Line data Source code
1 : #pragma once
2 :
3 : #define AP_PARAM_VEHICLE_NAME copter
4 :
5 : #include <AP_Common/AP_Common.h>
6 : #include "RC_Channel_Copter.h"
7 : #include <AP_Proximity/AP_Proximity.h>
8 : #include <AP_SurfaceDistance/AP_SurfaceDistance.h>
9 :
10 : class ModeRTL;
11 :
12 : #if MODE_FOLLOW_ENABLED
13 : # include <AP_Follow/AP_Follow.h>
14 : #endif
15 : #if WEATHERVANE_ENABLED
16 : #include <AC_AttitudeControl/AC_WeatherVane.h>
17 : #endif
18 : #include <AP_GroundEffect/AP_GroundEffect.h>
19 :
20 : // Global parameter class.
21 : //
22 : class Parameters {
23 : public:
24 : // The version of the layout as described by the parameter enum.
25 : //
26 : // When changing the parameter enum in an incompatible fashion, this
27 : // value should be incremented by one.
28 : //
29 : // The increment will prevent old parameters from being used incorrectly
30 : // by newer code.
31 : //
32 : static const uint16_t k_format_version = 120;
33 :
34 : // Parameter identities.
35 : //
36 : // The enumeration defined here is used to ensure that every parameter
37 : // or parameter group has a unique ID number. This number is used by
38 : // AP_Param to store and locate parameters in EEPROM.
39 : //
40 : // Note that entries without a number are assigned the next number after
41 : // the entry preceding them. When adding new entries, ensure that they
42 : // don't overlap.
43 : //
44 : // Try to group related variables together, and assign them a set
45 : // range in the enumeration. Place these groups in numerical order
46 : // at the end of the enumeration.
47 : //
48 : // WARNING: Care should be taken when editing this enumeration as the
49 : // AP_Param load/save code depends on the values here to identify
50 : // variables saved in EEPROM.
51 : //
52 : //
53 : enum {
54 : // Layout version number, always key zero.
55 : //
56 : k_param_format_version = 0,
57 : k_param_software_type, // deprecated
58 : k_param_ins_old, // *** Deprecated, remove with next eeprom number change
59 : k_param_ins, // libraries/AP_InertialSensor variables
60 : k_param_NavEKF2_old, // deprecated - remove
61 : k_param_NavEKF2,
62 : k_param_g2, // 2nd block of parameters
63 : k_param_NavEKF3,
64 : k_param_can_mgr,
65 : k_param_osd,
66 :
67 : // simulation
68 : k_param_sitl = 10,
69 :
70 : // barometer object (needed for SITL)
71 : k_param_barometer,
72 :
73 : // scheduler object (for debugging)
74 : k_param_scheduler,
75 :
76 : // relay object
77 : k_param_relay,
78 :
79 : // (old) EPM object
80 : k_param_epm_unused,
81 :
82 : // BoardConfig object
83 : k_param_BoardConfig,
84 :
85 : // GPS object
86 : k_param_gps,
87 :
88 : // Parachute object
89 : k_param_parachute,
90 :
91 : // Landing gear object
92 : k_param_landinggear, // 18
93 :
94 : // Input Management object
95 : k_param_input_manager, // 19
96 :
97 : // Misc
98 : //
99 : k_param_log_bitmask_old = 20, // Deprecated
100 : k_param_log_last_filenumber, // *** Deprecated - remove
101 : // with next eeprom number
102 : // change
103 : k_param_toy_yaw_rate, // deprecated - remove
104 : k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change
105 : k_param_rssi_pin, // unused, replaced by rssi_ library parameters
106 : k_param_throttle_accel_enabled, // deprecated - remove
107 : k_param_wp_yaw_behavior,
108 : k_param_acro_trainer,
109 : k_param_pilot_speed_up_cms, // deprecated - moved to G2 as PILOT_SPD_UP
