Line data Source code
1 : #pragma once
2 :
3 : #define AP_PARAM_VEHICLE_NAME tracker
4 :
5 : #include <AC_PID/AC_PID.h>
6 : #include <AP_Param/AP_Param.h>
7 :
8 : // Global parameter class.
9 : //
10 : class Parameters {
11 : public:
12 :
13 : /*
14 : * The value of k_format_version determines whether the existing
15 : * eeprom data is considered valid. You should only change this
16 : * value under the following circumstances:
17 : *
18 : * 1) the meaning of an existing eeprom parameter changes
19 : *
20 : * 2) the value of an existing k_param_* enum value changes
21 : *
22 : * Adding a new parameter should _not_ require a change to
23 : * k_format_version except under special circumstances. If you
24 : * change it anyway then all ArduPlane users will need to reload all
25 : * their parameters. We want that to be an extremely rare
26 : * thing. Please do not just change it "just in case".
27 : *
28 : * To determine if a k_param_* value has changed, use the rules of
29 : * C++ enums to work out the value of the neighboring enum
30 : * values. If you don't know the C++ enum rules then please ask for
31 : * help.
32 : */
33 :
34 : //////////////////////////////////////////////////////////////////
35 : // STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE
36 : // COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!!
37 : static const uint16_t k_format_version = 1;
38 : //////////////////////////////////////////////////////////////////
39 :
40 :
41 : enum {
42 : // Layout version number, always key zero.
43 : //
44 : k_param_format_version = 0,
45 : k_param_software_type, // deprecated
46 :
47 : k_param_gcs0_unused = 100, // unused in ArduPilot-4.7
48 : k_param_gcs1_unused, // unused in ArduPilot-4.7
49 : k_param_sysid_this_mav_old,
50 : k_param_sysid_my_gcs_old,
51 : k_param_serial0_baud, // deprecated
52 : k_param_serial1_baud, // deprecated
53 : k_param_imu,
54 : k_param_compass_enabled_deprecated,
55 : k_param_compass,
56 : k_param_ahrs, // AHRS group
57 : k_param_barometer,
58 : k_param_scheduler,
59 : k_param_ins,
60 : k_param_sitl,
61 : k_param_pidPitch_old, // deprecated
62 : k_param_pidYaw_old, // deprecated
63 : k_param_gcs2_unused, // unused in ArduPilot-4.7
64 : k_param_serial2_baud, // deprecated
65 :
66 : k_param_yaw_slew_time,
67 : k_param_pitch_slew_time,
68 : k_param_min_reverse_time,
69 :
70 : k_param_start_latitude,
71 : k_param_start_longitude,
72 : k_param_startup_delay,
73 : k_param_BoardConfig,
74 : k_param_gps,
75 : k_param_scan_speed_unused, // deprecated
76 : k_param_proxy_mode_unused, // deprecated
77 : k_param_servo_pitch_type,
78 : k_param_onoff_yaw_rate,
79 : k_param_onoff_pitch_rate,
80 : k_param_onoff_yaw_mintime,
81 : k_param_onoff_pitch_mintime,
82 : k_param_yaw_trim,
83 : k_param_pitch_trim,
84 : k_param_yaw_range,
85 : k_param_pitch_range, //deprecated
86 : k_param_distance_min,
87 : k_param_sysid_target, // 138
88 : k_param_gcs3_unused, // unused in ArduPilot-4.7
89 : k_param_log_bitmask, // 140
90 : k_param_notify,
91 : k_param_can_mgr,
92 : k_param_battery,
93 :
94 : k_param_serial_manager_old = 144, // serial manager library
95 : k_param_servo_yaw_type,
96 : k_param_alt_source,
97 : k_param_mavlink_update_rate,
98 : k_param_pitch_min,
99 : k_param_pitch_max,
100 : k_param_gcs4_unused, // unused in ArduPilot-4.7
101 : k_param_gcs5_unused, // unused in ArduPilot-4.7
102 : k_param_gcs6_unused, // unused in ArduPilot-4.7
103 :
104 : //
105 : // 200 : Radio settings
106 : //
107 : k_param_channel_yaw_old = 200,
108 : k_param_channel_pitch_old,
109 : k_param_pidPitch2Srv,
110 : k_param_pidYaw2Srv,
111 : k_param_rc_channels,
112 : k_param_servo_channels,
113 :
114 : k_param_stats_old = 218,
115 : k_param_scripting_old = 219,
116 :
117 : //
118 : // 220: Waypoint data
119 : //
120 : k_param_command_total = 220,
121 :
122 : // 254,255: reserved
123 : k_param_gcs_pid_mask = 225,
124 : k_param_scan_speed_yaw,
125 : k_param_scan_speed_pitch,
126 : k_param_initial_mode,
127 : k_param_disarm_pwm,
128 :
129 : k_param_auto_opts,
130 : k_param_NavEKF2,
131 : k_param_NavEKF3,
132 :
133 : k_param_logger = 253, // 253 - Logging Group
134 :
135 : k_param_vehicle = 257, // vehicle common block of parameters
136 : k_param__gcs = 258,
137 : };
138 :
139 : AP_Int16 format_version;
140 :
141 : // Telemetry control
142 : //
143 : AP_Int16 sysid_target;
144 :
145 : AP_Float yaw_slew_time;
146 : AP_Float pitch_slew_time;
147 : AP_Float min_reverse_time;
148 : AP_Int16 scan_speed_yaw;
149 : AP_Int16 scan_speed_pitch;
150 :
151 : AP_Float start_latitude;
152 : AP_Float start_longitude;
153 :
154 : AP_Float startup_delay;
155 : AP_Int8 servo_pitch_type;
156 : AP_Int8 servo_yaw_type;
157 : AP_Int8 alt_source;
158 : AP_Int8 mavlink_update_rate;
159 : AP_Float onoff_yaw_rate;
160 : AP_Float onoff_pitch_rate;
161 : AP_Float onoff_yaw_mintime;
162 : AP_Float onoff_pitch_mintime;
163 : AP_Float yaw_trim;
164 : AP_Float pitch_trim;
165 : AP_Int16 yaw_range; // yaw axis total range of motion in degrees
166 : AP_Int16 distance_min; // target's must be at least this distance from tracker to be tracked
167 : AP_Int16 pitch_min;
168 : AP_Int16 pitch_max;
169 : AP_Int16 gcs_pid_mask;
170 : AP_Int8 initial_mode;
171 : AP_Int8 disarm_pwm;
172 : AP_Int8 auto_opts;
173 :
174 : // Waypoints
175 : //
176 : AP_Int8 command_total; // 1 if HOME is set
177 :
178 : AP_Int32 log_bitmask;
179 :
180 : // AC_PID controllers
181 : AC_PID pidPitch2Srv;
182 : AC_PID pidYaw2Srv;
183 :
184 33 : Parameters() :
185 33 : pidPitch2Srv(0.2, 0.0f, 0.05f, 0.02f, 4000.0f, 0.0f, 0.0f, 0.0f, 0.1f),
186 66 : pidYaw2Srv (0.2, 0.0f, 0.05f, 0.02f, 4000.0f, 0.0f, 0.0f, 0.0f, 0.1f)
187 33 : {}
188 : };
189 :
190 : extern const AP_Param::Info var_info[];
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