aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Rover: cleanup parameter names and remove dead parameters

Browse Source
This commit is contained in:
Andrew Tridgell 2013-02-08 21:17:54 +11:00
parent c2fd7617e1
commit 6cf4d11e33
8 changed files with 274 additions and 264 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

206
APMrover2/Parameters.h
View File

@ -17,14 +17,8 @@ public:
// The increment will prevent old parameters from being used incorrectly
// by newer code.
//
static const uint16_t k_format_version = 14;
// 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 = 20; // 0 for APM trunk
static const uint16_t k_format_version = 15;
static const uint16_t k_software_type = 20;
enum {
// Layout version number, always key zero.
@ -34,13 +28,12 @@ public:
// Misc
//
k_param_log_bitmask,
k_param_log_bitmask = 10,
k_param_num_resets,
k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change
k_param_reset_switch_chan,
k_param_manual_level,
k_param_ins, // libraries/AP_InertialSensor variables
k_param_rssi_pin,
// IO pins
k_param_rssi_pin = 20,
k_param_battery_volt_pin,
k_param_battery_curr_pin,
@ -58,22 +51,15 @@ public:
//
// 130: Sensor parameters
//
k_param_imu = 130,
k_param_compass_enabled,
k_param_compass,
k_param_battery_monitoring,
k_param_compass_enabled = 130,
// 140: battery controls
k_param_battery_monitoring = 140,
k_param_volt_div_ratio,
k_param_curr_amp_per_volt,
k_param_input_voltage,
k_param_pack_capacity,
#if CONFIG_SONAR == ENABLED
k_param_sonar_enabled,
k_param_sonar_type,
#endif
k_param_ahrs, // AHRS group
//
// 150: Navigation parameters
//
@ -94,22 +80,27 @@ public:
k_param_rc_7,
k_param_rc_8,
k_param_throttle_min,
// throttle control
k_param_throttle_min = 170,
k_param_throttle_max,
k_param_throttle_fs_enabled, // 170
k_param_throttle_fs_value,
k_param_throttle_cruise,
k_param_long_fs_action,
k_param_gcs_heartbeat_fs_enabled,
k_param_throttle_slewrate,
k_param_throttle_reduction,
// 180: APMrover parameters - JLN update
k_param_sonar_trigger,
k_param_booster,
// failsafe control
k_param_fs_action = 180,
k_param_fs_timeout,
k_param_fs_throttle_enabled,
k_param_fs_throttle_value,
k_param_fs_gcs_enabled,
// obstacle control
k_param_sonar_trigger = 190,
k_param_sonar_enabled,
k_param_sonar_type,
//
// 210: flight modes
// 210: driving modes
//
k_param_mode_channel = 210,
k_param_mode1,
@ -122,30 +113,39 @@ public:
//
// 220: Waypoint data
//
k_param_waypoint_mode = 220,
k_param_command_total,
k_param_command_total = 220,
k_param_command_index,
k_param_waypoint_radius,
// other objects
k_param_sitl = 230,
//
// 240: PID Controllers
k_param_pidNavSteer = 240,
// steering-to-servo PID:
k_param_pidNavSteer = 230,
k_param_pidServoSteer,
// steering-to-servo PID:
k_param_pidSpeedThrottle,
// other objects
k_param_sitl = 240,
k_param_ahrs,
k_param_ins,
k_param_compass,
// 254,255: reserved
};
AP_Int16 format_version;
AP_Int8 software_type;
// Misc
//
AP_Int16 log_bitmask;
AP_Int16 num_resets;
AP_Int8 reset_switch_chan;
// IO pins
AP_Int8 rssi_pin;
