mirror of https://github.com/ArduPilot/ardupilot
606 lines
21 KiB
C++
606 lines
21 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef PARAMETERS_H
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#define PARAMETERS_H
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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 = 120;
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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 = 10; // 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_ins_old, // *** Deprecated, remove with next eeprom number change
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k_param_ins, // libraries/AP_InertialSensor variables
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k_param_NavEKF2,
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// simulation
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k_param_sitl = 10,
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// barometer object (needed for SITL)
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k_param_barometer,
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// scheduler object (for debugging)
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k_param_scheduler,
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// relay object
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k_param_relay,
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// EPM object
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k_param_epm,
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// BoardConfig object
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k_param_BoardConfig,
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// GPS object
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k_param_gps,
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// Parachute object
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k_param_parachute,
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// Landing gear object
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k_param_landinggear, // 18
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// Input Management object
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k_param_input_manager, // 19
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// Misc
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//
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k_param_log_bitmask_old = 20, // Deprecated
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k_param_log_last_filenumber, // *** Deprecated - remove
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// with next eeprom number
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// change
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k_param_toy_yaw_rate, // deprecated - remove
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k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change
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k_param_rssi_pin, // unused, replaced by rssi_ library parameters
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k_param_throttle_accel_enabled, // deprecated - remove
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k_param_wp_yaw_behavior,
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k_param_acro_trainer,
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k_param_pilot_velocity_z_max,
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k_param_circle_rate, // deprecated - remove
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k_param_sonar_gain,
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k_param_ch8_option,
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k_param_arming_check,
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k_param_sprayer,
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k_param_angle_max,
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k_param_gps_hdop_good,
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k_param_battery,
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k_param_fs_batt_mah,
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k_param_angle_rate_max, // remove
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k_param_rssi_range, // unused, replaced by rssi_ library parameters
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k_param_rc_feel_rp,
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k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group
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k_param_mission, // mission library
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k_param_rc_13,
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k_param_rc_14,
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k_param_rally,
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k_param_poshold_brake_rate,
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k_param_poshold_brake_angle_max,
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k_param_pilot_accel_z,
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k_param_serial0_baud, // deprecated - remove
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k_param_serial1_baud, // deprecated - remove
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k_param_serial2_baud, // deprecated - remove
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k_param_land_repositioning,
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k_param_sonar, // sonar object
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k_param_fs_ekf_thresh,
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k_param_terrain,
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k_param_acro_expo,
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k_param_throttle_deadzone,
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k_param_optflow,
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k_param_dcmcheck_thresh, // deprecated - remove
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k_param_log_bitmask,
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k_param_cli_enabled,
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k_param_throttle_filt,
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k_param_throttle_behavior,
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k_param_pilot_takeoff_alt, // 64
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// 65: AP_Limits Library
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k_param_limits = 65, // deprecated - remove
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k_param_gpslock_limit, // deprecated - remove
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k_param_geofence_limit, // deprecated - remove
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k_param_altitude_limit, // deprecated - remove
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k_param_fence,
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k_param_gps_glitch, // deprecated
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k_param_baro_glitch, // 71 - deprecated
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// AP_ADSB Library
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k_param_adsb, // 72
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// 74: precision landing object
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k_param_precland = 74,
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//
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// 75: Singlecopter, CoaxCopter
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//
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k_param_single_servo_1 = 75,
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k_param_single_servo_2,
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k_param_single_servo_3,
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k_param_single_servo_4, // 78
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//
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// 80: Heli
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//
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k_param_heli_servo_1 = 80,
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k_param_heli_servo_2,
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k_param_heli_servo_3,
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k_param_heli_servo_4,
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k_param_heli_pitch_ff, // remove
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k_param_heli_roll_ff, // remove
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k_param_heli_yaw_ff, // remove
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k_param_heli_stab_col_min, // remove
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k_param_heli_stab_col_max, // remove
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k_param_heli_servo_rsc, // 89 = full!
