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ardupilot/ArduCopter/Parameters.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef PARAMETERS_H
#define PARAMETERS_H
#include <AP_Common.h>
// 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 = 118;
// The parameter software_type is set up solely for ground station use
// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
// GCS will interpret values 0-9 as ArduPilotMega. Developers may use
// values within that range to identify different branches.
//
static const uint16_t k_software_type = 10; // 0 for APM trunk
// 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_Var 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_Var 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,
// simulation
k_param_sitl = 10,
// Misc
//
k_param_log_bitmask = 20,
k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change
k_param_toy_yaw_rate, // THOR The memory location for the Yaw Rate 1 = fast, 2 = med, 3 = slow
//
// 80: Heli
//
k_param_heli_servo_1 = 80,
k_param_heli_servo_2,
k_param_heli_servo_3,
k_param_heli_servo_4,
//
// 90: Motors
//
k_param_motors = 90,
// 110: Telemetry control
//
k_param_gcs0 = 110,
k_param_gcs3,
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial3_baud,
//
// 140: Sensor parameters
//
k_param_imu = 140, // sensor calibration
k_param_battery_monitoring,
k_param_volt_div_ratio,
k_param_curr_amp_per_volt,
k_param_input_voltage,
k_param_pack_capacity,
k_param_compass_enabled,
k_param_compass,
k_param_sonar_enabled,
k_param_frame_orientation,
k_param_optflow_enabled,
k_param_low_voltage,
k_param_ch7_option,
k_param_auto_slew_rate,
k_param_sonar_type,
k_param_super_simple,
k_param_rtl_land_enabled, // Depricated!!
k_param_axis_enabled,
k_param_copter_leds_mode, //158
k_param_ahrs, // AHRS group
//
// 160: Navigation parameters
//
k_param_RTL_altitude = 160,
k_param_crosstrack_gain,
k_param_auto_land_timeout,
k_param_rtl_approach_alt,
k_param_tilt_comp, //164
//
// Camera parameters
//
k_param_camera,
//
// 170: Radio settings
//
k_param_rc_1 = 170,
k_param_rc_2,
k_param_rc_3,
k_param_rc_4,
k_param_rc_5,
k_param_rc_6,
k_param_rc_7,
k_param_rc_8,
k_param_rc_9,
k_param_rc_10,
k_param_throttle_min,
k_param_throttle_max,
k_param_throttle_fs_enabled,
k_param_throttle_fs_action,
k_param_throttle_fs_value,
k_param_throttle_cruise,
k_param_esc_calibrate,
k_param_radio_tuning,
k_param_radio_tuning_high,
k_param_radio_tuning_low,
k_param_camera_pitch_gain,
k_param_camera_roll_gain,
k_param_rc_speed,
k_param_camera_pitch_continuous,
k_param_camera_roll_continuous,
//
// 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,
//
// 210: Waypoint data
//
k_param_waypoint_mode = 210, // remove
k_param_command_total,
k_param_command_index,
k_param_command_nav_index,
k_param_waypoint_radius,
k_param_loiter_radius,
k_param_waypoint_speed_max,
//
// 220: PI/D Controllers
//
k_param_stabilize_d_schedule = 219,
k_param_stabilize_d = 220,
k_param_acro_p,
k_param_axis_lock_p,
k_param_pid_rate_roll,
k_param_pid_rate_pitch,
k_param_pid_rate_yaw,
k_param_pi_stabilize_roll,
k_param_pi_stabilize_pitch,
k_param_pi_stabilize_yaw,
k_param_pi_loiter_lat,
k_param_pi_loiter_lon,
k_param_pid_loiter_rate_lat,
k_param_pid_loiter_rate_lon,
k_param_pid_nav_lat,
k_param_pid_nav_lon,
k_param_pi_alt_hold,
k_param_pid_throttle,
k_param_pid_optflow_roll,
k_param_pid_optflow_pitch,
// 254,255: reserved
};
AP_Int16 format_version;
AP_Int8 software_type;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int8 serial3_baud;
AP_Int16 RTL_altitude;
AP_Int8 sonar_enabled;
AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m range)
AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
AP_Float volt_div_ratio;
AP_Float curr_amp_per_volt;
AP_Float input_voltage;
AP_Int16 pack_capacity; // Battery pack capacity less reserve
AP_Int8 compass_enabled;
AP_Int8 optflow_enabled;
AP_Float low_voltage;
AP_Int8 super_simple;
AP_Int8 rtl_land_enabled;
AP_Int16 rtl_approach_alt;
AP_Int8 tilt_comp;
AP_Int8 axis_enabled;
AP_Int8 copter_leds_mode; // Operating mode of LED lighting system
// Waypoints
//
AP_Int8 waypoint_mode;
AP_Int8 command_total;
AP_Int8 command_index;
AP_Int8 command_nav_index;
AP_Int16 waypoint_radius;
AP_Int16 loiter_radius;
AP_Int16 waypoint_speed_max;
AP_Float crosstrack_gain;
AP_Int32 auto_land_timeout;
// Throttle
//
AP_Int16 throttle_min;
AP_Int16 throttle_max;
AP_Int8 throttle_fs_enabled;
AP_Int8 throttle_fs_action;
AP_Int16 throttle_fs_value;
AP_Int16 throttle_cruise;
// 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;
// Misc
//
AP_Int16 log_bitmask;
AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change
AP_Int8 toy_yaw_rate; // THOR The Yaw Rate 1 = fast, 2 = med, 3 = slow