110 : k_param_circle_rate, // deprecated - remove
111 : k_param_rangefinder_gain, // deprecated - remove
112 : k_param_ch8_option_old, // deprecated
113 : k_param_arming_check_old, // deprecated - remove
114 : k_param_sprayer,
115 : k_param_angle_max, // remove
116 : k_param_gps_hdop_good,
117 : k_param_battery,
118 : k_param_fs_batt_mah, // unused - moved to AP_BattMonitor
119 : k_param_angle_rate_max, // remove
120 : k_param_rssi_range, // unused, replaced by rssi_ library parameters
121 : k_param_rc_feel_rp, // deprecated
122 : k_param_NavEKF, // deprecated - remove
123 : k_param_mission, // mission library
124 : k_param_rc_13_old,
125 : k_param_rc_14_old,
126 : k_param_rally,
127 : k_param_poshold_brake_rate_degs,
128 : k_param_poshold_brake_angle_max, // deprecated - remove
129 : k_param_pilot_accel_d_cmss, // deprecated - moved to G2 as PILOT_ACC_Z
130 : k_param_serial0_baud, // deprecated - remove
131 : k_param_serial1_baud, // deprecated - remove
132 : k_param_serial2_baud, // deprecated - remove
133 : k_param_land_repositioning,
134 : k_param_rangefinder, // rangefinder object
135 : k_param_fs_ekf_thresh,
136 : k_param_terrain,
137 : k_param_acro_rp_expo, // deprecated - remove
138 : k_param_throttle_deadzone,
139 : k_param_optflow,
140 : k_param_dcmcheck_thresh, // deprecated - remove
141 : k_param_log_bitmask,
142 : k_param_cli_enabled_old, // deprecated - remove
143 : k_param_throttle_filt,
144 : k_param_throttle_behavior,
145 : k_param_pilot_takeoff_alt_cm, // deprecated - moved to G2 as PILOT_TKO_ALT_M
146 :
147 : // 65: AP_Limits Library
148 : k_param_limits = 65, // deprecated - remove
149 : k_param_gpslock_limit, // deprecated - remove
150 : k_param_geofence_limit, // deprecated - remove
151 : k_param_altitude_limit, // deprecated - remove
152 : k_param_fence_old, // only used for conversion
153 : k_param_gps_glitch, // deprecated
154 : k_param_baro_glitch, // 71 - deprecated
155 :
156 : // AP_ADSB Library
157 : k_param_adsb, // 72
158 : k_param_notify, // 73
159 :
160 : // 74: precision landing object
161 : k_param_precland = 74,
162 :
163 : //
164 : // 75: Singlecopter, CoaxCopter
165 : //
166 : k_param_single_servo_1 = 75, // remove
167 : k_param_single_servo_2, // remove
168 : k_param_single_servo_3, // remove
169 : k_param_single_servo_4, // 78 - remove
170 :
171 : //
172 : // 80: Heli
173 : //
174 : k_param_heli_servo_1 = 80, // remove
175 : k_param_heli_servo_2, // remove
176 : k_param_heli_servo_3, // remove
177 : k_param_heli_servo_4, // remove
178 : k_param_heli_pitch_ff, // remove
179 : k_param_heli_roll_ff, // remove
180 : k_param_heli_yaw_ff, // remove
181 : k_param_heli_stab_col_min, // remove
182 : k_param_heli_stab_col_max, // remove
183 : k_param_heli_servo_rsc, // 89 = full! - remove
184 :
185 : //
186 : // 90: misc2
187 : //
188 : k_param_motors = 90,
189 : k_param_disarm_delay,
190 : k_param_fs_crash_check,
191 : k_param_throw_motor_start,
192 : k_param_rtl_alt_type,
193 : k_param_avoid,
194 : k_param_avoidance_adsb,
195 :
196 : // 97: RSSI
197 : k_param_rssi = 97,
198 :
199 : //
200 : // 100: Inertial Nav
201 : //
202 : k_param_inertial_nav = 100, // deprecated
203 : k_param_wp_nav,
204 : k_param_attitude_control,
205 : k_param_pos_control,
206 : k_param_circle_nav,
207 : k_param_loiter_nav, // 105
208 : k_param_custom_control,
