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ardupilot/ArduPlane/Parameters.h
Andrew Tridgell bf6853d3fe Plane: implement MANUAL_RCMASK 
this replaces the functionality of the old "with input"
aileron/elevator functions, but in a much more flexible way. It means
that people who want to fly in MANAUL mode will have the ability to
have full control of trims and mixing using transmitter mixers if they
need that functionality
2017-08-02 12:49:13 +10:00

551 lines
17 KiB
C++
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#pragma once
#include <AP_Common/AP_Common.h>
// Global parameter class.
//
class Parameters {
public:
/*
* The value of k_format_version determines whether the existing
* eeprom data is considered valid. You should only change this
* value under the following circumstances:
*
* 1) the meaning of an existing eeprom parameter changes
*
* 2) the value of an existing k_param_* enum value changes
*
* Adding a new parameter should _not_ require a change to
* k_format_version except under special circumstances. If you
* change it anyway then all ArduPlane users will need to reload all
* their parameters. We want that to be an extremely rare
* thing. Please do not just change it "just in case".
*
* To determine if a k_param_* value has changed, use the rules of
* C++ enums to work out the value of the neighboring enum
* values. If you don't know the C++ enum rules then please ask for
* help.
*/
//////////////////////////////////////////////////////////////////
// STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE
// COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!!
static const uint16_t k_format_version = 13;
//////////////////////////////////////////////////////////////////
// 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 = 0; // 0 for APM trunk
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type,
k_param_num_resets,
k_param_NavEKF2,
k_param_g2,
k_param_avoidance_adsb,
k_param_landing,
k_param_NavEKF3,
k_param_BoardConfig_CAN,
// Misc
//
k_param_auto_trim = 10,
k_param_log_bitmask_old, // unused
k_param_pitch_trim_cd,
k_param_mix_mode,
k_param_reverse_elevons, // unused
k_param_reverse_ch1_elevon, // unused
k_param_reverse_ch2_elevon, // unused
k_param_flap_1_percent,
k_param_flap_1_speed,
k_param_flap_2_percent,
k_param_flap_2_speed,
k_param_reset_switch_chan,
k_param_manual_level, // unused
k_param_land_pitch_cd, // unused - moved to AP_Landing
k_param_ins_old, // *** Deprecated, remove with next eeprom number change
k_param_stick_mixing,
k_param_reset_mission_chan,
k_param_land_flare_alt, // unused - moved to AP_Landing
k_param_land_flare_sec, // unused - moved to AP_Landing
k_param_crosstrack_min_distance, // unused
k_param_rudder_steer, // unused
k_param_throttle_nudge,
k_param_alt_offset,
k_param_ins, // libraries/AP_InertialSensor variables
k_param_takeoff_throttle_min_speed,
k_param_takeoff_throttle_min_accel,
k_param_takeoff_heading_hold, // unused
k_param_level_roll_limit,
k_param_hil_servos,
k_param_vtail_output, // unused
k_param_nav_controller,
k_param_elevon_output, // unused
k_param_att_controller,
k_param_mixing_gain,
k_param_scheduler,
k_param_relay,
k_param_takeoff_throttle_delay,
k_param_skip_gyro_cal, // unused
k_param_auto_fbw_steer,
k_param_waypoint_max_radius,
k_param_ground_steer_alt,
k_param_ground_steer_dps,
k_param_rally_limit_km_old, //unused anymore -- just holding this index
