forked from ArduPilot/ardupilot
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathParameters.h
591 lines (515 loc) · 18 KB
/
Parameters.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
#pragma once
#define AP_PARAM_VEHICLE_NAME plane
#include <AP_Common/AP_Common.h>
// Global parameter class.
//
class Parameters {
public:
/*
* The value of k_format_version determines whether the existing
* eeprom data is considered valid. You should only change this
* value under the following circumstances:
*
* 1) the meaning of an existing eeprom parameter changes
*
* 2) the value of an existing k_param_* enum value changes
*
* Adding a new parameter should _not_ require a change to
* k_format_version except under special circumstances. If you
* change it anyway then all ArduPlane users will need to reload all
* their parameters. We want that to be an extremely rare
* thing. Please do not just change it "just in case".
*
* To determine if a k_param_* value has changed, use the rules of
* C++ enums to work out the value of the neighboring enum
* values. If you don't know the C++ enum rules then please ask for
* help.
*/
//////////////////////////////////////////////////////////////////
// STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE
// COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!!
static const uint16_t k_format_version = 13;
//////////////////////////////////////////////////////////////////
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type, // unused;
k_param_num_resets, // unused
k_param_NavEKF2,
k_param_g2,
k_param_avoidance_adsb,
k_param_landing,
k_param_NavEKF3,
k_param_can_mgr,
k_param_osd,
// Misc
//
k_param_auto_trim = 10, // unused
k_param_log_bitmask_old, // unused
k_param_pitch_trim,
k_param_mix_mode,
k_param_reverse_elevons, // unused
k_param_reverse_ch1_elevon, // unused
k_param_reverse_ch2_elevon, // unused
k_param_flap_1_percent,
k_param_flap_1_speed,
k_param_flap_2_percent,
k_param_flap_2_speed,
k_param_reset_switch_chan, // unused - moved to RC option
k_param_manual_level, // unused
k_param_land_pitch_cd, // unused - moved to AP_Landing
k_param_ins_old, // *** Deprecated, remove with next eeprom number change
k_param_stick_mixing,
k_param_reset_mission_chan, // unused - moved to RC option
k_param_land_flare_alt, // unused - moved to AP_Landing
k_param_land_flare_sec, // unused - moved to AP_Landing
k_param_crosstrack_min_distance, // unused
k_param_rudder_steer, // unused
k_param_throttle_nudge,
k_param_alt_offset,
k_param_ins, // libraries/AP_InertialSensor variables
k_param_takeoff_throttle_min_speed,
k_param_takeoff_throttle_min_accel,
k_param_takeoff_heading_hold, // unused
k_param_level_roll_limit,
k_param_hil_servos_unused, // unused
k_param_vtail_output, // unused
k_param_nav_controller, // unused
k_param_elevon_output, // unused
k_param_att_controller, // unused
k_param_mixing_gain,
k_param_scheduler,
k_param_relay,
k_param_takeoff_throttle_delay,
k_param_mode_takeoff, // was skip_gyro_cal
k_param_auto_fbw_steer, // unused
k_param_waypoint_max_radius,
k_param_ground_steer_alt,
k_param_ground_steer_dps,
k_param_rally_limit_km_old, //unused anymore -- just holding this index
k_param_hil_err_limit_unused, // unused
k_param_sonar_old, // unused
k_param_log_bitmask,
k_param_BoardConfig,
k_param_rssi_range, // unused, replaced by rssi_ library parameters
k_param_flapin_channel_old, // unused, moved to RC_OPTION
k_param_flaperon_output, // unused
k_param_gps,
k_param_autotune_level,
k_param_rally,
k_param_serial0_baud, // deprecated
k_param_serial1_baud, // deprecated
k_param_serial2_baud, // deprecated
k_param_takeoff_tdrag_elevator,
k_param_takeoff_tdrag_speed1,
k_param_takeoff_rotate_speed,
k_param_takeoff_throttle_slewrate,