209 :
210 : // 110: Telemetry control
211 : //
212 : k_param_gcs0_unused = 110, // unused in ArduPilot-4.7
213 : k_param_gcs1_unused, // unused in ArduPilot-4.7
214 : k_param_sysid_this_mav_old,
215 : k_param_sysid_my_gcs_old,
216 : k_param_serial1_baud_old, // deprecated
217 : k_param_telem_delay_old, // used for conversion in ArduPilot-4.7
218 : k_param_gcs2_unused, // unused in ArduPilot-4.7
219 : k_param_serial2_baud_old, // deprecated
220 : k_param_serial2_protocol, // deprecated
221 : k_param_serial_manager_old,
222 : k_param_ch9_option_old,
223 : k_param_ch10_option_old,
224 : k_param_ch11_option_old,
225 : k_param_ch12_option_old,
226 : k_param_takeoff_trigger_dz_old,
227 : k_param_gcs3_unused, // unused in ArduPilot-4.7
228 : k_param_gcs_pid_mask, // 126
229 : k_param_gcs4_unused, // unused in ArduPilot-4.7
230 : k_param_gcs5_unused, // unused in ArduPilot-4.7
231 : k_param_gcs6_unused, // unused in ArduPilot-4.7
232 :
233 : //
234 : // 135 : reserved for Solo until features merged with master
235 : //
236 : k_param_rtl_speed_cms = 135, // remove
237 : k_param_fs_batt_curr_rtl,
238 : k_param_rtl_cone_slope, // 137
239 :
240 : //
241 : // 140: Sensor parameters
242 : //
243 : k_param_imu = 140, // deprecated - can be deleted
244 : k_param_battery_monitoring = 141, // deprecated - can be deleted
245 : k_param_volt_div_ratio, // deprecated - can be deleted
246 : k_param_curr_amp_per_volt, // deprecated - can be deleted
247 : k_param_input_voltage, // deprecated - can be deleted
248 : k_param_pack_capacity, // deprecated - can be deleted
249 : k_param_compass_enabled_deprecated,
250 : k_param_compass,
251 : k_param_rangefinder_enabled_old, // deprecated
252 : k_param_frame_type,
253 : k_param_optflow_enabled, // deprecated
254 : k_param_fs_batt_voltage, // unused - moved to AP_BattMonitor
255 : k_param_ch7_option_old,
256 : k_param_auto_slew_rate, // deprecated - can be deleted
257 : k_param_rangefinder_type_old, // deprecated
258 : k_param_super_simple = 155,
259 : k_param_axis_enabled = 157, // deprecated - remove with next eeprom number change
260 : k_param_copter_leds_mode, // deprecated - remove with next eeprom number change
261 : k_param_ahrs, // AHRS group // 159
262 :
263 : //
264 : // 160: Navigation parameters
265 : //
266 : k_param_rtl_altitude_cm = 160, // remove
267 : k_param_crosstrack_gain, // deprecated - remove with next eeprom number change
268 : k_param_rtl_loiter_time,
269 : k_param_rtl_alt_final_cm, // remove
270 : k_param_tilt_comp, // 164 deprecated - remove with next eeprom number change
271 :
272 :
273 : //
274 : // Camera and mount parameters
275 : //
276 : k_param_camera = 165,
277 : k_param_camera_mount,
278 : k_param_camera_mount2, // deprecated
279 :
280 : //
281 : // Battery monitoring parameters
282 : //
283 : k_param_battery_volt_pin = 168, // deprecated - can be deleted
284 : k_param_battery_curr_pin, // 169 deprecated - can be deleted
285 :
286 : //
287 : // 170: Radio settings
288 : //
289 : k_param_rc_1_old = 170,
290 : k_param_rc_2_old,
291 : k_param_rc_3_old,
292 : k_param_rc_4_old,
293 : k_param_rc_5_old,
294 : k_param_rc_6_old,
295 : k_param_rc_7_old,
296 : k_param_rc_8_old,
297 : k_param_rc_10_old,
298 : k_param_rc_11_old,
299 : k_param_throttle_min, // remove
300 : k_param_throttle_max, // remove
301 : k_param_failsafe_throttle,