k_param_hil_err_limit,
k_param_sonar_old, // unused
k_param_log_bitmask,
k_param_BoardConfig,
k_param_rssi_range, // unused, replaced by rssi_ library parameters
k_param_flapin_channel,
k_param_flaperon_output, // unused
k_param_gps,
k_param_autotune_level,
k_param_rally,
k_param_serial0_baud, // deprecated
k_param_serial1_baud, // deprecated
k_param_serial2_baud, // deprecated
k_param_takeoff_tdrag_elevator,
k_param_takeoff_tdrag_speed1,
k_param_takeoff_rotate_speed,
k_param_takeoff_throttle_slewrate,
k_param_takeoff_throttle_max,
k_param_rangefinder,
k_param_terrain,
k_param_terrain_follow,
k_param_stab_pitch_down_cd_old, // deprecated
k_param_glide_slope_min,
k_param_stab_pitch_down,
k_param_terrain_lookahead,
k_param_fbwa_tdrag_chan,
k_param_rangefinder_landing,
k_param_land_flap_percent, // unused - moved to AP_Landing
k_param_takeoff_flap_percent,
k_param_flap_slewrate,
k_param_rtl_autoland,
k_param_override_channel,
k_param_stall_prevention,
k_param_optflow,
k_param_cli_enabled,
k_param_trim_rc_at_start,
k_param_hil_mode,
k_param_land_disarm_delay, // unused - moved to AP_Landing
k_param_glide_slope_threshold,
k_param_rudder_only,
k_param_gcs3, // 93
k_param_gcs_pid_mask,
k_param_crash_detection_enable,
k_param_land_abort_throttle_enable, // unused - moved to AP_Landing
k_param_rssi = 97,
k_param_rpm_sensor,
k_param_parachute,
k_param_arming = 100,
k_param_parachute_channel,
k_param_crash_accel_threshold,
k_param_override_safety,
k_param_land_throttle_slewrate, // 104 unused - moved to AP_Landing
// 105: Extra parameters
k_param_fence_retalt = 105,
k_param_fence_autoenable,
k_param_fence_ret_rally,
k_param_q_attitude_control,
k_param_takeoff_pitch_limit_reduction_sec,
// 110: Telemetry control
//
k_param_gcs0 = 110, // stream rates for uartA
k_param_gcs1, // stream rates for uartC
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial1_baud_old, // deprecated
k_param_telem_delay,
k_param_serial0_baud_old, // deprecated
k_param_gcs2, // stream rates for uartD
k_param_serial2_baud_old, // deprecated
k_param_serial2_protocol, // deprecated
// 120: Fly-by-wire control
//
k_param_airspeed_min = 120,
k_param_airspeed_max,
k_param_FBWB_min_altitude_cm, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)
k_param_flybywire_elev_reverse,
k_param_alt_control_algorithm,
k_param_flybywire_climb_rate,
k_param_acro_roll_rate,
k_param_acro_pitch_rate,
k_param_acro_locking,
k_param_use_reverse_thrust = 129,
//
// 130: Sensor parameters
//
k_param_imu = 130, // unused
k_param_altitude_mix, // deprecated
k_param_compass_enabled,
k_param_compass,
k_param_battery_monitoring, // unused
k_param_volt_div_ratio, // unused
k_param_curr_amp_per_volt, // unused
k_param_input_voltage, // deprecated, can be deleted
k_param_pack_capacity, // unused
k_param_sonar_enabled_old, // unused
k_param_ahrs, // AHRS group
k_param_barometer, // barometer ground calibration
k_param_airspeed, // AP_Airspeed parameters
k_param_curr_amp_offset,
k_param_NavEKF, // deprecated - remove
k_param_mission, // mission library
k_param_serial_manager, // serial manager library
k_param_NavEKF2_old, // deprecated - remove
k_param_land_pre_flare_alt, // unused - moved to AP_Landing
k_param_land_pre_flare_airspeed = 149, // unused - moved to AP_Landing
//
// 150: Navigation parameters
//
k_param_crosstrack_gain = 150, // unused
k_param_crosstrack_entry_angle, // unused
k_param_roll_limit_cd,
