFlash Logging
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k_param_serial_manager, // Serial ports, AP_SerialManager
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k_param_notify, // Notify Library, AP_Notify
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k_param_arming = 26, // Arming checks
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k_param_BoardConfig_CAN,
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// Sensor objects
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k_param_ins = 30, // AP_InertialSensor
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k_param_compass, // Compass
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k_param_barometer, // Barometer/Depth Sensor
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k_param_battery, // AP_BattMonitor
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k_param_leak_detector, // Leak Detector
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k_param_rangefinder, // Rangefinder
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k_param_gps, // GPS
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k_param_optflow, // Optical Flow
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// Navigation libraries
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k_param_ahrs = 50, // AHRS
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k_param_NavEKF, // Extended Kalman Filter Inertial Navigation // remove
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k_param_NavEKF2, // EKF2
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k_param_attitude_control, // Attitude Control
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k_param_pos_control, // Position Control
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k_param_wp_nav, // Waypoint navigation
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k_param_mission, // Mission library
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k_param_fence, // Fence Library
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k_param_terrain, // Terrain database
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k_param_rally, // Disabled
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k_param_circle_nav, // Disabled
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k_param_avoid, // Relies on proximity and fence
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k_param_NavEKF3,
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k_param_loiter_nav,
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// Other external hardware interfaces
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k_param_motors = 65, // Motors
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k_param_relay, // Relay
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k_param_camera, // Camera
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k_param_camera_mount, // Camera gimbal
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// RC_Channel settings (deprecated)
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k_param_rc_1_old = 75,
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k_param_rc_2_old,
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k_param_rc_3_old,
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k_param_rc_4_old,
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k_param_rc_5_old,
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k_param_rc_6_old,
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k_param_rc_7_old,
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k_param_rc_8_old,
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k_param_rc_9_old,
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k_param_rc_10_old,
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k_param_rc_11_old,
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k_param_rc_12_old,
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k_param_rc_13_old,
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k_param_rc_14_old,
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// Joystick gain parameters
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k_param_gain_default,
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k_param_maxGain,
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k_param_minGain,
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k_param_numGainSettings,
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k_param_cam_tilt_step, // deprecated
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k_param_lights_step, // deprecated
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// Joystick button mapping parameters
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k_param_jbtn_0 = 95,
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k_param_jbtn_1,
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k_param_jbtn_2,
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k_param_jbtn_3,
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k_param_jbtn_4,
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k_param_jbtn_5,
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k_param_jbtn_6,
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k_param_jbtn_7,
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k_param_jbtn_8,
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k_param_jbtn_9,
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k_param_jbtn_10,
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k_param_jbtn_11,
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k_param_jbtn_12,
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k_param_jbtn_13,
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k_param_jbtn_14,
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k_param_jbtn_15,
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// PID Controllers
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k_param_p_pos_xy = 126, // deprecated
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k_param_p_alt_hold, // deprecated
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k_param_pi_vel_xy, // deprecated
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k_param_p_vel_z, // deprecated
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k_param_pid_accel_z, // deprecated
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// Failsafes
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k_param_failsafe_gcs = 140,
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k_param_failsafe_leak, // leak failsafe behavior
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k_param_failsafe_pressure, // internal pressure failsafe behavior
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k_param_failsafe_pressure_max, // maximum internal pressure in pascal before failsafe is triggered
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k_param_failsafe_temperature, // internal temperature failsafe behavior
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k_param_failsafe_temperature_max, // maximum internal temperature in degrees C before failsafe is triggered
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k_param_failsafe_terrain, // terrain failsafe behavior
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k_param_fs_ekf_thresh,
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k_param_fs_ekf_action,
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k_param_fs_crash_check,
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k_param_failsafe_battery_enabled, // unused - moved to AP_BattMonitor
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k_param_fs_batt_mah, // unused - moved to AP_BattMonitor
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k_param_fs_batt_voltage, // unused - moved to AP_BattMonitor
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k_param_failsafe_pilot_input,
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k_param_failsafe_pilot_input_timeout,
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// Misc Sub settings
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k_param_log_bitmask = 165,
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k_param_angle_max = 167,
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k_param_rangefinder_gain,
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k_param_wp_yaw_behavior = 170,
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k_param_xtrack_angle_limit, // Angle limit for crosstrack correction in Auto modes (degrees)
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k_param_pilot_speed_up, // renamed from k_param_pilot_velocity_z_max
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k_param_pilot_accel_z,
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k_param_compass_enabled,
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k_param_surface_depth,
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k_param_rc_speed, // Main output pwm frequency
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k_param_gcs_pid_mask = 178,
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k_param_throttle_filt,