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//
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// 90: misc2
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//
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k_param_motors = 90,
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k_param_disarm_delay,
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k_param_fs_crash_check,
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// 97: RSSI
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k_param_rssi = 97,
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//
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// 100: Inertial Nav
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//
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k_param_inertial_nav = 100, // deprecated
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k_param_wp_nav,
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k_param_attitude_control,
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k_param_pos_control,
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k_param_circle_nav, // 104
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// 110: Telemetry control
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//
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k_param_gcs0 = 110,
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k_param_gcs1,
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k_param_sysid_this_mav,
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k_param_sysid_my_gcs,
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k_param_serial1_baud_old, // deprecated
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k_param_telem_delay,
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k_param_gcs2,
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k_param_serial2_baud_old, // deprecated
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k_param_serial2_protocol, // deprecated
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k_param_serial_manager,
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k_param_ch9_option,
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k_param_ch10_option,
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k_param_ch11_option,
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k_param_ch12_option,
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k_param_takeoff_trigger_dz,
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k_param_gcs3,
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k_param_gcs_pid_mask, // 126
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//
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// 135 : reserved for Solo until features merged with master
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//
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k_param_rtl_speed_cms = 135,
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k_param_fs_batt_curr_rtl, // 136
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//
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// 140: Sensor parameters
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//
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k_param_imu = 140, // deprecated - can be deleted
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k_param_battery_monitoring = 141, // deprecated - can be deleted
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k_param_volt_div_ratio, // deprecated - can be deleted
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k_param_curr_amp_per_volt, // deprecated - can be deleted
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k_param_input_voltage, // deprecated - can be deleted
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k_param_pack_capacity, // deprecated - can be deleted
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k_param_compass_enabled,
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k_param_compass,
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k_param_sonar_enabled_old, // deprecated
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k_param_frame_orientation,
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k_param_optflow_enabled, // deprecated
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k_param_fs_batt_voltage,
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k_param_ch7_option,
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k_param_auto_slew_rate, // deprecated - can be deleted
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k_param_sonar_type_old, // deprecated
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k_param_super_simple = 155,
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k_param_axis_enabled = 157, // deprecated - remove with next eeprom number change
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k_param_copter_leds_mode, // deprecated - remove with next eeprom number change
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k_param_ahrs, // AHRS group // 159
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//
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// 160: Navigation parameters
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//
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k_param_rtl_altitude = 160,
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k_param_crosstrack_gain, // deprecated - remove with next eeprom number change
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k_param_rtl_loiter_time,
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k_param_rtl_alt_final,
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k_param_tilt_comp, //164 deprecated - remove with next eeprom number change
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//
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// Camera and mount parameters
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//
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k_param_camera = 165,
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k_param_camera_mount,
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k_param_camera_mount2, // deprecated
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//
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// Batery monitoring parameters
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//
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k_param_battery_volt_pin = 168, // deprecated - can be deleted
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k_param_battery_curr_pin, // 169 deprecated - can be deleted
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//
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// 170: Radio settings
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//
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k_param_rc_1 = 170,
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k_param_rc_2,
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k_param_rc_3,
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k_param_rc_4,
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k_param_rc_5,
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k_param_rc_6,
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k_param_rc_7,
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k_param_rc_8,
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k_param_rc_10,
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k_param_rc_11,
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k_param_throttle_min,
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k_param_throttle_max, // remove
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k_param_failsafe_throttle,
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k_param_throttle_fs_action, // remove
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k_param_failsafe_throttle_value,
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k_param_throttle_trim, // remove
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k_param_esc_calibrate,
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k_param_radio_tuning,
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k_param_radio_tuning_high,
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k_param_radio_tuning_low,
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k_param_rc_speed = 192,
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k_param_failsafe_battery_enabled,
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k_param_throttle_mid,
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k_param_failsafe_gps_enabled, // remove
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k_param_rc_9,
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k_param_rc_12,
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k_param_failsafe_gcs,
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k_param_rcmap, // 199
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//
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// 200: flight modes
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//
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k_param_flight_mode1 = 200,
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k_param_flight_mode2,
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k_param_flight_mode3,
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k_param_flight_mode4,
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k_param_flight_mode5,
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k_param_flight_mode6,
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k_param_simple_modes,