302 : k_param_throttle_fs_action, // remove
303 : k_param_failsafe_throttle_value,
304 : k_param_throttle_trim, // remove
305 : k_param_esc_calibrate,
306 : k_param_rc_tuning_param,
307 : k_param_rc_tuning_param_high_old, // unused
308 : k_param_rc_tuning_param_low_old, // unused
309 : k_param_rc_speed = 192,
310 : k_param_failsafe_battery_enabled, // unused - moved to AP_BattMonitor
311 : k_param_throttle_mid, // remove
312 : k_param_failsafe_gps_enabled, // remove
313 : k_param_rc_9_old,
314 : k_param_rc_12_old,
315 : k_param_failsafe_gcs,
316 : k_param_rcmap, // 199
317 :
318 : //
319 : // 200: flight modes
320 : //
321 : k_param_flight_modes0 = 200,
322 : k_param_flight_modes1,
323 : k_param_flight_modes2,
324 : k_param_flight_modes3,
325 : k_param_flight_modes4,
326 : k_param_flight_modes5,
327 : k_param_simple_modes,
328 : k_param_flight_mode_chan,
329 : k_param_initial_mode,
330 :
331 : //
332 : // 210: Waypoint data
333 : //
334 : k_param_waypoint_mode = 210, // remove
335 : k_param_command_total, // remove
336 : k_param_command_index, // remove
337 : k_param_command_nav_index, // remove
338 : k_param_waypoint_radius, // remove
339 : k_param_circle_radius, // remove
340 : k_param_waypoint_speed_max, // remove
341 : k_param_land_speed_cms, // remove
342 : k_param_auto_velocity_z_min, // remove
343 : k_param_auto_velocity_z_max, // remove - 219
344 : k_param_land_speed_high_cms, // remove
345 :
346 : //
347 : // 220: PI/D Controllers
348 : //
349 : k_param_acro_rp_p = 221, // remove
350 : k_param_axis_lock_p, // remove
351 : k_param_pid_rate_roll, // remove
352 : k_param_pid_rate_pitch, // remove
353 : k_param_pid_rate_yaw, // remove
354 : k_param_p_stabilize_roll, // remove
355 : k_param_p_stabilize_pitch, // remove
356 : k_param_p_stabilize_yaw, // remove
357 : k_param_p_pos_xy, // remove
358 : k_param_p_loiter_lon, // remove
359 : k_param_pid_loiter_rate_lat, // remove
360 : k_param_pid_loiter_rate_lon, // remove
361 : k_param_pid_nav_lat, // remove
362 : k_param_pid_nav_lon, // remove
363 : k_param_p_alt_hold, // remove
364 : k_param_p_vel_z, // remove
365 : k_param_pid_optflow_roll, // remove
366 : k_param_pid_optflow_pitch, // remove
367 : k_param_acro_balance_roll_old, // remove
368 : k_param_acro_balance_pitch_old, // remove
369 : k_param_pid_accel_z, // remove
370 : k_param_acro_balance_roll,
371 : k_param_acro_balance_pitch,
372 : k_param_acro_yaw_p, // remove
373 : k_param_autotune_axis_bitmask, // remove
374 : k_param_autotune_aggressiveness, // remove
375 : k_param_pi_vel_xy, // remove
376 : k_param_fs_ekf_action,
377 : k_param_rtl_climb_min_cm, // remove
378 : k_param_rpm_sensor_old, // remove
379 : k_param_autotune_min_d, // remove
380 : k_param_arming, // 252 - AP_Arming
381 : k_param_logger = 253, // 253 - Logging Group
382 :
383 : // 254,255: reserved
384 :
385 : k_param_vehicle = 257, // vehicle common block of parameters
386 : k_param_throw_altitude_min,
387 : k_param_throw_altitude_max,
388 : k_param__gcs,
389 : k_param_throw_altitude_descend,
390 : k_param_throw_altitude_ascend,
391 :
392 : // the k_param_* space is 9-bits in size
393 : // 511: reserved
394 : };
395 :
396 : AP_Int16 format_version;
397 :
398 : AP_Float throttle_filt;
399 : AP_Int16 throttle_behavior;
400 :
401 : #if MODE_RTL_ENABLED
402 : AP_Float rtl_cone_slope;
403 : AP_Int32 rtl_loiter_time;
404 : AP_Enum<ModeRTL::RTLAltType> rtl_alt_type;