AP_Int8 esc_calibrate;
AP_Int8 radio_tuning;
AP_Int16 radio_tuning_high;
AP_Int16 radio_tuning_low;
AP_Int8 frame_orientation;
AP_Int8 ch7_option;
AP_Int16 auto_slew_rate;
#if FRAME_CONFIG == HELI_FRAME
// Heli
RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail
#endif
// Camera
#if CAMERA == ENABLED
AP_Camera camera;
#endif
// RC channels
RC_Channel rc_1;
RC_Channel rc_2;
RC_Channel rc_3;
RC_Channel rc_4;
RC_Channel_aux rc_5;
RC_Channel_aux rc_6;
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
RC_Channel_aux rc_9;
RC_Channel_aux rc_10;
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
AP_Float camera_pitch_gain;
AP_Float camera_roll_gain;
AP_Int8 camera_pitch_continuous;
AP_Int8 camera_roll_continuous;
AP_Float stabilize_d;
AP_Float stabilize_d_schedule;
// PI/D controllers
AP_Float acro_p;
AP_Float axis_lock_p;
AC_PID pid_rate_roll;
AC_PID pid_rate_pitch;
AC_PID pid_rate_yaw;
AC_PID pid_loiter_rate_lat;
AC_PID pid_loiter_rate_lon;
AC_PID pid_nav_lat;
AC_PID pid_nav_lon;
AC_PID pid_throttle;
AC_PID pid_optflow_roll;
AC_PID pid_optflow_pitch;
APM_PI pi_loiter_lat;
APM_PI pi_loiter_lon;
APM_PI pi_stabilize_roll;
APM_PI pi_stabilize_pitch;
APM_PI pi_stabilize_yaw;
APM_PI pi_alt_hold;
// Note: keep initializers here in the same order as they are declared above.
Parameters() :
// variable default
//----------------------------------------
format_version (k_format_version),
software_type (k_software_type),
sysid_this_mav (MAV_SYSTEM_ID),
sysid_my_gcs (255),
serial3_baud (SERIAL3_BAUD/1000),
RTL_altitude (ALT_HOLD_HOME * 100),
sonar_enabled (DISABLED),
sonar_type (AP_RANGEFINDER_MAXSONARXL),
battery_monitoring (DISABLED),
volt_div_ratio (VOLT_DIV_RATIO),
curr_amp_per_volt (CURR_AMP_PER_VOLT),
input_voltage (INPUT_VOLTAGE),
pack_capacity (HIGH_DISCHARGE),
compass_enabled (MAGNETOMETER),
optflow_enabled (OPTFLOW),
low_voltage (LOW_VOLTAGE),
super_simple (SUPER_SIMPLE),
rtl_land_enabled (0),
rtl_approach_alt (RTL_APPROACH_ALT),
tilt_comp (54),
axis_enabled (AXIS_LOCK_ENABLED),
copter_leds_mode (9),
waypoint_mode (0),
command_total (0),
command_index (0),
command_nav_index (0),
waypoint_radius (WP_RADIUS_DEFAULT * 100),
loiter_radius (LOITER_RADIUS),
waypoint_speed_max (WAYPOINT_SPEED_MAX),
crosstrack_gain (CROSSTRACK_GAIN),
auto_land_timeout (AUTO_LAND_TIME * 1000),
throttle_min (MINIMUM_THROTTLE),
throttle_max (MAXIMUM_THROTTLE),
throttle_fs_enabled (THROTTLE_FAILSAFE),
throttle_fs_action (THROTTLE_FAILSAFE_ACTION),
throttle_fs_value (THROTTLE_FS_VALUE),
throttle_cruise (THROTTLE_CRUISE),
flight_mode1 (FLIGHT_MODE_1),
flight_mode2 (FLIGHT_MODE_2),
flight_mode3 (FLIGHT_MODE_3),
flight_mode4 (FLIGHT_MODE_4),
flight_mode5 (FLIGHT_MODE_5),
flight_mode6 (FLIGHT_MODE_6),
simple_modes (0),
log_bitmask (DEFAULT_LOG_BITMASK),
log_last_filenumber (0),
toy_yaw_rate (2), // THOR The default Yaw Rate 1 = fast, 2 = med, 3 = slow
esc_calibrate (0),
radio_tuning (0),
radio_tuning_high (1000),
radio_tuning_low (0),
frame_orientation (FRAME_ORIENTATION),
ch7_option (CH7_OPTION),
auto_slew_rate (AUTO_SLEW_RATE),
rc_speed(RC_FAST_SPEED),
camera_pitch_gain (CAM_PITCH_GAIN),
camera_roll_gain (CAM_ROLL_GAIN),
camera_pitch_continuous (CAM_PITCH_CONTINUOUS),
camera_roll_continuous (CAM_ROLL_CONTINUOUS),
stabilize_d (STABILIZE_D),
stabilize_d_schedule (STABILIZE_D_SCHEDULE),
acro_p (ACRO_P),
axis_lock_p (AXIS_LOCK_P),
// PID controller initial P initial I initial D initial imax
//-----------------------------------------------------------------------------------------------------
pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100),
pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100),
pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100),
pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100),
pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100),
pid_nav_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
pid_nav_lon (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX),
pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100),
pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100),
// PI controller initial P initial I initial imax
//----------------------------------------------------------------------
pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX * 100),
pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX * 100),
pi_stabilize_roll (STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100),
pi_stabilize_pitch (STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100),
pi_stabilize_yaw (STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100),
pi_alt_hold (ALT_HOLD_P, ALT_HOLD_I, ALT_HOLD_IMAX)
{
}
};
#endif // PARAMETERS_H
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