mirror of https://github.com/ArduPilot/ardupilot
414 lines
12 KiB
C++
414 lines
12 KiB
C++
// -*- 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 = 115;
|
|
|
|
// 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,
|
|
|
|
|
|
// Misc
|
|
//
|
|
k_param_log_bitmask = 20,
|
|
k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
//
|
|
// 80: Heli
|
|
//
|
|
k_param_heli_servo_1 = 80,
|
|
k_param_heli_servo_2,
|
|
k_param_heli_servo_3,
|
|
k_param_heli_servo_4,
|
|
k_param_heli_servo1_pos ,
|
|
k_param_heli_servo2_pos,
|
|
k_param_heli_servo3_pos,
|
|
k_param_heli_roll_max,
|
|
k_param_heli_pitch_max,
|
|
k_param_heli_collective_min,
|
|
k_param_heli_collective_max,
|
|
k_param_heli_collective_mid,
|
|
k_param_heli_ext_gyro_enabled,
|
|
k_param_heli_ext_gyro_gain,
|
|
k_param_heli_servo_averaging,
|
|
k_param_heli_servo_manual,
|
|
k_param_heli_phase_angle,
|
|
k_param_heli_coll_yaw_effect, // 97
|
|
#endif
|
|
|
|
// 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_calibration = 140,
|
|
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_top_bottom_ratio,
|
|
k_param_optflow_enabled,
|
|
k_param_low_voltage,
|
|
k_param_ch7_option,
|
|
k_param_sonar_type,
|
|
k_param_super_simple, //155
|
|
|
|
//
|
|
// 160: Navigation parameters
|
|
//
|
|
k_param_RTL_altitude = 160,
|
|
k_param_crosstrack_gain,
|
|
k_param_auto_land_timeout,
|
|
|
|
|
|
//
|
|
// 180: Radio settings
|
|
//
|
|
k_param_rc_1 = 180,
|
|
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_camera_pitch,// rc_9
|
|
k_param_rc_camera_roll, // 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_camera_pitch_gain,
|
|
k_param_camera_roll_gain,
|
|
|
|
//
|
|
// 210: flight modes
|
|
//
|
|
k_param_flight_mode1,
|
|
k_param_flight_mode2,
|
|
k_param_flight_mode3,
|
|
k_param_flight_mode4,
|
|
k_param_flight_mode5,
|
|
k_param_flight_mode6,
|
|
k_param_simple_modes,
|
|
|
|
//
|
|
// 220: Waypoint data
|
|
//
|
|
k_param_waypoint_mode = 220,
|
|
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,
|
|
|
|
//
|
|
// 235: PI/D Controllers
|
|
//
|
|
k_param_stabilize_d = 234,
|
|
k_param_pid_rate_roll = 235,
|
|
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_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, // 250
|
|
|
|
// 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;
|
|
|
|
|
|
// Waypoints
|
|
//
|
|
AP_Int8 waypoint_mode;
|
|
AP_Int8 command_total;
|
|
AP_Int8 command_index;
|
|
AP_Int8 command_nav_index;
|
|
AP_Int8 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 esc_calibrate;
|
|
AP_Int8 radio_tuning;
|
|
AP_Int8 frame_orientation;
|
|
AP_Float top_bottom_ratio;
|
|
AP_Int8 ch7_option;
|
|
|
|
|
|
#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
|
|
AP_Int16 heli_servo1_pos, heli_servo2_pos, heli_servo3_pos; // servo positions (3 because we don't need pos for tail servo)
|
|
AP_Int16 heli_roll_max, heli_pitch_max; // maximum allowed roll and pitch of swashplate
|
|
AP_Int16 heli_coll_min, heli_coll_max, heli_coll_mid; // min and max collective. mid = main blades at zero pitch
|
|
AP_Int8 heli_ext_gyro_enabled; // 0 = no external tail gyro, 1 = external tail gyro
|
|
AP_Int16 heli_ext_gyro_gain; // radio output 1000~2000 (value output on CH_7)
|
|
AP_Int8 heli_servo_averaging; // 0 or 1 = no averaging (250hz) for **digital servos**, 2=average of two samples (125hz), 3=three samples (83.3hz) **analog servos**, 4=four samples (62.5hz), 5=5 samples(50hz)
|
|
AP_Int8 heli_servo_manual; // 0 = normal mode, 1 = radio inputs directly control swash. required for swash set-up
|
|
AP_Int16 heli_phase_angle; // 0 to 360 degrees. specifies mixing between roll and pitch for helis
|
|
AP_Float heli_coll_yaw_effect; // -5.0 ~ 5.0. Feed forward control from collective to yaw. 1.0 = move rudder right 1% for every 1% of collective above the mid point
|
|
#endif
|
|
|
|
// RC channels
|
|
RC_Channel rc_1;
|
|
RC_Channel rc_2;
|
|
RC_Channel rc_3;
|
|
RC_Channel rc_4;
|
|
RC_Channel rc_5;
|
|
RC_Channel rc_6;
|
|
RC_Channel rc_7;
|
|
RC_Channel rc_8;
|
|
RC_Channel rc_camera_pitch;
|
|
RC_Channel rc_camera_roll;
|
|
|
|
AP_Float camera_pitch_gain;
|
|
AP_Float camera_roll_gain;
|
|
AP_Float stabilize_d;
|
|
|
|
// PI/D controllers
|
|
AC_PID pid_rate_roll;
|
|
AC_PID pid_rate_pitch;
|
|
AC_PID pid_rate_yaw;
|
|
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),
|
|
|
|
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 (0),
|
|
throttle_max (1000),
|
|
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),
|
|
esc_calibrate (0),
|
|
radio_tuning (0),
|
|
frame_orientation (FRAME_ORIENTATION),
|
|
top_bottom_ratio (TOP_BOTTOM_RATIO),
|
|
ch7_option (CH7_OPTION),
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
heli_servo_1 (k_param_heli_servo_1),
|
|
heli_servo_2 (k_param_heli_servo_2),
|
|
heli_servo_3 (k_param_heli_servo_3),
|
|
heli_servo_4 (k_param_heli_servo_4),
|
|
heli_servo1_pos (-60),
|
|
heli_servo2_pos (60),
|
|
heli_servo3_pos (180),
|
|
heli_roll_max (4500),
|
|
heli_pitch_max (4500),
|
|
heli_coll_min (1250),
|
|
heli_coll_max (1750),
|
|
heli_coll_mid (1500),
|
|
heli_ext_gyro_enabled (0),
|
|
heli_ext_gyro_gain (1350),
|
|
heli_servo_averaging (0),
|
|
heli_servo_manual (0),
|
|
heli_phase_angle (0),
|
|
heli_coll_yaw_effect (0),
|
|
#endif
|
|
|
|
camera_pitch_gain (CAM_PITCH_GAIN),
|
|
camera_roll_gain (CAM_ROLL_GAIN),
|
|
stabilize_d (STABILIZE_D),
|
|
|
|
// 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_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_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),
|
|
pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX * 100),
|
|
pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX * 100)
|
|
{
|
|
}
|
|
};
|
|
|
|
#endif // PARAMETERS_H
|
|
|