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//
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// 210: Waypoint data
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//
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k_param_waypoint_mode = 210, // remove
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k_param_command_total, // remove
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k_param_command_index, // remove
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k_param_command_nav_index, // remove
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k_param_waypoint_radius, // remove
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k_param_circle_radius, // remove
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k_param_waypoint_speed_max, // remove
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k_param_land_speed,
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k_param_auto_velocity_z_min, // remove
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k_param_auto_velocity_z_max, // remove - 219
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//
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// 220: PI/D Controllers
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//
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k_param_acro_rp_p = 221,
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k_param_axis_lock_p, // remove
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k_param_pid_rate_roll,
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k_param_pid_rate_pitch,
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k_param_pid_rate_yaw,
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k_param_p_stabilize_roll,
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k_param_p_stabilize_pitch,
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k_param_p_stabilize_yaw,
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k_param_p_pos_xy,
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k_param_p_loiter_lon, // remove
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k_param_pid_loiter_rate_lat, // remove
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k_param_pid_loiter_rate_lon, // remove
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k_param_pid_nav_lat, // remove
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k_param_pid_nav_lon, // remove
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k_param_p_alt_hold,
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k_param_p_vel_z,
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k_param_pid_optflow_roll, // remove
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k_param_pid_optflow_pitch, // remove
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k_param_acro_balance_roll_old, // remove
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k_param_acro_balance_pitch_old, // remove
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k_param_pid_accel_z,
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k_param_acro_balance_roll,
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k_param_acro_balance_pitch,
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k_param_acro_yaw_p,
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k_param_autotune_axis_bitmask,
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k_param_autotune_aggressiveness,
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k_param_pi_vel_xy,
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k_param_fs_ekf_action,
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k_param_rtl_climb_min,
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k_param_rpm_sensor,
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k_param_autotune_min_d, // 251
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k_param_pi_precland, // 252
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k_param_DataFlash = 253, // 253 - Logging Group
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// 254,255: reserved
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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_Int8 telem_delay;
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#if CLI_ENABLED == ENABLED
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AP_Int8 cli_enabled;
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#endif
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AP_Float throttle_filt;
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AP_Int16 throttle_behavior;
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AP_Int16 takeoff_trigger_dz;
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AP_Float pilot_takeoff_alt;
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AP_Int16 rtl_altitude;
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AP_Int16 rtl_speed_cms;
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AP_Float sonar_gain;
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AP_Int8 failsafe_battery_enabled; // battery failsafe enabled
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AP_Float fs_batt_voltage; // battery voltage below which failsafe will be triggered
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AP_Float fs_batt_mah; // battery capacity (in mah) below which failsafe will be triggered
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AP_Int8 failsafe_gcs; // ground station failsafe behavior
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AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position
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AP_Int8 compass_enabled;
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AP_Int8 super_simple;
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AP_Int16 rtl_alt_final;
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AP_Int16 rtl_climb_min; // rtl minimum climb in cm
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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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AP_Int16 poshold_brake_rate; // PosHold flight mode's rotation rate during braking in deg/sec
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AP_Int16 poshold_brake_angle_max; // PosHold flight mode's max lean angle during braking in centi-degrees
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// Waypoints
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//
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AP_Int32 rtl_loiter_time;
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AP_Int16 land_speed;
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AP_Int16 pilot_velocity_z_max; // maximum vertical 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_min;
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AP_Int8 failsafe_throttle;
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AP_Int16 failsafe_throttle_value;
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AP_Int16 throttle_mid;
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AP_Int16 throttle_deadzone;
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// Flight modes
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//
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AP_Int8 flight_mode1;
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AP_Int8 flight_mode2;
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AP_Int8 flight_mode3;
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AP_Int8 flight_mode4;
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AP_Int8 flight_mode5;
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AP_Int8 flight_mode6;
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AP_Int8 simple_modes;
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// Misc
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//
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AP_Int32 log_bitmask;
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AP_Int8 esc_calibrate;
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AP_Int8 radio_tuning;
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AP_Int16 radio_tuning_high;
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AP_Int16 radio_tuning_low;
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AP_Int8 frame_orientation;
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AP_Int8 ch7_option;
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AP_Int8 ch8_option;
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AP_Int8 ch9_option;
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AP_Int8 ch10_option;
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AP_Int8 ch11_option;
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AP_Int8 ch12_option;
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AP_Int8 arming_check;
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AP_Int8 disarm_delay;
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AP_Int8 land_repositioning;
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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 FRAME_CONFIG == HELI_FRAME
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// Heli
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RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail
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RC_Channel heli_servo_rsc; // servo for rotor speed control output
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#endif
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#if FRAME_CONFIG == SINGLE_FRAME
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// Single