AP_Int8 battery_volt_pin;
AP_Int8 battery_curr_pin;
// Telemetry control
//
AP_Int16 sysid_this_mav;
@ -154,77 +154,22 @@ public:
AP_Int8 serial3_baud;
AP_Int8 telem_delay;
// Crosstrack navigation
//
AP_Float crosstrack_gain;
AP_Int16 crosstrack_entry_angle;
// Waypoints
//
AP_Int8 waypoint_mode;
AP_Int8 command_total;
AP_Int8 command_index;
AP_Float waypoint_radius;
// Throttle
//
AP_Int8 throttle_min;
AP_Int8 throttle_max;
AP_Int8 throttle_slewrate;
AP_Int8 throttle_fs_enabled;
AP_Int16 throttle_fs_value;
AP_Int8 throttle_cruise;
// Failsafe
AP_Int8 long_fs_action;
AP_Int8 gcs_heartbeat_fs_enabled;
// Flight modes
//
AP_Int8 mode_channel;
AP_Int8 mode1;
AP_Int8 mode2;
AP_Int8 mode3;
AP_Int8 mode4;
AP_Int8 mode5;
AP_Int8 mode6;
// Misc
//
AP_Int16 num_resets;
AP_Int16 log_bitmask;
AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change
AP_Int8 reset_switch_chan;
AP_Int8 manual_level;
AP_Float speed_cruise;
AP_Int8 ch7_option;
// sensor parameters
AP_Int8 compass_enabled;
// battery controls
AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
AP_Float volt_div_ratio;
AP_Float curr_amp_per_volt;
AP_Float input_voltage;
AP_Int16 pack_capacity; // Battery pack capacity less reserve
AP_Int8 rssi_pin;
AP_Int8 battery_volt_pin;
AP_Int8 battery_curr_pin;
AP_Int16 pack_capacity; // Battery pack capacity less reserve
#if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_SONAR == ENABLED
AP_Int8 sonar_enabled;
AP_Int8 sonar_type; // 0 = XL, 1 = LV,
// 2 = XLL (XL with 10m range)
// 3 = HRLV
#endif
#endif
// ************ ThermoPilot parameters ************************
// - JLN update
AP_Float sonar_trigger;
AP_Int8 booster;
// ************************************************************
// navigation parameters
//
AP_Float crosstrack_gain;
AP_Int16 crosstrack_entry_angle;
AP_Float speed_cruise;
AP_Int8 ch7_option;
// RC channels
RC_Channel channel_steer;
@ -236,6 +181,43 @@ public:
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
// Throttle
//
AP_Int8 throttle_min;
AP_Int8 throttle_max;
AP_Int8 throttle_cruise;
AP_Int8 throttle_slewrate;
// failsafe control
AP_Int8 fs_action;
AP_Float fs_timeout;
AP_Int8 fs_throttle_enabled;
AP_Int16 fs_throttle_value;
AP_Int8 fs_gcs_enabled;
// obstacle control
AP_Float sonar_trigger;
AP_Int8 sonar_enabled;
AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m
// range),
// 3 = HRLV
// driving modes
//
AP_Int8 mode_channel;
AP_Int8 mode1;
AP_Int8 mode2;
AP_Int8 mode3;
AP_Int8 mode4;
AP_Int8 mode5;
AP_Int8 mode6;
// Waypoints
//
AP_Int8 command_total;
AP_Int8 command_index;
AP_Float waypoint_radius;
// PID controllers
//
PID pidNavSteer;
@ -255,9 +237,9 @@ public:
// PID controller initial P initial I initial D initial imax
//-----------------------------------------------------------------------------------
pidNavSteer (0.7, 0.1, 0.2, 200),
pidServoSteer (0.5, 0.1, 0.2, 200),
pidSpeedThrottle (0.7, 0.2, 0.2, 200)
pidNavSteer (0.7, 0.1, 0.2, 2000),
pidServoSteer (0.5, 0.1, 0.2, 2000),
pidSpeedThrottle (0.7, 0.2, 0.2, 4000)
{}
};