k_param_takeoff_throttle_max,
k_param_rangefinder,
k_param_terrain,
k_param_terrain_follow,
k_param_stab_pitch_down_cd_old, // deprecated
k_param_glide_slope_min,
k_param_stab_pitch_down,
k_param_terrain_lookahead,
k_param_fbwa_tdrag_chan, // unused - moved to RC option
k_param_rangefinder_landing,
k_param_land_flap_percent, // unused - moved to AP_Landing
k_param_takeoff_flap_percent,
k_param_flap_slewrate,
k_param_rtl_autoland,
k_param_override_channel,
k_param_stall_prevention,
k_param_optflow,
k_param_cli_enabled_old, // unused - CLI removed
k_param_trim_rc_at_start, // unused
k_param_hil_mode_unused, // unused
k_param_land_disarm_delay, // unused - moved to AP_Landing
k_param_glide_slope_threshold,
k_param_rudder_only,
k_param_gcs3, // 93
k_param_gcs_pid_mask,
k_param_crash_detection_enable,
k_param_land_abort_throttle_enable, // unused - moved to AP_Landing
k_param_rssi = 97,
k_param_rpm_sensor,
k_param_parachute,
k_param_arming = 100,
k_param_parachute_channel, // unused - moved to RC option
k_param_crash_accel_threshold,
k_param_override_safety, // unused
k_param_land_throttle_slewrate, // 104 unused - moved to AP_Landing
// 105: Extra parameters
k_param_fence_retalt = 105,
k_param_fence_autoenable,
k_param_fence_ret_rally,
k_param_q_attitude_control,
k_param_takeoff_pitch_limit_reduction_sec,
// 110: Telemetry control
//
k_param_gcs0 = 110, // stream rates for SERIAL0
k_param_gcs1, // stream rates for SERIAL1
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial1_baud_old, // deprecated
k_param_telem_delay,
k_param_serial0_baud_old, // deprecated
k_param_gcs2, // stream rates for SERIAL2
k_param_serial2_baud_old, // deprecated
k_param_serial2_protocol, // deprecated
// 120: Fly-by-wire control
//
k_param_airspeed_min = 120,
k_param_airspeed_max,
k_param_cruise_alt_floor,
k_param_flybywire_elev_reverse,
k_param_alt_control_algorithm, // unused
k_param_flybywire_climb_rate,
k_param_acro_roll_rate,
k_param_acro_pitch_rate,
k_param_acro_locking,
k_param_use_reverse_thrust = 129,
//
// 130: Sensor parameters
//
k_param_imu = 130, // unused
k_param_altitude_mix, // deprecated
k_param_compass_enabled_deprecated,
k_param_compass,
k_param_battery_monitoring, // unused
k_param_volt_div_ratio, // unused
k_param_curr_amp_per_volt, // unused
k_param_input_voltage, // deprecated, can be deleted
k_param_pack_capacity, // unused
k_param_sonar_enabled_old, // unused
k_param_ahrs, // AHRS group
k_param_barometer, // barometer ground calibration
k_param_airspeed, // only used for parameter conversion; AP_Airspeed parameters moved to AP_Vehicle
k_param_curr_amp_offset,
k_param_NavEKF, // deprecated - remove
k_param_mission, // mission library
k_param_serial_manager_old, // serial manager library
k_param_NavEKF2_old, // deprecated - remove
k_param_land_pre_flare_alt, // unused - moved to AP_Landing
k_param_land_pre_flare_airspeed = 149, // unused - moved to AP_Landing
//
// 150: Navigation parameters
//
k_param_crosstrack_gain = 150, // unused
k_param_crosstrack_entry_angle, // unused
k_param_roll_limit,
k_param_pitch_limit_max,
k_param_pitch_limit_min,
k_param_airspeed_cruise,
k_param_RTL_altitude,
k_param_inverted_flight_ch_unused, // unused
k_param_min_groundspeed,
k_param_crosstrack_use_wind, // unused
//
// Camera and mount parameters
//
k_param_camera = 160,
k_param_camera_mount,
k_param_camera_mount2, // unused
k_param_adsb,
k_param_notify,
k_param_land_pre_flare_sec = 165, // unused - moved to AP_Landing
//
// Battery monitoring parameters
//
k_param_battery = 166,
k_param_rssi_pin, // unused, replaced by rssi_ library parameters - 167
k_param_battery_volt_pin, // unused - 168
k_param_battery_curr_pin, // unused - 169
//
// 170: Radio settings - all unused now
//
