Line data Source code
1 : #include "AP_Mount_Params.h"
2 : #include <GCS_MAVLink/GCS_MAVLink.h>
3 :
4 : // table of user settable parameters
5 : const AP_Param::GroupInfo AP_Mount_Params::var_info[] = {
6 :
7 : // 0 should not be used
8 :
9 : // @Param: _TYPE
10 : // @DisplayName: Mount Type
11 : // @Description: Mount Type
12 : // @SortValues: AlphabeticalZeroAtTop
13 : // @Values: 0:None, 1:Servo, 2:3DR Solo, 3:Alexmos Serial, 4:SToRM32 MAVLink, 5:SToRM32 Serial, 6:MAVLink (Gremsy/AVT), 7:BrushlessPWM, 8:Siyi, 9:Scripting, 10:Xacti, 11:Viewpro, 12:Topotek, 13:CADDX, 14:XFRobot
14 : // @RebootRequired: True
15 : // @User: Standard
16 : AP_GROUPINFO_FLAGS("_TYPE", 1, AP_Mount_Params, type, 0, AP_PARAM_FLAG_ENABLE),
17 :
18 : // @Param: _DEFLT_MODE
19 : // @DisplayName: Mount default operating mode
20 : // @Description: Mount default operating mode on startup and after control is returned from autopilot
21 : // @Values: 0:Retracted,1:Neutral,2:MavLink Targeting,3:RC Targeting,4:GPS Point,5:SysID Target,6:Home Location
22 : // @User: Standard
23 : AP_GROUPINFO("_DEFLT_MODE", 2, AP_Mount_Params, default_mode, MAV_MOUNT_MODE_RC_TARGETING),
24 :
25 : // @Param: _RC_RATE
26 : // @DisplayName: Mount RC Rate
27 : // @Description: Pilot rate control's maximum rate. Set to zero to use angle control
28 : // @Units: deg/s
29 : // @Range: 0 90
30 : // @Increment: 1
31 : // @User: Standard
32 : AP_GROUPINFO("_RC_RATE", 3, AP_Mount_Params, rc_rate_max, 0),
33 :
34 : // @Param: _ROLL_MIN
35 : // @DisplayName: Mount Roll angle minimum
36 : // @Description: Mount Roll angle minimum
37 : // @Units: deg
38 : // @Range: -180 180
39 : // @Increment: 1
40 : // @User: Standard
41 : AP_GROUPINFO("_ROLL_MIN", 4, AP_Mount_Params, roll_angle_min, -30),
42 :
43 : // @Param: _ROLL_MAX
44 : // @DisplayName: Mount Roll angle maximum
45 : // @Description: Mount Roll angle maximum
46 : // @Units: deg
47 : // @Range: -180 180
48 : // @Increment: 1
49 : // @User: Standard
50 : AP_GROUPINFO("_ROLL_MAX", 5, AP_Mount_Params, roll_angle_max, 30),
51 :
52 : // @Param: _PITCH_MIN
53 : // @DisplayName: Mount Pitch angle minimum
54 : // @Description: Mount Pitch angle minimum
55 : // @Units: deg
56 : // @Range: -90 90
57 : // @Increment: 1
58 : // @User: Standard
59 : AP_GROUPINFO("_PITCH_MIN", 6, AP_Mount_Params, pitch_angle_min, -90),
60 :
61 : // @Param: _PITCH_MAX
62 : // @DisplayName: Mount Pitch angle maximum
63 : // @Description: Mount Pitch angle maximum
64 : // @Units: deg
65 : // @Range: -90 90
66 : // @Increment: 1
67 : // @User: Standard
68 : AP_GROUPINFO("_PITCH_MAX", 7, AP_Mount_Params, pitch_angle_max, 20),
69 :
70 : // @Param: _YAW_MIN
71 : // @DisplayName: Mount Yaw angle minimum
72 : // @Description: Mount Yaw angle minimum
73 : // @Units: deg
74 : // @Range: -180 180
75 : // @Increment: 1
76 : // @User: Standard
77 : AP_GROUPINFO("_YAW_MIN", 8, AP_Mount_Params, yaw_angle_min, -180),
78 :
79 : // @Param: _YAW_MAX
80 : // @DisplayName: Mount Yaw angle maximum
81 : // @Description: Mount Yaw angle maximum
82 : // @Units: deg
83 : // @Range: -180 180
84 : // @Increment: 1
85 : // @User: Standard
86 : AP_GROUPINFO("_YAW_MAX", 9, AP_Mount_Params, yaw_angle_max, 180),
87 :
88 : // @Param: _RETRACT_X
89 : // @DisplayName: Mount roll angle when in retracted position
90 : // @Description: Mount roll angle when in retracted position
91 : // @Units: deg