272
APMrover2/Parameters.pde
View File

@ -16,7 +16,45 @@
const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(format_version, "FORMAT_VERSION", 1),
GSCALAR(software_type, "SYSID_SW_TYPE", Parameters::k_software_type),
// misc
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
GSCALAR(num_resets, "SYS_NUM_RESETS", 0),
GSCALAR(reset_switch_chan, "RST_SWITCH_CH", 0),
// @Param: RSSI_PIN
// @DisplayName: Receiver RSSI sensing pin
// @Description: This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum
// @Values: -1:Disabled, 0:A0, 1:A1, 13:A13
// @User: Standard
GSCALAR(rssi_pin, "RSSI_PIN", -1),
// @Param: BATT_VOLT_PIN
// @DisplayName: Battery Voltage sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13.
// @Values: -1:Disabled, 0:A0, 1:A1, 13:A13
// @User: Standard
GSCALAR(battery_volt_pin, "BATT_VOLT_PIN", 1),
// @Param: BATT_CURR_PIN
// @DisplayName: Battery Current sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13.
// @Values: -1:Disabled, 1:A1, 2:A2, 12:A12
// @User: Standard
GSCALAR(battery_curr_pin, "BATT_CURR_PIN", 2),
// @Param: SYSID_THIS_MAV
// @DisplayName: MAVLink system ID
// @Description: ID used in MAVLink protocol to identify this vehicle
// @User: Advanced
GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
// @Param: SYSID_MYGCS
// @DisplayName: MAVLink ground station ID
// @Description: ID used in MAVLink protocol to identify the controlling ground station
// @User: Advanced
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
// @Param: SERIAL0_BAUD
@ -42,13 +80,44 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Increment: 1
GSCALAR(telem_delay, "TELEM_DELAY", 0),
// @Param: MANUAL_LEVEL
// @DisplayName: Manual Level
// @Description: Setting this to Disabled(0) will enable autolevel on every boot. Setting it to Enabled(1) will do a calibration only when you tell it to. This defaults to enabled.
// @Param: MAG_ENABLED
// @DisplayName: Magnetometer (compass) enabled
// @Description: This should be set to 1 if a compass is installed
// @User: Standard
// @Values: 0:Disabled,1:Enabled
GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER),
// @Param: BATT_MONITOR
// @DisplayName: Battery monitoring
// @Description: Controls enabling monitoring of the battery's voltage and current
// @Values: 0:Disabled,3:Voltage Only,4:Voltage and Current
// @User: Standard
GSCALAR(battery_monitoring, "BATT_MONITOR", DISABLED),
// @Param: VOLT_DIVIDER
// @DisplayName: Voltage Divider
// @Description: Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin voltage * INPUT_VOLTS/1024 * VOLT_DIVIDER)
// @User: Advanced
GSCALAR(manual_level, "MANUAL_LEVEL", 1),
GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO),
// @Param: AMP_PER_VOLT
// @DisplayName: Current Amps per volt
// @Description: Used to convert the voltage on the current sensing pin (BATT_CURR_PIN) to the actual current being consumed in amps (curr pin voltage * INPUT_VOLTS/1024 * AMP_PER_VOLT )
// @User: Advanced
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT),
// @Param: INPUT_VOLTS
// @DisplayName: Max internal voltage of the battery voltage and current sensing pins
// @Description: Used to convert the voltage read in on the voltage and current pins for battery monitoring. Normally 5 meaning 5 volts.
// @User: Advanced
GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE),
// @Param: BATT_CAPACITY
// @DisplayName: Battery Capacity
// @Description: Battery capacity in milliamp-hours (mAh)
// @Units: mAh
GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE),
// @Param: XTRK_GAIN_SC
// @DisplayName: Crosstrack Gain
// @Description: This controls how hard the Rover tries to follow the lines between waypoints, as opposed to driving directly to the next waypoint. The value is the scale between distance off the line and angle to meet the line (in Degrees * 100)
@ -66,17 +135,30 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD", XTRACK_ENTRY_ANGLE_CENTIDEGREE),
GSCALAR(command_total, "CMD_TOTAL", 0),
GSCALAR(command_index, "CMD_INDEX", 0),
// @Param: WP_RADIUS
// @DisplayName: Waypoint radius
// @Description: The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path.