k_param_rc_1_old = 170,
k_param_rc_2_old,
k_param_rc_3_old,
k_param_rc_4_old,
k_param_rc_5_old,
k_param_rc_6_old,
k_param_rc_7_old,
k_param_rc_8_old,
k_param_rc_9_old,
k_param_rc_10_old,
k_param_rc_11_old,
k_param_throttle_min,
k_param_throttle_max,
k_param_throttle_fs_enabled,
k_param_throttle_fs_value,
k_param_throttle_cruise,
k_param_fs_action_short,
k_param_fs_action_long,
k_param_gcs_heartbeat_fs_enabled,
k_param_throttle_slewrate,
k_param_throttle_suppress_manual,
k_param_throttle_passthru_stabilize,
k_param_rc_12_old,
k_param_fs_batt_voltage, // unused - moved to AP_BattMonitor
k_param_fs_batt_mah, // unused - moved to AP_BattMonitor
k_param_fs_timeout_short,
k_param_fs_timeout_long,
k_param_rc_13_old,
k_param_rc_14_old,
k_param_tuning,
//
// 200: Feed-forward gains
//
k_param_kff_pitch_compensation = 200, // unused
k_param_kff_rudder_mix,
k_param_kff_pitch_to_throttle, // unused
k_param_kff_throttle_to_pitch,
k_param_scaling_speed,
k_param_quadplane,
k_param_rtl_radius,
k_param_land_then_servos_neutral, // unused - moved to AP_Landing
k_param_rc_15_old,
k_param_rc_16_old,
//
// 210: flight modes
//
k_param_flight_mode_channel = 210,
k_param_flight_mode1,
k_param_flight_mode2,
k_param_flight_mode3,
k_param_flight_mode4,
k_param_flight_mode5,
k_param_flight_mode6,
k_param_initial_mode,
k_param_land_slope_recalc_shallow_threshold, // unused - moved to AP_Landing
k_param_land_slope_recalc_steep_threshold_to_abort, // unused - moved to AP_Landing
//
// 220: Waypoint data
//
k_param_waypoint_mode = 220, // unused
k_param_command_total, // unused
k_param_command_index, // unused
k_param_waypoint_radius,
k_param_loiter_radius,
k_param_fence_action,
k_param_fence_total,
k_param_fence_channel, // unused - moved to RC option
k_param_fence_minalt,
k_param_fence_maxalt,
// other objects
k_param_sitl = 230,
k_param_afs,
k_param_rollController,
k_param_pitchController,
k_param_yawController,
k_param_L1_controller,
k_param_rcmap,
k_param_TECS_controller,
k_param_rally_total_old, //unused
k_param_steerController,
//
// 240: PID Controllers
k_param_pidNavRoll = 240, // unused
k_param_pidServoRoll, // unused
k_param_pidServoPitch, // unused
k_param_pidNavPitchAirspeed, // unused
k_param_pidServoRudder, // unused
k_param_pidTeThrottle, // unused
k_param_pidNavPitchAltitude, // unused
k_param_pidWheelSteer, // unused
k_param_mixing_offset,
k_param_dspoiler_rud_rate,
k_param_airspeed_stall,
k_param_logger = 253, // Logging Group
// 254,255: reserved
k_param_vehicle = 257, // vehicle common block of parameters
k_param_gcs4, // stream rates
k_param_gcs5, // stream rates
k_param_gcs6, // stream rates
k_param_fence, // vehicle fence - unused
k_param_acro_yaw_rate,
k_param_takeoff_throttle_max_t,
k_param_autotune_options,
k_param_takeoff_throttle_min,
k_param_takeoff_options,
k_param_pullup = 270,
};
AP_Int16 format_version;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int8 telem_delay;
AP_Enum<RtlAutoland> rtl_autoland;
AP_Int8 crash_accel_threshold;
// Feed-forward gains
//
AP_Float kff_rudder_mix;
AP_Float kff_pitch_to_throttle;
AP_Float kff_throttle_to_pitch;
AP_Float ground_steer_alt;
AP_Int16 ground_steer_dps;
AP_Float stab_pitch_down;
// speed used for speed scaling
AP_Float scaling_speed;
// Waypoints
//
AP_Int16 waypoint_radius;
AP_Int16 waypoint_max_radius;
AP_Int16 rtl_radius;
// Fly-by-wire
//
AP_Int8 flybywire_elev_reverse;
AP_Int8 flybywire_climb_rate;
// Throttle
//
AP_Int8 throttle_suppress_manual;
AP_Int8 throttle_passthru_stabilize;
AP_Int8 throttle_fs_enabled;
AP_Int16 throttle_fs_value;
AP_Int8 throttle_nudge;
AP_Int32 use_reverse_thrust;
// Failsafe
AP_Int8 fs_action_short;
AP_Int8 fs_action_long;
AP_Float fs_timeout_short;
AP_Float fs_timeout_long;