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RC_Channel single_servo_1, single_servo_2, single_servo_3, single_servo_4; // servos for four flaps
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#endif
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#if FRAME_CONFIG == COAX_FRAME
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// Coax copter flaps
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RC_Channel single_servo_1, single_servo_2; // servos for two flaps
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#endif
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// RC channels
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RC_Channel rc_1;
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RC_Channel rc_2;
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RC_Channel rc_3;
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RC_Channel rc_4;
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RC_Channel_aux rc_5;
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RC_Channel_aux rc_6;
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RC_Channel_aux rc_7;
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RC_Channel_aux rc_8;
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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RC_Channel_aux rc_9;
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#endif
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RC_Channel_aux rc_10;
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RC_Channel_aux rc_11;
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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RC_Channel_aux rc_12;
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RC_Channel_aux rc_13;
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RC_Channel_aux rc_14;
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#endif
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AP_Int16 rc_speed; // speed of fast RC Channels in Hz
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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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// PI/D controllers
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#if FRAME_CONFIG == HELI_FRAME
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AC_HELI_PID pid_rate_roll;
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AC_HELI_PID pid_rate_pitch;
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AC_HELI_PID pid_rate_yaw;
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#else
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AC_PID pid_rate_roll;
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AC_PID pid_rate_pitch;
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AC_PID pid_rate_yaw;
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#endif
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AC_PI_2D pi_vel_xy;
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AC_P p_vel_z;
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AC_PID pid_accel_z;
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#if PRECISION_LANDING == ENABLED
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AC_PI_2D pi_precland;
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#endif
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AC_P p_pos_xy;
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AC_P p_stabilize_roll;
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AC_P p_stabilize_pitch;
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AC_P p_stabilize_yaw;
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AC_P p_alt_hold;
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// Autotune
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AP_Int8 autotune_axis_bitmask;
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AP_Float autotune_aggressiveness;
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AP_Float autotune_min_d;
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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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#if FRAME_CONFIG == HELI_FRAME
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heli_servo_1 (CH_1),
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heli_servo_2 (CH_2),
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heli_servo_3 (CH_3),
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heli_servo_4 (CH_4),
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heli_servo_rsc (CH_8),
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#endif
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#if FRAME_CONFIG == SINGLE_FRAME
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single_servo_1 (CH_1),
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single_servo_2 (CH_2),
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single_servo_3 (CH_3),
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single_servo_4 (CH_4),
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#endif
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#if FRAME_CONFIG == COAX_FRAME
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single_servo_1 (CH_1),
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single_servo_2 (CH_2),
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#endif
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rc_1 (CH_1),
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rc_2 (CH_2),
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rc_3 (CH_3),
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rc_4 (CH_4),
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rc_5 (CH_5),
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rc_6 (CH_6),
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rc_7 (CH_7),
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rc_8 (CH_8),
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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rc_9 (CH_9),
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#endif
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rc_10 (CH_10),
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rc_11 (CH_11),
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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rc_12 (CH_12),
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rc_13 (CH_13),
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rc_14 (CH_14),
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#endif
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// PID controller initial P initial I initial D initial imax initial filt hz pid rate
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//---------------------------------------------------------------------------------------------------------------------------------
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#if FRAME_CONFIG == HELI_FRAME
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pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX, RATE_ROLL_FILT_HZ, MAIN_LOOP_SECONDS, RATE_ROLL_FF),
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pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX, RATE_PITCH_FILT_HZ, MAIN_LOOP_SECONDS, RATE_PITCH_FF),
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pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX, RATE_YAW_FILT_HZ, MAIN_LOOP_SECONDS, RATE_YAW_FF),
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#else
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pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX, RATE_ROLL_FILT_HZ, MAIN_LOOP_SECONDS),
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pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX, RATE_PITCH_FILT_HZ, MAIN_LOOP_SECONDS),
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pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX, RATE_YAW_FILT_HZ, MAIN_LOOP_SECONDS),
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#endif
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pi_vel_xy (VEL_XY_P, VEL_XY_I, VEL_XY_IMAX, VEL_XY_FILT_HZ, WPNAV_LOITER_UPDATE_TIME),
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p_vel_z (VEL_Z_P),
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pid_accel_z (ACCEL_Z_P, ACCEL_Z_I, ACCEL_Z_D, ACCEL_Z_IMAX, ACCEL_Z_FILT_HZ, MAIN_LOOP_SECONDS),
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#if PRECISION_LANDING == ENABLED
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pi_precland (PRECLAND_P, PRECLAND_I, PRECLAND_IMAX, VEL_XY_FILT_HZ, PRECLAND_UPDATE_TIME),
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#endif
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// P controller initial P
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//----------------------------------------------------------------------
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p_pos_xy (POS_XY_P),
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p_stabilize_roll (STABILIZE_ROLL_P),
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p_stabilize_pitch (STABILIZE_PITCH_P),
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|
p_stabilize_yaw (STABILIZE_YAW_P),
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p_alt_hold (ALT_HOLD_P)
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{
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}
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};
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extern const AP_Param::Info var_info[];
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#endif // PARAMETERS_H
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