// @Units: meters
// @Range: 0 1000
// @Param: CRUISE_SPEED
// @DisplayName: Target speed in auto modes
// @Description: The target speed in auto missions.
// @Units: m/s
// @Range: 0 100
// @Increment: 0.1
// @User: Standard
GSCALAR(waypoint_radius, "WP_RADIUS", 2.0f),
GSCALAR(speed_cruise, "CRUISE_SPEED", 5),
// @Param: CH7_OPTION
// @DisplayName: Channel 7 option
// @Description: What to do use channel 7 for
// @Values: 0:Nothing,1:LearnWaypoint
// @User: Standard
GSCALAR(ch7_option, "CH7_OPTION", CH7_OPTION),
GGROUP(channel_steer, "RC1_", RC_Channel),
GGROUP(rc_2, "RC2_", RC_Channel_aux),
GGROUP(channel_throttle, "RC3_", RC_Channel),
GGROUP(rc_4, "RC4_", RC_Channel_aux),
GGROUP(rc_5, "RC5_", RC_Channel_aux),
GGROUP(rc_6, "RC6_", RC_Channel_aux),
GGROUP(rc_7, "RC7_", RC_Channel_aux),
GGROUP(rc_8, "RC8_", RC_Channel_aux),
// @Param: THR_MIN
// @DisplayName: Minimum Throttle
@ -96,56 +178,73 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(throttle_max, "THR_MAX", THROTTLE_MAX),
// @Param: THR_SLEWRATE
// @DisplayName: Throttle slew rate
// @Description: maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second
// @Units: Percent
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_slewrate, "THR_SLEWRATE", 0),
// @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 to a low value. This can be used to detect the RC transmitter going out of range.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(throttle_fs_enabled, "THR_FAILSAFE", THROTTLE_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", THROTTLE_FS_VALUE),
// @Param: CRUISE_THROTTLE
// @DisplayName: Throttle cruise percentage
// @Description: The target percentage of throttle to apply for auto missions.
// @DisplayName: Base throttle percentage in auto
// @Description: The base throttle percentage to use in auto mode
// @Units: Percent
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_cruise, "CRUISE_THROTTLE", 50),
// @Param: CRUISE_SPEED
// @DisplayName: Target speed in auto modes
// @Description: The target speed in auto missions.
// @Units: m/s
// @Param: THR_SLEWRATE
// @DisplayName: Throttle slew rate
// @Description: maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit.
// @Units: Percent
// @Range: 0 100
// @Increment: 0.1
// @Increment: 1
// @User: Standard
GSCALAR(speed_cruise, "CRUISE_SPEED", 5),
GSCALAR(throttle_slewrate, "THR_SLEWRATE", 0),
// @Param: FS_ACTION
// @DisplayName: Failsafe Action
// @Description: What to do on a failsafe event
// @Values: 0:Nothing,1:RTL,2:STOP
// @User: Standard
GSCALAR(fs_action, "FS_ACTION", 0),
// @Param: FS_TIMEOUT
// @DisplayName: Failsafe timeout
// @Description: How long a failsafe event need to happen for before we trigger the failsafe action
// @Units: seconds
// @User: Standard
GSCALAR(fs_timeout, "FS_TIMEOUT", 10),
// @Param: FS_THR_ENABLE
// @DisplayName: Throttle Failsafe Enable
// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(fs_throttle_enabled, "FS_THR_ENABLE", 0),
// @Param: FS_THR_VALUE
// @DisplayName: Throttle Failsafe Value
// @Description: The PWM level on channel 3 below which throttle sailsafe triggers.
// @User: Standard
GSCALAR(fs_throttle_value, "FS_THR_VALUE", 900),
// @Param: FS_GCS_ENABLE
// @DisplayName: GCS failsafe enable
// @Description: Enable ground control station telemetry failsafe
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABLE", 0),
GSCALAR(fs_gcs_enabled, "FS_GCS_ENABLE", 0),
#if CONFIG_SONAR == ENABLED
// @Param: SONAR_ENABLE
// @DisplayName: Enable Sonar
// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(sonar_trigger, "SONAR_TRIGGER", SONAR_TRIGGER),
GSCALAR(sonar_enabled, "SONAR_ENABLE", SONAR_ENABLED),
GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL),
#endif
// @Param: MODE_CH
// @DisplayName: Mode channel
// @Description: RC Channel to use for flight mode control
// @Description: RC Channel to use for driving mode control
// @User: Advanced
GSCALAR(mode_channel, "MODE_CH", MODE_CHANNEL),
@ -153,106 +252,55 @@ const AP_Param::Info var_info[] PROGMEM = {
// @DisplayName: Mode1
// @Values: 0:Manual,2:LEARNING,10:Auto,11:RTL,15:Guided
// @User: Standard
