mirror of https://github.com/ArduPilot/ardupilot
442 lines
13 KiB
C++
442 lines
13 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.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 = 116;
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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 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 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_Var 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_Var 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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// Misc
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//
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k_param_log_bitmask = 20,
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k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change
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#if FRAME_CONFIG == HELI_FRAME
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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_servo1_pos ,
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k_param_heli_servo2_pos,
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k_param_heli_servo3_pos,
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k_param_heli_roll_max,
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k_param_heli_pitch_max,
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k_param_heli_collective_min,
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k_param_heli_collective_max,
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k_param_heli_collective_mid,
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k_param_heli_ext_gyro_enabled,
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k_param_heli_ext_gyro_gain,
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k_param_heli_servo_averaging,
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k_param_heli_servo_manual,
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k_param_heli_phase_angle,
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k_param_heli_collective_yaw_effect, // 97
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#endif
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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_gcs3,
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k_param_sysid_this_mav,
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k_param_sysid_my_gcs,
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k_param_serial3_baud,
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//
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// 140: Sensor parameters
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//
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k_param_imu = 140, // sensor calibration
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k_param_battery_monitoring,
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k_param_volt_div_ratio,
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k_param_curr_amp_per_volt,
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k_param_input_voltage,
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k_param_pack_capacity,
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k_param_compass_enabled,
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k_param_compass,
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k_param_sonar_enabled,
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k_param_frame_orientation,
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k_param_top_bottom_ratio,
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k_param_optflow_enabled,
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k_param_low_voltage,
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k_param_ch7_option,
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k_param_auto_slew_rate,
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k_param_sonar_type,
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k_param_super_simple, //155
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k_param_rtl_land_enabled,
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k_param_axis_enabled,
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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,
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k_param_auto_land_timeout,
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//
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// 180: Radio settings
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//
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k_param_rc_1 = 180,
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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_camera_pitch,// rc_9
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k_param_rc_camera_roll, // rc_10
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k_param_throttle_min,
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k_param_throttle_max,
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k_param_throttle_fs_enabled,
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k_param_throttle_fs_action,
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k_param_throttle_fs_value,
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k_param_throttle_cruise,
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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_camera_pitch_gain,
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k_param_camera_roll_gain,
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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,
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k_param_command_total,
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k_param_command_index,
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k_param_command_nav_index,
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k_param_waypoint_radius,
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k_param_loiter_radius,
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k_param_waypoint_speed_max,
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//
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// 220: PI/D Controllers
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//
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k_param_stabilize_d_schedule = 219,
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k_param_stabilize_d = 220,
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k_param_acro_p,
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k_param_axis_lock_p,
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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_pi_stabilize_roll,
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k_param_pi_stabilize_pitch,
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k_param_pi_stabilize_yaw,
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k_param_pi_loiter_lat,
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k_param_pi_loiter_lon,
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k_param_pid_loiter_rate_lat,
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k_param_pid_loiter_rate_lon,
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k_param_pid_nav_lat,
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k_param_pid_nav_lon,
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k_param_pi_alt_hold,
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k_param_pid_throttle,
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k_param_pid_optflow_roll,
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k_param_pid_optflow_pitch,
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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 serial3_baud;
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AP_Int16 RTL_altitude;
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AP_Int8 sonar_enabled;
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AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m range)
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AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
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AP_Float volt_div_ratio;
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AP_Float curr_amp_per_volt;
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AP_Float input_voltage;
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AP_Int16 pack_capacity; // Battery pack capacity less reserve
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AP_Int8 compass_enabled;
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AP_Int8 optflow_enabled;
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AP_Float low_voltage;
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AP_Int8 super_simple;
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AP_Int8 rtl_land_enabled;
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AP_Int8 axis_enabled;
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// Waypoints
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//
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AP_Int8 waypoint_mode;
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AP_Int8 command_total;
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AP_Int8 command_index;
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AP_Int8 command_nav_index;
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AP_Int8 waypoint_radius;
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AP_Int16 loiter_radius;
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AP_Int16 waypoint_speed_max;
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AP_Float crosstrack_gain;
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AP_Int32 auto_land_timeout;
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// Throttle
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//
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AP_Int16 throttle_min;
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AP_Int16 throttle_max;
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AP_Int8 throttle_fs_enabled;
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AP_Int8 throttle_fs_action;
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AP_Int16 throttle_fs_value;
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AP_Int16 throttle_cruise;
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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_Int16 log_bitmask;
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AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change
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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_Float top_bottom_ratio;
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AP_Int8 ch7_option;
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AP_Int16 auto_slew_rate;
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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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AP_Int16 heli_servo1_pos, heli_servo2_pos, heli_servo3_pos; // servo positions (3 because we don't need pos for tail servo)
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AP_Int16 heli_roll_max, heli_pitch_max; // maximum allowed roll and pitch of swashplate
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AP_Int16 heli_collective_min, heli_collective_max, heli_collective_mid; // min and max collective. mid = main blades at zero pitch
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AP_Int8 heli_ext_gyro_enabled; // 0 = no external tail gyro, 1 = external tail gyro
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AP_Int16 heli_ext_gyro_gain; // radio output 1000~2000 (value output on CH_7)
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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)
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AP_Int8 heli_servo_manual; // 0 = normal mode, 1 = radio inputs directly control swash. required for swash set-up
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AP_Int16 heli_phase_angle; // 0 to 360 degrees. specifies mixing between roll and pitch for helis
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AP_Float heli_collective_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
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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 rc_5;
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RC_Channel rc_6;
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RC_Channel rc_7;
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RC_Channel rc_8;
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RC_Channel rc_camera_pitch;
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RC_Channel rc_camera_roll;
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AP_Float camera_pitch_gain;
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AP_Float camera_roll_gain;
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AP_Float stabilize_d;
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AP_Float stabilize_d_schedule;
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// PI/D controllers
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AP_Float acro_p;
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AP_Float axis_lock_p;
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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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AC_PID pid_loiter_rate_lat;
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AC_PID pid_loiter_rate_lon;
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AC_PID pid_nav_lat;
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AC_PID pid_nav_lon;
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AC_PID pid_throttle;
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AC_PID pid_optflow_roll;
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AC_PID pid_optflow_pitch;
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APM_PI pi_loiter_lat;
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APM_PI pi_loiter_lon;
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APM_PI pi_stabilize_roll;
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APM_PI pi_stabilize_pitch;
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APM_PI pi_stabilize_yaw;
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APM_PI pi_alt_hold;
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// Note: keep initializers here in the same order as they are declared above.