92 : // @Range: -180.0 180.0
93 : // @Increment: 1
94 : // @User: Standard
95 :
96 : // @Param: _RETRACT_Y
97 : // @DisplayName: Mount pitch angle when in retracted position
98 : // @Description: Mount pitch angle when in retracted position
99 : // @Units: deg
100 : // @Range: -180.0 180.0
101 : // @Increment: 1
102 : // @User: Standard
103 :
104 : // @Param: _RETRACT_Z
105 : // @DisplayName: Mount yaw angle when in retracted position
106 : // @Description: Mount yaw angle when in retracted position
107 : // @Units: deg
108 : // @Range: -180.0 180.0
109 : // @Increment: 1
110 : // @User: Standard
111 : AP_GROUPINFO("_RETRACT", 10, AP_Mount_Params, retract_angles, 0),
112 :
113 : // @Param: _NEUTRAL_X
114 : // @DisplayName: Mount roll angle when in neutral position
115 : // @Description: Mount roll angle when in neutral position
116 : // @Units: deg
117 : // @Range: -180.0 180.0
118 : // @Increment: 1
119 : // @User: Standard
120 :
121 : // @Param: _NEUTRAL_Y
122 : // @DisplayName: Mount pitch angle when in neutral position
123 : // @Description: Mount pitch angle when in neutral position
124 : // @Units: deg
125 : // @Range: -180.0 180.0
126 : // @Increment: 1
127 : // @User: Standard
128 :
129 : // @Param: _NEUTRAL_Z
130 : // @DisplayName: Mount yaw angle when in neutral position
131 : // @Description: Mount yaw angle when in neutral position
132 : // @Units: deg
133 : // @Range: -180.0 180.0
134 : // @Increment: 1
135 : // @User: Standard
136 : AP_GROUPINFO("_NEUTRAL", 11, AP_Mount_Params, neutral_angles, 0),
137 :
138 : // @Param: _LEAD_RLL
139 : // @DisplayName: Mount Roll stabilization lead time
140 : // @Description: Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot
141 : // @Units: s
142 : // @Range: 0.0 0.2
143 : // @Increment: 0.005
144 : // @User: Standard
145 : AP_GROUPINFO("_LEAD_RLL", 12, AP_Mount_Params, roll_stb_lead, 0.0f),
146 :
147 : // @Param: _LEAD_PTCH
148 : // @DisplayName: Mount Pitch stabilization lead time
149 : // @Description: Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot
150 : // @Units: s
151 : // @Range: 0.0 0.2
152 : // @Increment: 0.005
153 : // @User: Standard
154 : AP_GROUPINFO("_LEAD_PTCH", 13, AP_Mount_Params, pitch_stb_lead, 0.0f),
155 :
156 : // @Param: _SYSID_DFLT
157 : // @DisplayName: Mount Target sysID
158 : // @Description: Default Target sysID for the mount to point to
159 : // @RebootRequired: True
160 : // @User: Standard
161 : AP_GROUPINFO("_SYSID_DFLT", 14, AP_Mount_Params, sysid_default, 0),
162 :
163 : // @Param: _DEVID
164 : // @DisplayName: Mount Device ID
165 : // @Description: Mount device ID, taking into account its type, bus and instance
166 : // @User: Advanced
167 : AP_GROUPINFO_FLAGS("_DEVID", 15, AP_Mount_Params, dev_id, 0, AP_PARAM_FLAG_INTERNAL_USE_ONLY),
168 :
169 : // @Param: _OPTIONS
170 : // @DisplayName: Mount options
171 : // @Description: Mount options bitmask, note bit 2 only impacts RC targetting mode
172 : // @Bitmask: 0:RC lock state from previous mode, 1:Return to neutral angles on RC failsafe, 2:Force FPV (bf) lock on roll and pitch
173 : // @User: Standard
174 : AP_GROUPINFO("_OPTIONS", 16, AP_Mount_Params, options, 0),
175 :
176 : AP_GROUPEND
177 : };
178 :
179 4122 : AP_Mount_Params::AP_Mount_Params(void) {
180 4122 : AP_Param::setup_object_defaults(this, var_info);
181 4122 : }
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