From 5abd26a14285c15bd8a527952e8d20b90eb6fdc8 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 5 Jul 2012 15:06:38 +1000 Subject: [PATCH] APM: more parameter documentation --- ArduPlane/Parameters.pde | 182 ++++++++++++++++++++++++++++++++++++++- 1 file changed, 181 insertions(+), 1 deletion(-) diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde index cc89778005..9bf819efdb 100644 --- a/ArduPlane/Parameters.pde +++ b/ArduPlane/Parameters.pde @@ -124,10 +124,41 @@ static const AP_Param::Info var_info[] PROGMEM = { GSCALAR(loiter_radius, "WP_LOITER_RAD"), #if GEOFENCE_ENABLED == ENABLED + // @Param: FENCE_ACTION + // @DisplayName: Action on geofence breach + // @Description: Defines the distance from the waypoint center, the plane will maintain during a loiter + // @Values: 0:None,1:GuidedMode + // @User: Standard GSCALAR(fence_action, "FENCE_ACTION"), + + // @Param: FENCE_TOTAL + // @DisplayName: Fence Total + // @Description: Number of geofence points currently loaded + // @User: Standard GSCALAR(fence_total, "FENCE_TOTAL"), + + // @Param: FENCE_CHANNEL + // @DisplayName: Fence Channel + // @Description: RC Channel to use to enable geofence. PWM input above 1750 enables the geofence + // @User: Standard GSCALAR(fence_channel, "FENCE_CHANNEL"), + + // @Param: FENCE_MINALT + // @DisplayName: Fence Minimum Altitude + // @Description: Minimum altitude allowed before geofence triggers + // @Units: meters + // @Range: 0 32767 + // @Increment: 1 + // @User: Standard GSCALAR(fence_minalt, "FENCE_MINALT"), + + // @Param: FENCE_MAXALT + // @DisplayName: Fence Maximum Altitude + // @Description: Maximum altitude allowed before geofence triggers + // @Units: meters + // @Range: 0 32767 + // @Increment: 1 + // @User: Standard GSCALAR(fence_maxalt, "FENCE_MAXALT"), #endif @@ -166,30 +197,106 @@ static const AP_Param::Info var_info[] PROGMEM = { // @Increment: 1 // @User: Standard GSCALAR(throttle_max, "THR_MAX"), + + // @Param: THR_SLEWRATE + // @DisplayName: Throttlw slew rate + // @Description: maximum percentage change in throttle per second + // @Units: Percent + // @Range: 0 100 + // @Increment: 1 + // @User: Standard GSCALAR(throttle_slewrate, "THR_SLEWRATE"), // @Param: THR_FAILSAFE // @DisplayName: Throttle Failsafe Enable // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel - // @Units: Percent // @Values: 0:Disabled,1:Enabled // @User: Standard GSCALAR(throttle_fs_enabled, "THR_FAILSAFE"), + // @Param: THR_FS_VALUE + // @DisplayName: Throttle Failsafe Value + // @Description: The PWM level on channel 3 below which throttle sailsafe triggers + // @User: Standard GSCALAR(throttle_fs_value, "THR_FS_VALUE"), + + // @Param: TRIM_THROTTLE + // @DisplayName: Throttle cruise percentage + // @Description: The target percentage of throttle to apply for normal flight + // @Units: Percent + // @Range: 0 100 + // @Increment: 1 + // @User: Standard GSCALAR(throttle_cruise, "TRIM_THROTTLE"), + // @Param: FS_SHORT_ACTN + // @DisplayName: Short failsafe action + // @Description: The action to take on a short (1 second) failsafe event + // @Values: 0:None,1:ReturnToLaunch + // @User: Standard GSCALAR(short_fs_action, "FS_SHORT_ACTN"), + + // @Param: FS_LONG_ACTN + // @DisplayName: Long failsafe action + // @Description: The action to take on a long (20 second) failsafe event + // @Values: 0:None,1:ReturnToLaunch + // @User: Standard GSCALAR(long_fs_action, "FS_LONG_ACTN"), + + // @Param: FS_GCS_ENABL + // @DisplayName: GCS failsafe enable + // @Description: Enable ground control station telemetry failsafe. Failsafe will trigger after 20 seconds of no MAVLink heartbeat messages + // @Values: 0:Disabled,1:Enabled + // @User: Standard GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL"), + // @Param: FLTMODE_CH + // @DisplayName: Flightmode channel + // @Description: RC Channel to use for flight mode control + // @User: Advanced GSCALAR(flight_mode_channel, "FLTMODE_CH"), + + // @Param: FLTMODE1 + // @DisplayName: FlightMode1 + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard + // @Description: Flight mode for switch position 2 (910 to 1230 and above 