405 : #endif
406 :
407 : // GCS failsafe definitions (FS_GCS_ENABLE parameter)
408 : enum class FS_GCS_Action {
409 : DISABLED = 0,
410 : ALWAYS_RTL = 1,
411 : CONTINUE_MISSION = 2, // Removed in 4.0+, now use fs_options
412 : ALWAYS_SMARTRTL_OR_RTL = 3,
413 : ALWAYS_SMARTRTL_OR_LAND = 4,
414 : ALWAYS_LAND = 5,
415 : AUTO_RTL_OR_RTL = 6,
416 : BRAKE_OR_LAND = 7,
417 : };
418 :
419 : AP_Enum<FS_GCS_Action> failsafe_gcs; // ground station failsafe behavior
420 : AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position
421 :
422 : AP_Int8 super_simple;
423 :
424 : // Yaw behaviours during missions (WP_YAW_BEHAVIOR parameter)
425 : enum class WPYawBehavior {
426 : NONE = 0,
427 : LOOK_AT_NEXT_WP = 1,
428 : LOOK_AT_NEXT_WP_EXCEPT_RTL = 2,
429 : LOOK_AHEAD = 3,
430 : };
431 :
432 : AP_Enum<WPYawBehavior> wp_yaw_behavior; // controls how the autopilot controls yaw during missions
433 :
434 : #if MODE_POSHOLD_ENABLED
435 : AP_Int16 poshold_brake_rate_degs; // PosHold flight mode's rotation rate during braking in deg/sec
436 : #endif
437 :
438 : // Throttle failsafe definitions (FS_THR_ENABLE parameter)
439 : enum class FS_THR_Action {
440 : DISABLED = 0,
441 : ALWAYS_RTL = 1,
442 : CONTINUE_MISSION = 2, // Removed in 4.0+, now use fs_options
443 : ALWAYS_LAND = 3,
444 : ALWAYS_SMARTRTL_OR_RTL = 4,
445 : ALWAYS_SMARTRTL_OR_LAND = 5,
446 : AUTO_RTL_OR_RTL = 6,
447 : BRAKE_OR_LAND = 7,
448 : };
449 :
450 : // Throttle
451 : //
452 : AP_Enum<FS_THR_Action> failsafe_throttle;
453 : AP_Int16 failsafe_throttle_value;
454 : AP_Int16 throttle_deadzone;
455 :
456 : // Flight modes
457 : //
458 : AP_Int8 flight_modes[6];
459 : AP_Int8 simple_modes;
460 : AP_Int8 flight_mode_chan;
461 : AP_Int8 initial_mode;
462 :
463 : // Misc
464 : //
465 : AP_Int32 log_bitmask;
466 : AP_Int8 esc_calibrate;
467 : #if AP_RC_TRANSMITTER_TUNING_ENABLED
468 : AP_Int8 rc_tuning_param;
469 : #endif // AP_RC_TRANSMITTER_TUNING_ENABLED
470 : AP_Int8 frame_type;
471 : AP_Int8 disarm_delay;
472 :
473 : AP_Int8 land_repositioning;
474 :
475 : // EKF failsafe definitions (FS_EKF_ACTION parameter)
476 : enum class FS_EKF_Action {
477 : REPORT_ONLY = 0,
478 : LAND = 1,
479 : ALTHOLD = 2,
480 : LAND_EVEN_STABILIZE = 3,
481 : };
482 :
483 : AP_Enum<FS_EKF_Action> fs_ekf_action;
484 : AP_Int8 fs_crash_check;
485 : AP_Float fs_ekf_thresh;
486 : AP_Int16 gcs_pid_mask;
487 :
488 : #if MODE_THROW_ENABLED
489 : AP_Enum<ModeThrow::PreThrowMotorState> throw_motor_start;
490 : AP_Int16 throw_altitude_min; // minimum altitude in m above which a throw can be detected
491 : AP_Int16 throw_altitude_max; // maximum altitude in m below which a throw can be detected
492 :
493 : AP_Float throw_altitude_descend; // target altitude (meters) to descend during a drop, (must be positive)
494 : AP_Float throw_altitude_ascend; // target altitude (meters) to ascend during a throw upwards, (must be positive)
495 : #endif
496 :
497 : AP_Int16 rc_speed; // speed of fast RC Channels in Hz
498 :
499 : #if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED
500 : // Acro parameters
501 : AP_Float acro_balance_roll;
502 : AP_Float acro_balance_pitch;
503 : #endif
504 :
505 : #if MODE_ACRO_ENABLED
506 : // Acro parameters
507 : AP_Int8 acro_trainer;
508 : #endif
509 :
510 : // Note: keep initializers here in the same order as they are declared
511 : // above.