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k_param_throttle_deadzone, // Used in auto-throttle modes
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k_param_terrain_follow = 182,
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k_param_rc_feel_rp,
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k_param_throttle_gain,
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k_param_cam_tilt_center, // deprecated
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k_param_frame_configuration,
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// Acro Mode parameters
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k_param_acro_yaw_p = 220, // Used in all modes for get_pilot_desired_yaw_rate
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k_param_acro_trainer,
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k_param_acro_expo,
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k_param_acro_rp_p,
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k_param_acro_balance_roll,
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k_param_acro_balance_pitch,
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// RPM Sensor
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k_param_rpm_sensor = 232, // Disabled
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// RC_Mapper Library
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k_param_rcmap, // Disabled
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k_param_cam_slew_limit = 237, // deprecated
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k_param_lights_steps,
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k_param_pilot_speed_dn,
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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_Float throttle_filt;
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#if RANGEFINDER_ENABLED == ENABLED
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AP_Float rangefinder_gain;
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#endif
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AP_Int8 failsafe_leak; // leak detection failsafe behavior
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AP_Int8 failsafe_gcs; // ground station failsafe behavior
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AP_Int8 failsafe_pressure;
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AP_Int8 failsafe_temperature;
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AP_Int32 failsafe_pressure_max;
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AP_Int8 failsafe_temperature_max;
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AP_Int8 failsafe_terrain;
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AP_Int8 failsafe_pilot_input; // pilot input failsafe behavior
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AP_Float failsafe_pilot_input_timeout;
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AP_Int8 xtrack_angle_limit;
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AP_Int8 compass_enabled;
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AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
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AP_Int8 rc_feel_rp; // controls vehicle response to user input with 0 being extremely soft and 100 begin extremely crisp
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// Waypoints
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//
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AP_Int16 pilot_speed_up; // maximum vertical ascending velocity the pilot may request
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AP_Int16 pilot_speed_dn; // maximum vertical descending velocity the pilot may request
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AP_Int16 pilot_accel_z; // vertical acceleration the pilot may request
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// Throttle
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//
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AP_Int16 throttle_deadzone;
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// Misc
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//
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AP_Int32 log_bitmask;
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AP_Int8 fs_ekf_action;
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AP_Int8 fs_crash_check;
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AP_Float fs_ekf_thresh;
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AP_Int16 gcs_pid_mask;
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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AP_Int8 terrain_follow;
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#endif
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AP_Int16 rc_speed; // speed of fast RC Channels in Hz
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AP_Float gain_default;
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AP_Float maxGain;
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AP_Float minGain;
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AP_Int8 numGainSettings;
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AP_Float throttle_gain;
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AP_Int16 lights_steps;
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// Joystick button parameters
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JSButton jbtn_0;
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JSButton jbtn_1;
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JSButton jbtn_2;
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JSButton jbtn_3;
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JSButton jbtn_4;
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JSButton jbtn_5;
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JSButton jbtn_6;
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JSButton jbtn_7;
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JSButton jbtn_8;
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JSButton jbtn_9;
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JSButton jbtn_10;
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JSButton jbtn_11;
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JSButton jbtn_12;
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JSButton jbtn_13;
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JSButton jbtn_14;
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JSButton jbtn_15;
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// Acro parameters
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AP_Float acro_rp_p;
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AP_Float acro_yaw_p;
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AP_Float acro_balance_roll;
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AP_Float acro_balance_pitch;
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AP_Int8 acro_trainer;
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AP_Float acro_expo;
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AP_Float surface_depth;
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AP_Int8 frame_configuration;
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// Note: keep initializers here in the same order as they are declared
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// above.
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Parameters()
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{
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}
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};
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/*
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2nd block of parameters, to avoid going past 256 top level keys
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*/
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class ParametersG2 {
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public:
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ParametersG2(void);
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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#if GRIPPER_ENABLED
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AP_Gripper gripper;
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#endif
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#if PROXIMITY_ENABLED == ENABLED
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// proximity (aka object avoidance) library
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AP_Proximity proximity;
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#endif
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// RC input channels
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RC_Channels rc_channels;
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// control over servo output ranges
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SRV_Channels servo_channels;
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};
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extern const AP_Param::Info var_info[];
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