// @Description: Flight mode for switch position 1 (910 to 1230 and above 2049)
// @Description: Driving mode for switch position 1 (910 to 1230 and above 2049)
GSCALAR(mode1, "MODE1", MODE_1),
// @Param: MODE2
// @DisplayName: Mode2
// @Description: Flight mode for switch position 2 (1231 to 1360)
// @Description: Driving mode for switch position 2 (1231 to 1360)
// @Values: 0:Manual,2:LEARNING,10:Auto,11:RTL,15:Guided
// @User: Standard
GSCALAR(mode2, "MODE2", MODE_2),
// @Param: MODE3
// @DisplayName: Mode3
// @Description: Flight mode for switch position 3 (1361 to 1490)
// @Description: Driving mode for switch position 3 (1361 to 1490)
// @Values: 0:Manual,2:LEARNING,10:Auto,11:RTL,15:Guided
// @User: Standard
GSCALAR(mode3, "MODE3", MODE_3),
// @Param: MODE4
// @DisplayName: Mode4
// @Description: Flight mode for switch position 4 (1491 to 1620)
// @Description: Driving mode for switch position 4 (1491 to 1620)
// @Values: 0:Manual,2:LEARNING,10:Auto,11:RTL,15:Guided
// @User: Standard
GSCALAR(mode4, "MODE4", MODE_4),
// @Param: MODE5
// @DisplayName: Mode5
// @Description: Flight mode for switch position 5 (1621 to 1749)
// @Description: Driving mode for switch position 5 (1621 to 1749)
// @Values: 0:Manual,2:LEARNING,10:Auto,11:RTL,15:Guided
// @User: Standard
GSCALAR(mode5, "MODE5", MODE_5),
// @Param: MODE6
// @DisplayName: Mode6
// @Description: Flight mode for switch position 6 (1750 to 2049)
// @Description: Driving mode for switch position 6 (1750 to 2049)
// @Values: 0:Manual,2:LEARNING,10:Auto,11:RTL,15:Guided
// @User: Standard
GSCALAR(mode6, "MODE6", MODE_6),
GSCALAR(num_resets, "SYS_NUM_RESETS", 0),
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
GSCALAR(log_last_filenumber, "LOG_LASTFILE", 0),
GSCALAR(reset_switch_chan, "RST_SWITCH_CH", 0),
GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION),
GSCALAR(command_total, "CMD_TOTAL", 0),
GSCALAR(command_index, "CMD_INDEX", 0),
GSCALAR(compass_enabled, "MAG_ENABLE", MAGNETOMETER),
GSCALAR(battery_monitoring, "BATT_MONITOR", DISABLED),
GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO),
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT),
GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE),
GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE),
// @Param: BATT_VOLT_PIN
// @DisplayName: Battery Voltage sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13.
// @Values: -1:Disabled, 0:A0, 1:A1, 13:A13
// @Param: WP_RADIUS
// @DisplayName: Waypoint radius
// @Description: The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path.
// @Units: meters
// @Range: 0 1000
// @Increment: 0.1
// @User: Standard
GSCALAR(battery_volt_pin, "BATT_VOLT_PIN", 1),
// @Param: BATT_CURR_PIN
// @DisplayName: Battery Current sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13.
// @Values: -1:Disabled, 1:A1, 2:A2, 12:A12
// @User: Standard
GSCALAR(battery_curr_pin, "BATT_CURR_PIN", 2),
// @Param: RSSI_PIN
// @DisplayName: Receiver RSSI sensing pin
// @Description: This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum
// @Values: -1:Disabled, 0:A0, 1:A1, 13:A13
// @User: Standard
GSCALAR(rssi_pin, "RSSI_PIN", -1),
#if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_SONAR == ENABLED
// @Param: SONAR_ENABLE
// @DisplayName: Enable Sonar
// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(sonar_enabled, "SONAR_ENABLE", SONAR_ENABLED),
GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL),
#endif
#endif
// ************************************************************
// APMrover parameters - JLN update
GSCALAR(sonar_trigger, "ROV_SONAR_TRIG", SONAR_TRIGGER),
GSCALAR(booster, "ROV_BOOSTER", BOOSTER),
// ************************************************************
GGROUP(channel_steer, "RC1_", RC_Channel),
GGROUP(rc_2, "RC2_", RC_Channel_aux),
GGROUP(channel_throttle, "RC3_", RC_Channel),
GGROUP(rc_4, "RC4_", RC_Channel_aux),
GGROUP(rc_5, "RC5_", RC_Channel_aux),
GGROUP(rc_6, "RC6_", RC_Channel_aux),
GGROUP(rc_7, "RC7_", RC_Channel_aux),
GGROUP(rc_8, "RC8_", RC_Channel_aux),
GSCALAR(waypoint_radius, "WP_RADIUS", 2.0f),
GGROUP(pidNavSteer, "HDNG2STEER_", PID),
GGROUP(pidServoSteer, "STEER2SRV_", PID),