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Parameters() :
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// variable default
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//----------------------------------------
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format_version (k_format_version),
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software_type (k_software_type),
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sysid_this_mav (MAV_SYSTEM_ID),
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sysid_my_gcs (255),
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serial3_baud (SERIAL3_BAUD/1000),
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RTL_altitude (ALT_HOLD_HOME * 100),
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sonar_enabled (DISABLED),
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sonar_type (AP_RANGEFINDER_MAXSONARXL),
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battery_monitoring (DISABLED),
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volt_div_ratio (VOLT_DIV_RATIO),
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curr_amp_per_volt (CURR_AMP_PER_VOLT),
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input_voltage (INPUT_VOLTAGE),
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pack_capacity (HIGH_DISCHARGE),
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compass_enabled (MAGNETOMETER),
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optflow_enabled (OPTFLOW),
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low_voltage (LOW_VOLTAGE),
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super_simple (SUPER_SIMPLE),
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rtl_land_enabled (RTL_AUTO_LAND),
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axis_enabled (AXIS_LOCK_ENABLED),
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waypoint_mode (0),
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command_total (0),
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command_index (0),
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command_nav_index (0),
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waypoint_radius (WP_RADIUS_DEFAULT * 100),
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loiter_radius (LOITER_RADIUS),
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waypoint_speed_max (WAYPOINT_SPEED_MAX),
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crosstrack_gain (CROSSTRACK_GAIN),
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auto_land_timeout (AUTO_LAND_TIME * 1000),
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throttle_min (0),
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throttle_max (1000),
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throttle_fs_enabled (THROTTLE_FAILSAFE),
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throttle_fs_action (THROTTLE_FAILSAFE_ACTION),
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throttle_fs_value (THROTTLE_FS_VALUE),
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throttle_cruise (THROTTLE_CRUISE),
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flight_mode1 (FLIGHT_MODE_1),
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flight_mode2 (FLIGHT_MODE_2),
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flight_mode3 (FLIGHT_MODE_3),
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flight_mode4 (FLIGHT_MODE_4),
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flight_mode5 (FLIGHT_MODE_5),
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flight_mode6 (FLIGHT_MODE_6),
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simple_modes (0),
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log_bitmask (DEFAULT_LOG_BITMASK),
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log_last_filenumber (0),
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esc_calibrate (0),
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radio_tuning (0),
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radio_tuning_high (1000),
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radio_tuning_low (0),
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frame_orientation (FRAME_ORIENTATION),
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top_bottom_ratio (TOP_BOTTOM_RATIO),
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ch7_option (CH7_OPTION),
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auto_slew_rate (AUTO_SLEW_RATE),
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#if FRAME_CONFIG == HELI_FRAME
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heli_servo1_pos (-60),
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heli_servo2_pos (60),
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heli_servo3_pos (180),
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heli_roll_max (4500),
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heli_pitch_max (4500),
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heli_collective_min (1250),
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heli_collective_max (1750),
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heli_collective_mid (1500),
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heli_ext_gyro_enabled (0),
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heli_ext_gyro_gain (1350),
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heli_servo_averaging (0),
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heli_servo_manual (0),
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heli_phase_angle (0),
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heli_collective_yaw_effect (0),
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#endif
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camera_pitch_gain (CAM_PITCH_GAIN),
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camera_roll_gain (CAM_ROLL_GAIN),
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stabilize_d (STABILIZE_D),
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stabilize_d_schedule (STABILIZE_D_SCHEDULE),
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acro_p (ACRO_P),
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axis_lock_p (AXIS_LOCK_P),
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// PID controller initial P initial I initial D initial imax
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//-----------------------------------------------------------------------------------------------------
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pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100),
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pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100),
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pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100),
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pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100),
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pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100),
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pid_nav_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
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pid_nav_lon (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
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pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX),
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pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100),
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pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100),
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// PI controller initial P initial I initial imax
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//----------------------------------------------------------------------
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pi_stabilize_roll (STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100),
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pi_stabilize_pitch (STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100),
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pi_stabilize_yaw (STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100),
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pi_alt_hold (ALT_HOLD_P, ALT_HOLD_I, ALT_HOLD_IMAX),
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pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX * 100),
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pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX * 100)
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{
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}
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};
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#endif // PARAMETERS_H
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