k_param_pitch_limit_max_cd,
k_param_pitch_limit_min_cd,
k_param_airspeed_cruise_cm,
k_param_RTL_altitude_cm,
k_param_inverted_flight_ch,
k_param_min_gndspeed_cm,
k_param_crosstrack_use_wind, // unused
//
// Camera and mount parameters
//
k_param_camera = 160,
k_param_camera_mount,
k_param_camera_mount2, // unused
k_param_adsb,
k_param_notify,
k_param_land_pre_flare_sec = 165, // unused - moved to AP_Landing
//
// Battery monitoring parameters
//
k_param_battery = 166,
k_param_rssi_pin, // unused, replaced by rssi_ library parameters - 167
k_param_battery_volt_pin, // unused - 168
k_param_battery_curr_pin, // unused - 169
//
// 170: Radio settings - all unused now
//
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_9_old,
k_param_rc_10_old,
k_param_rc_11_old,
k_param_throttle_min,
k_param_throttle_max,
k_param_throttle_fs_enabled,
k_param_throttle_fs_value,
k_param_throttle_cruise,
k_param_short_fs_action,
k_param_long_fs_action,
k_param_gcs_heartbeat_fs_enabled,
k_param_throttle_slewrate,
k_param_throttle_suppress_manual,
k_param_throttle_passthru_stabilize,
k_param_rc_12_old,
k_param_fs_batt_voltage,
k_param_fs_batt_mah,
k_param_short_fs_timeout,
k_param_long_fs_timeout,
k_param_rc_13_old,
k_param_rc_14_old,
k_param_tuning,
//
// 200: Feed-forward gains
//
k_param_kff_pitch_compensation = 200, // unused
k_param_kff_rudder_mix,
k_param_kff_pitch_to_throttle, // unused
k_param_kff_throttle_to_pitch,
k_param_scaling_speed,
k_param_quadplane,
k_param_rtl_radius,
k_param_land_then_servos_neutral, // unused - moved to AP_Landing
k_param_rc_15_old,
k_param_rc_16_old,
//
// 210: flight modes
//
k_param_flight_mode_channel = 210,
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_initial_mode,
k_param_land_slope_recalc_shallow_threshold, // unused - moved to AP_Landing
k_param_land_slope_recalc_steep_threshold_to_abort, // unused - moved to AP_Landing
//
// 220: Waypoint data
//
k_param_waypoint_mode = 220,
k_param_command_total, // unused
k_param_command_index, // unused
k_param_waypoint_radius,
k_param_loiter_radius,
k_param_fence_action,
k_param_fence_total,
k_param_fence_channel,
k_param_fence_minalt,
k_param_fence_maxalt,
// other objects
k_param_sitl = 230,
k_param_afs,
k_param_rollController,
k_param_pitchController,
k_param_yawController,
k_param_L1_controller,
k_param_rcmap,
k_param_TECS_controller,
k_param_rally_total_old, //unused
k_param_steerController,
//
// 240: PID Controllers
k_param_pidNavRoll = 240, // unused
k_param_pidServoRoll, // unused
k_param_pidServoPitch, // unused
k_param_pidNavPitchAirspeed, // unused
k_param_pidServoRudder, // unused
k_param_pidTeThrottle, // unused
k_param_pidNavPitchAltitude, // unused
k_param_pidWheelSteer, // unused
k_param_mixing_offset,
k_param_dspoiler_rud_rate,
k_param_DataFlash = 253, // Logging Group
// 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 telem_delay;
#if CLI_ENABLED == ENABLED
AP_Int8 cli_enabled;
#endif
AP_Float hil_err_limit;
AP_Int8 rtl_autoland;
AP_Int8 trim_rc_at_start;
AP_Int8 crash_accel_threshold;
// Feed-forward gains
//
AP_Float kff_rudder_mix;
AP_Float kff_pitch_to_throttle;
AP_Float kff_throttle_to_pitch;
AP_Float ground_steer_alt;
AP_Int16 ground_steer_dps;
AP_Float stab_pitch_down;
// speed used for speed scaling
AP_Float scaling_speed;
// navigation controller type. See AP_Navigation::ControllerType
AP_Int8 nav_controller;
// attitude controller type.
