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ardupilot/ArduSub/Parameters.h

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#pragma once
#define AP_PARAM_VEHICLE_NAME sub
#include <AP_Common/AP_Common.h>
#include <AP_Gripper/AP_Gripper.h>
#include <AP_Stats/AP_Stats.h>
#include <AP_Arming/AP_Arming.h>
#if AP_SCRIPTING_ENABLED
#include <AP_Scripting/AP_Scripting.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 = 1;
// 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, // unusued
k_param_g2, // 2nd block of parameters
k_param_sitl, // Simulation
// Telemetry
k_param_gcs0 = 10,
k_param_gcs1,
k_param_gcs2,
k_param_gcs3,
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
// Hardware/Software configuration
k_param_BoardConfig = 20, // Board configuration (Pixhawk/Linux/etc)
k_param_scheduler, // Scheduler (for debugging/perf_info)
k_param_logger, // AP_Logger Logging
k_param_serial_manager, // Serial ports, AP_SerialManager
k_param_notify, // Notify Library, AP_Notify
k_param_arming = 26, // Arming checks
k_param_can_mgr,
// Sensor objects
k_param_ins = 30, // AP_InertialSensor
k_param_compass, // Compass
k_param_barometer, // Barometer/Depth Sensor
k_param_battery, // AP_BattMonitor
k_param_leak_detector, // Leak Detector
k_param_rangefinder, // Rangefinder
k_param_gps, // GPS
k_param_optflow, // Optical Flow
// Navigation libraries
k_param_ahrs = 50, // AHRS
k_param_NavEKF, // Extended Kalman Filter Inertial Navigation // remove
k_param_NavEKF2, // EKF2
k_param_attitude_control, // Attitude Control
k_param_pos_control, // Position Control
k_param_wp_nav, // Waypoint navigation
k_param_mission, // Mission library
k_param_fence_old, // only used for conversion
k_param_terrain, // Terrain database
k_param_rally, // Disabled
k_param_circle_nav, // Disabled
k_param_avoid, // Relies on proximity and fence
k_param_NavEKF3,
k_param_loiter_nav,
// Other external hardware interfaces
k_param_motors = 65, // Motors
k_param_relay, // Relay
k_param_camera, // Camera
k_param_camera_mount, // Camera gimbal
// RC_Channel settings (deprecated)
k_param_rc_1_old = 75,
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_9_old,
k_param_rc_10_old,
k_param_rc_11_old,
k_param_rc_12_old,
k_param_rc_13_old,
k_param_rc_14_old,
// Joystick gain parameters
k_param_gain_default,
k_param_maxGain,
k_param_minGain,
k_param_numGainSettings,
k_param_cam_tilt_step, // deprecated
k_param_lights_step, // deprecated
// Joystick button mapping parameters
k_param_jbtn_0 = 95,
k_param_jbtn_1,
k_param_jbtn_2,
k_param_jbtn_3,
k_param_jbtn_4,
k_param_jbtn_5,
k_param_jbtn_6,
k_param_jbtn_7,
k_param_jbtn_8,
k_param_jbtn_9,
k_param_jbtn_10,
k_param_jbtn_11,
k_param_jbtn_12,
k_param_jbtn_13,
k_param_jbtn_14,
k_param_jbtn_15,
// PID Controllers
k_param_p_pos_xy = 126, // deprecated
k_param_p_alt_hold, // deprecated
k_param_pi_vel_xy, // deprecated
k_param_p_vel_z, // deprecated
k_param_pid_accel_z, // deprecated
// Failsafes
k_param_failsafe_gcs = 140,
k_param_failsafe_leak, // leak failsafe behavior
k_param_failsafe_pressure, // internal pressure failsafe behavior
k_param_failsafe_pressure_max, // maximum internal pressure in pascal before failsafe is triggered
k_param_failsafe_temperature, // internal temperature failsafe behavior
k_param_failsafe_temperature_max, // maximum internal temperature in degrees C before failsafe is triggered
k_param_failsafe_terrain, // terrain failsafe behavior
k_param_fs_ekf_thresh,
k_param_fs_ekf_action,
k_param_fs_crash_check,
k_param_failsafe_battery_enabled, // unused - moved to AP_BattMonitor
k_param_fs_batt_mah, // unused - moved to AP_BattMonitor
k_param_fs_batt_voltage, // unused - moved to AP_BattMonitor
k_param_failsafe_pilot_input,
k_param_failsafe_pilot_input_timeout,
// Misc Sub settings
k_param_log_bitmask = 165,
k_param_angle_max = 167,
k_param_rangefinder_gain,
k_param_wp_yaw_behavior = 170,
k_param_xtrack_angle_limit, // Angle limit for crosstrack correction in Auto modes (degrees)
k_param_pilot_speed_up, // renamed from k_param_pilot_velocity_z_max