2049) GSCALAR(flight_mode1, "FLTMODE1"), + + // @Param: FLTMODE3 + // @DisplayName: FlightMode1 + // @Description: Flight mode for switch position 2 (1231 to 1360) + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard GSCALAR(flight_mode2, "FLTMODE2"), + + // @Param: FLTMODE3 + // @DisplayName: FlightMode1 + // @Description: Flight mode for switch position 3 (1361 to 1490) + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard GSCALAR(flight_mode3, "FLTMODE3"), + + // @Param: FLTMODE4 + // @DisplayName: FlightMode4 + // @Description: Flight mode for switch position 4 (1491 to 1620) + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard GSCALAR(flight_mode4, "FLTMODE4"), + + // @Param: FLTMODE5 + // @DisplayName: FlightMode5 + // @Description: Flight mode for switch position 5 (1621 to 1749) + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard GSCALAR(flight_mode5, "FLTMODE5"), + + // @Param: FLTMODE6 + // @DisplayName: FlightMode6 + // @Description: Flight mode for switch position 6 (1750 to 2049) + // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided + // @User: Standard GSCALAR(flight_mode6, "FLTMODE6"), // @Param: LIM_ROLL_CD @@ -219,20 +326,92 @@ static const AP_Param::Info var_info[] PROGMEM = { // @User: Standard GSCALAR(pitch_limit_min, "LIM_PITCH_MIN"), + // @Param: AUTO_TRIM + // @DisplayName: Auto trim + // @Description: Set RC trim PWM levels to current levels when switching away from manual mode + // @Values: 0:Disabled,1:Enabled + // @User: Standard GSCALAR(auto_trim, "TRIM_AUTO"), + + // @Param: SWITCH_ENABLE + // @DisplayName: Switch enable + // @Description: Enable dip switches on APM1 + // @Values: 0:Disabled,1:Enabled + // @User: Advanced GSCALAR(switch_enable, "SWITCH_ENABLE"), + + // @Param: MIX_MODE + // @DisplayName: Elevon mixing + // @Description: Enable elevon mixing + // @Values: 0:Disabled,1:Enabled + // @User: User GSCALAR(mix_mode, "ELEVON_MIXING"), + + // @Param: ELEVON_REVERSE + // @DisplayName: Elevon reverse + // @Description: Reverse elevon mixing + // @Values: 0:Disabled,1:Enabled + // @User: User GSCALAR(reverse_elevons, "ELEVON_REVERSE"), + + + // @Param: ELEVON_REVERSE + // @DisplayName: Elevon reverse + // @Description: Reverse elevon channel 1 + // @Values: 0:Disabled,1:Enabled + // @User: User GSCALAR(reverse_ch1_elevon, "ELEVON_CH1_REV"), + + // @Param: ELEVON_REVERSE + // @DisplayName: Elevon reverse + // @Description: Reverse elevon channel 2 + // @Values: 0:Disabled,1:Enabled + // @User: User GSCALAR(reverse_ch2_elevon, "ELEVON_CH2_REV"), + + // @Param: SYS_NUM_RESETS + // @DisplayName: Num Resets + // @Description: Number of APM board resets + // @User: Advanced GSCALAR(num_resets, "SYS_NUM_RESETS"), + + // @Param: LOG_BITMASK + // @DisplayName: Log bitmask + // @Description: bitmap of log fields to enable + // @User: Advanced GSCALAR(log_bitmask, "LOG_BITMASK"), + GSCALAR(log_last_filenumber, "LOG_LASTFILE"), + + // @Param: RST_SWITCH_CH + // @DisplayName: RC channel to use to reset to last flight mode after geofence takeover + // @User: Advanced GSCALAR(reset_switch_chan, "RST_SWITCH_CH"), + + // @Param: TRIM_ARSPD_CM + // @DisplayName: Airspeed in cm/s to aim for when airspeed is enabled in auto mode + // @Units: cm/s + // @User: User GSCALAR(airspeed_cruise, "TRIM_ARSPD_CM"), + + // @Param: MIN_GNDSPD_CM + // @DisplayName: Minimum ground speed in cm/s when under airspeed control + // @Units: cm/s + // @User: Advanced GSCALAR(min_gndspeed, "MIN_GNDSPD_CM"), + + // @Param: TRIM_PITCH_CD + // @DisplayName: Pitch angle offset + // @Units: centi-Degrees + // @User: Advanced GSCALAR(pitch_trim, "TRIM_PITCH_CD"), + + // @Param: ALT_HOLD_RTL + // @DisplayName: Return to launch target altitude + // @Units: centimeters + // @User: User GSCALAR(RTL_altitude, "ALT_HOLD_RTL"), + GSCALAR(FBWB_min_altitude, "ALT_HOLD_FBWCM"), // @Param: MAG_ENABLE @@ -241,6 +420,7 @@ static const AP_Param::Info var_info[] PROGMEM = { // @Values: 0:Disabled,1:Enabled // @User: Standard GSCALAR(compass_enabled, "MAG_ENABLE"), + GSCALAR(flap_1_percent, "FLAP_1_PERCNT"), GSCALAR(flap_1_speed, "FLAP_1_SPEED"), GSCALAR(flap_2_percent, "FLAP_2_PERCNT"),