AP_Int8 att_controller;
AP_Int8 auto_fbw_steer;
// Estimation
//
AP_Int8 alt_control_algorithm;
// Waypoints
//
AP_Int8 waypoint_mode;
AP_Int16 waypoint_radius;
AP_Int16 waypoint_max_radius;
AP_Int16 rtl_radius;
#if GEOFENCE_ENABLED == ENABLED
AP_Int8 fence_action;
AP_Int8 fence_total;
AP_Int8 fence_channel;
AP_Int16 fence_minalt; // meters
AP_Int16 fence_maxalt; // meters
AP_Int16 fence_retalt; // meters
AP_Int8 fence_autoenable;
AP_Int8 fence_ret_rally;
#endif
// Fly-by-wire
//
AP_Int8 flybywire_elev_reverse;
AP_Int8 flybywire_climb_rate;
// Throttle
//
AP_Int8 throttle_suppress_manual;
AP_Int8 throttle_passthru_stabilize;
AP_Int8 throttle_fs_enabled;
AP_Int16 throttle_fs_value;
AP_Int8 throttle_nudge;
AP_Int16 use_reverse_thrust;
// Failsafe
AP_Int8 short_fs_action;
AP_Int8 long_fs_action;
AP_Float short_fs_timeout;
AP_Float long_fs_timeout;
AP_Int8 gcs_heartbeat_fs_enabled;
AP_Float fs_batt_voltage;
AP_Float fs_batt_mah;
// Flight modes
//
AP_Int8 flight_mode_channel;
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 initial_mode;
// Navigational maneuvering limits
//
AP_Int16 alt_offset;
AP_Int16 acro_roll_rate;
AP_Int16 acro_pitch_rate;
AP_Int8 acro_locking;
// Misc
//
AP_Int8 auto_trim;
AP_Int8 rudder_only;
AP_Float mixing_gain;
AP_Int16 mixing_offset;
AP_Int16 dspoiler_rud_rate;
AP_Int16 num_resets;
AP_Int32 log_bitmask;
AP_Int8 reset_switch_chan;
AP_Int8 reset_mission_chan;
AP_Int32 RTL_altitude_cm;
AP_Int16 pitch_trim_cd;
AP_Int16 FBWB_min_altitude_cm;
AP_Int8 hil_servos;
#if HIL_SUPPORT
AP_Int8 hil_mode;
#endif
AP_Int8 compass_enabled;
AP_Int8 flap_1_percent;
AP_Int8 flap_1_speed;
AP_Int8 flap_2_percent;
AP_Int8 flap_2_speed;
AP_Int8 takeoff_flap_percent;
AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
AP_Int8 stick_mixing;
AP_Float takeoff_throttle_min_speed;
AP_Float takeoff_throttle_min_accel;
AP_Int8 takeoff_throttle_delay;
AP_Int8 takeoff_tdrag_elevator;
AP_Float takeoff_tdrag_speed1;
AP_Float takeoff_rotate_speed;
AP_Int8 takeoff_throttle_slewrate;
AP_Float takeoff_pitch_limit_reduction_sec;
AP_Int8 level_roll_limit;
AP_Int8 flapin_channel;
#if AP_TERRAIN_AVAILABLE
AP_Int8 terrain_follow;
AP_Int16 terrain_lookahead;
#endif
AP_Int16 glide_slope_min;
AP_Float glide_slope_threshold;
AP_Int8 fbwa_tdrag_chan;
AP_Int8 rangefinder_landing;
AP_Int8 flap_slewrate;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
AP_Int8 override_channel;
AP_Int8 override_safety;
#endif
AP_Int16 gcs_pid_mask;
AP_Int8 parachute_channel;
};
/*
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[];
// button reporting library
AP_Button button;
// vehicle statistics
AP_Stats stats;
// internal combustion engine control
AP_ICEngine ice_control;
// RC input channels
RC_Channels rc_channels;
// control over servo output ranges
SRV_Channels servo_channels;
// whether to enforce acceptance of packets only from sysid_my_gcs
AP_Int8 sysid_enforce;
// ArduSoar parameters
SoaringController soaring_controller;
// dual motor tailsitter rudder to differential thrust scaling: 0-100%
AP_Int8 rudd_dt_gain;
// mask of channels to do manual pass-thru for
AP_Int32 manual_rc_mask;
};
extern const AP_Param::Info var_info[];
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