13
APMrover2/events.pde
View File

@ -16,9 +16,7 @@ static void failsafe_long_on_event(int fstype)
case AUTO:
case GUIDED:
if(g.long_fs_action == 1) {
set_mode(RTL);
}
set_mode(RTL);
break;
case RTL:
@ -28,15 +26,6 @@ static void failsafe_long_on_event(int fstype)
gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
}
#if BATTERY_EVENT == ENABLED
static void low_battery_event(void)
{
gcs_send_text_P(SEVERITY_HIGH,PSTR("Low Battery!"));
set_mode(RTL);
g.throttle_cruise = THROTTLE_CRUISE;
}
#endif
static void update_events(void) // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY
{
if(event_repeat == 0 || (millis() - event_timer) < event_delay)

8
APMrover2/radio.pde
View File

@ -83,8 +83,10 @@ static void read_radio()
static void control_failsafe(uint16_t pwm)
{
if(g.throttle_fs_enabled == 0)
if (!g.fs_throttle_enabled) {
// no throttle failsafe
return;
}
// Check for failsafe condition based on loss of GCS control
if (rc_override_active) {
@ -95,8 +97,8 @@ static void control_failsafe(uint16_t pwm)
}
//Check for failsafe and debounce funky reads
} else if (g.throttle_fs_enabled) {
if (pwm < (unsigned)g.throttle_fs_value){
} else if (g.fs_throttle_enabled) {
if (pwm < (unsigned)g.fs_throttle_value){
// we detect a failsafe from radio
// throttle has dropped below the mark
failsafeCounter++;

5
APMrover2/sensors.pde
View File

@ -39,10 +39,5 @@ static void read_battery(void)
current_amps1 = CURRENT_AMPS(batt_curr_pin->read_average());
current_total1 += current_amps1 * (float)delta_ms_medium_loop * 0.0002778; // .0002778 is 1/3600 (conversion to hours)
}
#if BATTERY_EVENT == ENABLED
if(battery_voltage1 < LOW_VOLTAGE) low_battery_event();
if(g.battery_monitoring == 4 && current_total1 > g.pack_capacity) low_battery_event();
#endif
}

28
APMrover2/setup.pde
View File

@ -302,13 +302,7 @@ setup_accel_scale(uint8_t argc, const Menu::arg *argv)
ins_sample_rate,
flash_leds);
AP_InertialSensor_UserInteractStream interact(hal.console);
bool success = ins.calibrate_accel(flash_leds, &interact);
if (success) {
if (g.manual_level == 0) {
cliSerial->println_P(PSTR("Setting MANUAL_LEVEL to 1"));
g.manual_level.set_and_save(1);
}
}
ins.calibrate_accel(flash_leds, &interact);
return(0);
}
#endif
@ -416,16 +410,16 @@ static void report_throttle()
cliSerial->printf_P(PSTR("Throttle\n"));
print_divider();
cliSerial->printf_P(PSTR("min: %d\n"
"max: %d\n"
"cruise: %d\n"
"failsafe_enabled: %d\n"
"failsafe_value: %d\n"),
(int)g.throttle_min,
(int)g.throttle_max,
(int)g.throttle_cruise,
(int)g.throttle_fs_enabled,
(int)g.throttle_fs_value);
cliSerial->printf_P(PSTR("min: %u\n"
"max: %u\n"
"cruise: %u\n"
"failsafe_enabled: %u\n"
"failsafe_value: %u\n"),
(unsigned)g.throttle_min,
(unsigned)g.throttle_max,
(unsigned)g.throttle_cruise,
(unsigned)g.fs_throttle_enabled,
(unsigned)g.fs_throttle_value);
print_blanks(2);
}

4
APMrover2/system.pde
View File

@ -383,7 +383,7 @@ static void check_long_failsafe()
if(! rc_override_active && failsafe == FAILSAFE_SHORT && millis() - ch3_failsafe_timer > FAILSAFE_LONG_TIME) {
failsafe_long_on_event(FAILSAFE_LONG);
}
if(g.gcs_heartbeat_fs_enabled && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
if (g.fs_gcs_enabled && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
failsafe_long_on_event(FAILSAFE_GCS);
}
} else {
@ -412,7 +412,7 @@ static void startup_INS_ground(bool force_accel_level)
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
flash_leds);
if (force_accel_level || g.manual_level == 0) {
if (force_accel_level) {
// when MANUAL_LEVEL is set to 1 we don't do accelerometer
// levelling on each boot, and instead rely on the user to do
// it once via the ground station

2
APMrover2/test.pde
View File

@ -209,7 +209,7 @@ test_failsafe(uint8_t argc, const Menu::arg *argv)
fail_test++;
}
if(g.throttle_fs_enabled && g.channel_throttle.get_failsafe()){
if (g.fs_throttle_enabled && g.channel_throttle.get_failsafe()){
cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), g.channel_throttle.radio_in);
print_mode(readSwitch());
fail_test++;