AP_Int8 gcs_heartbeat_fs_enabled;
// Flight modes
//
AP_Int8 flight_mode_channel;
AP_Int8 flight_mode1;
AP_Int8 flight_mode2;
AP_Int8 flight_mode3;
AP_Int8 flight_mode4;
AP_Int8 flight_mode5;
AP_Int8 flight_mode6;
AP_Int8 initial_mode;
// Navigational manoeuvring limits
//
AP_Int16 alt_offset;
AP_Int16 acro_roll_rate;
AP_Int16 acro_pitch_rate;
AP_Int16 acro_yaw_rate;
AP_Int8 acro_locking;
// Misc
//
AP_Int8 rudder_only;
AP_Float mixing_gain;
AP_Int16 mixing_offset;
AP_Int16 dspoiler_rud_rate;
AP_Int32 log_bitmask;
AP_Float RTL_altitude;
AP_Float pitch_trim;
AP_Float cruise_alt_floor;
AP_Int8 flap_1_percent;
AP_Int8 flap_1_speed;
AP_Int8 flap_2_percent;
AP_Int8 flap_2_speed;
AP_Int8 takeoff_flap_percent;
AP_Enum<StickMixing> stick_mixing;
AP_Float takeoff_throttle_min_speed;
AP_Float takeoff_throttle_min_accel;
AP_Int8 takeoff_throttle_delay;
AP_Int8 takeoff_tdrag_elevator;
AP_Float takeoff_tdrag_speed1;
AP_Float takeoff_rotate_speed;
AP_Int8 takeoff_throttle_slewrate;
AP_Float takeoff_pitch_limit_reduction_sec;
AP_Int8 level_roll_limit;
#if AP_TERRAIN_AVAILABLE
AP_Int32 terrain_follow;
AP_Int16 terrain_lookahead;
#endif
AP_Int16 glide_slope_min;
AP_Float glide_slope_threshold;
AP_Int8 rangefinder_landing;
AP_Int8 flap_slewrate;
#if HAL_WITH_IO_MCU
AP_Int8 override_channel;
#endif
AP_Int16 gcs_pid_mask;
};
/*
2nd block of parameters, to avoid going past 256 top level keys
*/
class ParametersG2 {
public:
ParametersG2(void);
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
// button reporting library
#if HAL_BUTTON_ENABLED
AP_Button *button_ptr;
#endif
#if AP_ICENGINE_ENABLED
// internal combustion engine control
AP_ICEngine ice_control;
#endif
// RC input channels
RC_Channels_Plane rc_channels;
// control over servo output ranges
SRV_Channels servo_channels;
// whether to enforce acceptance of packets only from sysid_my_gcs
AP_Int8 sysid_enforce;
#if HAL_SOARING_ENABLED
// ArduSoar parameters
SoaringController soaring_controller;
#endif
// dual motor tailsitter rudder to differential thrust scaling: 0-100%
AP_Int8 rudd_dt_gain;
// mask of channels to do manual pass-thru for
AP_Int32 manual_rc_mask;
// home reset altitude threshold
AP_Int8 home_reset_threshold;
AP_Int32 flight_options;
AP_Int8 takeoff_throttle_accel_count;
AP_Int8 takeoff_timeout;
#if AP_LANDINGGEAR_ENABLED
AP_LandingGear landing_gear;
#endif
#if AC_PRECLAND_ENABLED
AC_PrecLand precland;
#endif
// crow flaps weighting
AP_Int8 crow_flap_weight_outer;
AP_Int8 crow_flap_weight_inner;
AP_Int8 crow_flap_options;
AP_Int8 crow_flap_aileron_matching;
// Forward throttle battery voltage compensation
class FWD_BATT_CMP {
public:
// Calculate the throttle scale to compensate for battery voltage drop
void update();
// Apply throttle scale to min and max limits
void apply_min_max(int8_t &min_throttle, int8_t &max_throttle) const;
// Apply throttle scale to throttle demand
float apply_throttle(float throttle) const;
AP_Float batt_voltage_max;
AP_Float batt_voltage_min;
AP_Int8 batt_idx;
private:
bool enabled;
float ratio;
} fwd_batt_cmp;
#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
// guided yaw heading PID
AC_PID guidedHeading{5000.0, 0.0, 0.0, 0 , 10.0, 5.0, 5.0 , 5.0 , 0.0};
#endif
#if AP_SCRIPTING_ENABLED && AP_FOLLOW_ENABLED
AP_Follow follow;
#endif
AP_Float fs_ekf_thresh;
// min initial climb in RTL
AP_Int16 rtl_climb_min;
AP_Int8 man_expo_roll;
AP_Int8 man_expo_pitch;
AP_Int8 man_expo_rudder;
AP_Int32 oneshot_mask;
AP_Int8 axis_bitmask; // axes to be autotuned
// just to make compilation easier when all things are compiled out...
uint8_t unused_integer;
#if AP_RANGEFINDER_ENABLED
// orientation of rangefinder to use for landing
AP_Int8 rangefinder_land_orient;
#endif
};
extern const AP_Param::Info var_info[];