512 1001 : Parameters()
513 7007 : {
514 1001 : }
515 : };
516 :
517 : /*
518 : 2nd block of parameters, to avoid going past 256 top level keys
519 : */
520 : class ParametersG2 {
521 : public:
522 : ParametersG2(void);
523 :
524 : // var_info for holding Parameter information
525 : static const struct AP_Param::GroupInfo var_info[];
526 : static const struct AP_Param::GroupInfo var_info2[];
527 :
528 : // altitude at which nav control can start in takeoff
529 : AP_Float wp_navalt_min_m;
530 :
531 : // unused_integer simply exists so that the constructor for
532 : // ParametersG2 can be created with a relatively easy syntax in
533 : // the face of many #ifs:
534 : uint8_t unused_integer;
535 :
536 : // button checking
537 : #if HAL_BUTTON_ENABLED
538 : AP_Button *button_ptr;
539 : #endif
540 :
541 : #if MODE_THROW_ENABLED
542 : // Throw mode parameters
543 : AP_Int8 throw_nextmode;
544 : AP_Enum<ModeThrow::ThrowType> throw_type;
545 : #endif
546 :
547 : #if AP_GROUNDEFFECT_ENABLED
548 : // ground effect detector
549 : AP_GroundEffect ground_effect;
550 : #endif
551 :
552 : #if AP_TEMPCALIBRATION_ENABLED
553 : // temperature calibration handling
554 : AP_TempCalibration temp_calibration;
555 : #endif
556 :
557 : #if HAL_PROXIMITY_ENABLED
558 : // proximity (aka object avoidance) library
559 : AP_Proximity proximity;
560 : #endif
561 :
562 : #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
563 : // advanced failsafe library
564 : AP_AdvancedFailsafe_Copter afs;
565 : #endif
566 :
567 : // developer options
568 : AP_Int32 dev_options;
569 :
570 : #if MODE_ACRO_ENABLED
571 : AP_Float acro_thr_mid;
572 : #endif
573 :
574 : // frame class
575 : AP_Int8 frame_class;
576 :
577 : // RC input channels
578 : RC_Channels_Copter rc_channels;
579 :
580 : // control over servo output ranges
581 : SRV_Channels servo_channels;
582 :
583 : #if MODE_SMARTRTL_ENABLED
584 : // Safe RTL library
585 : AP_SmartRTL smart_rtl;
586 : #endif
587 :
588 : // wheel encoder and winch
589 : #if AP_WINCH_ENABLED
590 : AP_Winch winch;
591 : #endif
592 :
593 : // Pilot vertical velocity and acceleration
594 : AP_Float pilot_accel_d_mss; // vertical acceleration the pilot may request
595 : AP_Float pilot_speed_up_ms; // maximum vertical ascending velocity the pilot may request
596 : AP_Float pilot_speed_dn_ms; // maximum vertical descending velocity the pilot may request
597 : AP_Float pilot_takeoff_alt_m; // altitude vehicle will takeoff to after pilot triggers takeoff with throttle stick
598 :
599 : #if TOY_MODE_ENABLED
600 : ToyMode toy_mode;
601 : #endif
602 :
603 : #if MODE_FLOWHOLD_ENABLED
604 : // we need a pointer to the mode for the G2 table
605 : void *mode_flowhold_ptr;
606 : #endif
607 :
608 : #if MODE_FOLLOW_ENABLED
609 : // follow
610 : AP_Follow follow;
611 : #endif
612 :
613 : #if USER_PARAMS_ENABLED
614 : // User custom parameters
615 : UserParameters user_parameters;
616 : #endif
617 :
618 : #if AUTOTUNE_ENABLED
619 : // we need a pointer to autotune for the G2 table
620 : void *autotune_ptr;
621 : #endif
622 :
623 : #if AP_RC_TRANSMITTER_TUNING_ENABLED
624 : AP_Float rc_tuning_min;
625 : AP_Float rc_tuning_max;