k_param_pilot_accel_z,
k_param_compass_enabled_deprecated,
k_param_surface_depth,
k_param_rc_speed, // Main output pwm frequency
k_param_gcs_pid_mask = 178,
k_param_throttle_filt,
k_param_throttle_deadzone, // Used in auto-throttle modes
k_param_terrain_follow = 182, // deprecated
k_param_rc_feel_rp,
k_param_throttle_gain,
k_param_cam_tilt_center, // deprecated
k_param_frame_configuration,
// Acro Mode parameters
k_param_acro_yaw_p = 220, // Used in all modes for get_pilot_desired_yaw_rate
k_param_acro_trainer,
k_param_acro_expo,
k_param_acro_rp_p,
k_param_acro_balance_roll,
k_param_acro_balance_pitch,
// RPM Sensor
k_param_rpm_sensor = 232, // Disabled
// RC_Mapper Library
k_param_rcmap, // Disabled
k_param_gcs4,
k_param_gcs5,
k_param_gcs6,
k_param_cam_slew_limit = 237, // deprecated
k_param_lights_steps,
k_param_pilot_speed_dn,
k_param_vehicle = 257, // vehicle common block of parameters
};
AP_Int16 format_version;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Float throttle_filt;
#if RANGEFINDER_ENABLED == ENABLED
AP_Float rangefinder_gain;
#endif
AP_Int8 failsafe_leak; // leak detection failsafe behavior
AP_Int8 failsafe_gcs; // ground station failsafe behavior
AP_Int8 failsafe_pressure;
AP_Int8 failsafe_temperature;
AP_Int32 failsafe_pressure_max;
AP_Int8 failsafe_temperature_max;
AP_Int8 failsafe_terrain;
AP_Int8 failsafe_pilot_input; // pilot input failsafe behavior
AP_Float failsafe_pilot_input_timeout;
AP_Int8 xtrack_angle_limit;
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
AP_Int8 rc_feel_rp; // controls vehicle response to user input with 0 being extremely soft and 100 begin extremely crisp
// Waypoints
//
AP_Int16 pilot_speed_up; // maximum vertical ascending velocity the pilot may request
AP_Int16 pilot_speed_dn; // maximum vertical descending velocity the pilot may request
AP_Int16 pilot_accel_z; // vertical acceleration the pilot may request
// Throttle
//
AP_Int16 throttle_deadzone;
// Misc
//
AP_Int32 log_bitmask;
AP_Int8 fs_ekf_action;
AP_Int8 fs_crash_check;
AP_Float fs_ekf_thresh;
AP_Int16 gcs_pid_mask;
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
AP_Float gain_default;
AP_Float maxGain;
AP_Float minGain;
AP_Int8 numGainSettings;
AP_Float throttle_gain;
AP_Int16 lights_steps;
// Joystick button parameters
JSButton jbtn_0;
JSButton jbtn_1;
JSButton jbtn_2;
JSButton jbtn_3;
JSButton jbtn_4;
JSButton jbtn_5;
JSButton jbtn_6;
JSButton jbtn_7;
JSButton jbtn_8;
JSButton jbtn_9;
JSButton jbtn_10;
JSButton jbtn_11;
JSButton jbtn_12;
JSButton jbtn_13;
JSButton jbtn_14;
JSButton jbtn_15;
// Acro parameters
AP_Float acro_rp_p;
AP_Float acro_yaw_p;
AP_Float acro_balance_roll;
AP_Float acro_balance_pitch;
AP_Int8 acro_trainer;
AP_Float acro_expo;
AP_Float surface_depth;
AP_Int8 frame_configuration;
// 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);
#if STATS_ENABLED == ENABLED
// vehicle statistics
AP_Stats stats;
#endif
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
#if AP_GRIPPER_ENABLED
AP_Gripper gripper;
#endif
#if HAL_PROXIMITY_ENABLED
// proximity (aka object avoidance) library
AP_Proximity proximity;
#endif
// RC input channels
RC_Channels_Sub rc_channels;
// control over servo output ranges
SRV_Channels servo_channels;
#if AP_SCRIPTING_ENABLED
AP_Scripting scripting;
#endif // AP_SCRIPTING_ENABLED
};
extern const AP_Param::Info var_info[];
// Sub-specific default parameters
static const struct AP_Param::defaults_table_struct defaults_table[] = {
{ "BRD_SAFETY_DEFLT", 0 },
{ "ARMING_CHECK", AP_Arming::ARMING_CHECK_RC |
AP_Arming::ARMING_CHECK_VOLTAGE |
AP_Arming::ARMING_CHECK_BATTERY},
{ "CIRCLE_RATE", 2.0f},
{ "ATC_ACCEL_Y_MAX", 110000.0f},
{ "RC3_TRIM", 1100},
{ "COMPASS_OFFS_MAX", 1000},
{ "INS_GYR_CAL", 0},
{ "MNT1_TYPE", 1},
{ "MNT1_DEFLT_MODE", MAV_MOUNT_MODE_RC_TARGETING},
{ "MNT1_RC_RATE", 30},
{ "RC7_OPTION", 214}, // MOUNT1_YAW
{ "RC8_OPTION", 213}, // MOUNT1_PITCH
{ "MOT_PWM_MIN", 1100},
{ "MOT_PWM_MAX", 1900},
};
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