626 : #endif // AP_RC_TRANSMITTER_TUNING_ENABLED
627 :
628 : #if AP_OAPATHPLANNER_ENABLED
629 : // object avoidance path planning
630 : AP_OAPathPlanner oa;
631 : #endif
632 :
633 : #if MODE_SYSTEMID_ENABLED
634 : // we need a pointer to the mode for the G2 table
635 : void *mode_systemid_ptr;
636 : #endif
637 :
638 : // vibration failsafe enable/disable
639 : AP_Int8 fs_vibe_enabled;
640 :
641 : // Failsafe options bitmask #36
642 : AP_Int32 fs_options;
643 :
644 : #if MODE_AUTOROTATE_ENABLED
645 : // Autonmous autorotation
646 : AC_Autorotation arot;
647 : #endif
648 :
649 : #if MODE_ZIGZAG_ENABLED
650 : // we need a pointer to the mode for the G2 table
651 : void *mode_zigzag_ptr;
652 : #endif
653 :
654 : // command model parameters
655 : #if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED
656 : AC_CommandModel command_model_acro_rp;
657 : #endif
658 :
659 : #if MODE_ACRO_ENABLED || MODE_DRIFT_ENABLED
660 : AC_CommandModel command_model_acro_y;
661 : #endif
662 :
663 : AC_CommandModel command_model_pilot_y;
664 :
665 : #if MODE_ACRO_ENABLED
666 : AP_Int8 acro_options;
667 : #endif
668 :
669 : #if MODE_AUTO_ENABLED
670 : AP_Int32 auto_options;
671 : #endif
672 :
673 : #if MODE_GUIDED_ENABLED
674 : AP_Int32 guided_options;
675 : #endif
676 :
677 : AP_Float fs_gcs_timeout;
678 :
679 : #if MODE_RTL_ENABLED
680 : AP_Int32 rtl_options;
681 : #endif
682 :
683 : AP_Int32 flight_options;
684 :
685 : #if AP_RANGEFINDER_ENABLED
686 : AP_Float rangefinder_filt;
687 : #endif
688 :
689 : #if MODE_GUIDED_ENABLED
690 : AP_Float guided_timeout;
691 : #endif
692 :
693 : AP_Int8 surftrak_mode;
694 : AP_Int8 failsafe_dr_enable;
695 : AP_Int16 failsafe_dr_timeout;
696 : AP_Float surftrak_tc;
697 : AP_SurfaceDistance::SurfDistParameters surf_dist_parameters;
698 :
699 : // ramp time of throttle during take-off
700 : AP_Float takeoff_throttle_slew_time;
701 : AP_Float takeoff_throttle_max;
702 : #if HAL_WITH_ESC_TELEM && FRAME_CONFIG != HELI_FRAME
703 : AP_Int16 takeoff_rpm_min;
704 : AP_Int16 takeoff_rpm_max;
705 : #endif
706 :
707 : // EKF variance filter cutoff
708 : AP_Float fs_ekf_filt_hz;
709 :
710 : #if WEATHERVANE_ENABLED
711 : AC_WeatherVane weathervane;
712 : #endif
713 :
714 : #if AC_PAYLOAD_PLACE_ENABLED
715 : // payload place parameters
716 : AP_Float pldp_thrust_placed_fraction;
717 : AP_Float pldp_range_finder_maximum_m;
718 : AP_Float pldp_delay_s;
719 : AP_Float pldp_descent_speed_ms;
720 : #endif // AC_PAYLOAD_PLACE_ENABLED
721 :
722 : AP_Int8 att_enable;
723 : AP_Int8 att_decimation;
724 :
725 : #if AP_RC_TRANSMITTER_TUNING_ENABLED
726 : // second transmitter channel for tuning:
727 : AP_Int8 rc_tuning2_param;
728 : AP_Float rc_tuning2_min;
729 : AP_Float rc_tuning2_max;
730 : #endif // AP_RC_TRANSMITTER_TUNING_ENABLED
731 :
732 : #if MODE_RTL_ENABLED
733 : void *mode_rtl_ptr;
734 : #endif
735 :
736 : void *mode_land_ptr;
737 :
738 : #if MODE_POSHOLD_ENABLED
739 : void *mode_poshold_ptr;
740 : #endif
741 :
742 : #if MODE_FLIP_ENABLED
743 : void *mode_flip_ptr;
744 : #endif
745 :
746 : };
747 :
748 : extern const AP_Param::Info var_info[];
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