Line data Source code
1 : #include "Plane.h"
2 :
3 : #include <AP_Gripper/AP_Gripper.h>
4 :
5 : /*
6 : * ArduPlane parameter definitions
7 : *
8 : */
9 :
10 : const AP_Param::Info Plane::var_info[] = {
11 : // @Param: FORMAT_VERSION
12 : // @DisplayName: Eeprom format version number
13 : // @Description: This value is incremented when changes are made to the eeprom format
14 : // @User: Advanced
15 : GSCALAR(format_version, "FORMAT_VERSION", 0),
16 :
17 : // SYSID_THISMAV was here
18 :
19 : // SYSID_MYGCS was here
20 :
21 : // AP_SerialManager was here
22 :
23 : // @Param: AUTOTUNE_LEVEL
24 : // @DisplayName: Autotune level
25 : // @Description: Level of aggressiveness of pitch and roll PID gains. Lower values result in a 'softer' tune. Level 6 recommended for most planes. A value of 0 means to keep the current values of RMAX and TCONST for the controllers, tuning only the PID values
26 : // @Range: 0 10
27 : // @Increment: 1
28 : // @User: Standard
29 : ASCALAR(autotune_level, "AUTOTUNE_LEVEL", 6),
30 :
31 : // @Param: AUTOTUNE_OPTIONS
32 : // @DisplayName: Autotune options bitmask
33 : // @Description: Fixed Wing Autotune specific options. Useful on QuadPlanes with higher INS_GYRO_FILTER settings to prevent these filter values from being set too aggressively during Fixed Wing Autotune.
34 : // @Bitmask: 0: Disable FLTD update by Autotune
35 : // @Bitmask: 1: Disable FLTT update by Autotune
36 : // @User: Advanced
37 : ASCALAR(autotune_options, "AUTOTUNE_OPTIONS", 0),
38 :
39 : // TELEM_DELAY was here
40 :
41 : // @Param: GCS_PID_MASK
42 : // @DisplayName: GCS PID tuning mask
43 : // @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
44 : // @User: Advanced
45 : // @Bitmask: 0:Roll,1:Pitch,2:Yaw,3:Steering,4:Landing,5:AccZ
46 : GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
47 :
48 : // @Param: KFF_RDDRMIX
49 : // @DisplayName: Rudder Mix
50 : // @Description: Amount of rudder to add during aileron movement. Increase if nose initially yaws away from roll. Reduces adverse yaw.
51 : // @Range: 0 1
52 : // @Increment: 0.01
53 : // @User: Standard
54 : GSCALAR(kff_rudder_mix, "KFF_RDDRMIX", RUDDER_MIX),
55 :
56 : // @Param: KFF_THR2PTCH
57 : // @DisplayName: Throttle to Pitch Mix
58 : // @Description: Pitch up to add in proportion to throttle. 100% throttle will add this number of degrees to the pitch target.
59 : // @Range: -5 5
60 : // @Increment: 0.01
61 : // @User: Advanced
62 : GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH", 0),
63 :
64 : // @Param: STAB_PITCH_DOWN
65 : // @DisplayName: Low throttle pitch down trim
66 : // @Description: Degrees of down pitch added when throttle is below TRIM_THROTTLE in FBWA and AUTOTUNE modes. Scales linearly so full value is added when THR_MIN is reached. Helps to keep airspeed higher in glides or landing approaches and prevents accidental stalls. 2 degrees recommended for most planes.
67 : // @Range: 0 15
68 : // @Increment: 0.1
69 : // @Units: deg
70 : // @User: Advanced
71 : GSCALAR(stab_pitch_down, "STAB_PITCH_DOWN", 2.0f),
72 :
73 : // @Param: ALT_SLOPE_MIN
74 : // @DisplayName: Altitude slope minimum
75 : // @Description: This controls the minimum altitude change for a waypoint before an altitude slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want altitude slopes to be used in missions then you can set this to zero, which will disable altitude slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before an altitude slope will be used to change altitude. This also gates the gradual altitude ramp used during the approach leg of QRTL.
76 : // @Range: 0 1000
77 : // @Increment: 1
78 : // @Units: m
79 : // @User: Advanced
80 : GSCALAR(alt_slope_min, "ALT_SLOPE_MIN", 15),
81 :
82 : // @Param: ALT_SLOPE_MAXHGT
83 : // @DisplayName: Altitude slope maximum height
84 : // @Description: This controls the height above the altitude slope the plane may be before rebuilding it. This is useful for smoothing out an auto-takeoff.
85 : // @Range: 0 100
86 : // @Increment: 1
87 : // @Units: m
88 : // @User: Advanced
89 : GSCALAR(alt_slope_max_height, "ALT_SLOPE_MAXHGT", 5.0),
90 :
91 : // @Param: STICK_MIXING
92 : // @DisplayName: Stick Mixing
93 : // @Description: When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes. There are 3 types of stick mixing available. If you set STICK_MIXING to 1 or 4 then it will use "fly by wire" mixing. 4 will provide roll and yaw control, while 1 also provides FBW-A style pitch control. If you set STICK_MIXING to 3 then it will apply to the yaw while in quadplane modes only, such as while doing an automatic VTOL takeoff or landing. WARNING: FBW-A pitch control does not offer flight envelope protections. Prolonged pitch inputs in mode 1 can result in a stall or overspeed condition, and should be avoided.
94 : // @Values: 0:Disabled,1:FBW style,3:VTOL Yaw only,4:FBW style (no pitch)
95 : // @User: Advanced
96 : GSCALAR(stick_mixing, "STICK_MIXING", uint8_t(StickMixing::FBW)),
97 :
98 : // @Param: TKOFF_THR_MINSPD
99 : // @DisplayName: Takeoff throttle min speed
100 : // @Description: Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter.
101 : // @Units: m/s
102 : // @Range: 0 30
103 : // @Increment: 0.1
104 : // @User: Standard
105 : GSCALAR(takeoff_throttle_min_speed, "TKOFF_THR_MINSPD", 0),
106 :
107 : // @Param: TKOFF_THR_MINACC
108 : // @DisplayName: Takeoff throttle min acceleration
109 : // @Description: Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15. Also see TKOFF_ACCEL_CNT parameter for control of full "shake to arm".
110 : // @Units: m/s/s
111 : // @Range: 0 30
112 : // @Increment: 0.1
113 : // @User: Standard
114 : GSCALAR(takeoff_throttle_min_accel, "TKOFF_THR_MINACC", 0),
115 :
116 : // @Param: TKOFF_THR_DELAY
117 : // @DisplayName: Takeoff throttle delay
118 : // @Description: This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started.
119 : // @Units: ds
120 : // @Range: 0 127
121 : // @Increment: 1
122 : // @User: Standard
123 : GSCALAR(takeoff_throttle_delay, "TKOFF_THR_DELAY", 2),
124 :
125 : // @Param: TKOFF_THR_MAX_T
126 : // @DisplayName: Takeoff throttle maximum time
127 : // @Description: This sets the time that maximum throttle will be forced during a fixed wing takeoff.
128 : // @Units: s
129 : // @Range: 0 10
130 : // @Increment: 0.5
131 : // @User: Standard
132 : ASCALAR(takeoff_throttle_max_t, "TKOFF_THR_MAX_T", 4),
133 :
134 : // @Param: TKOFF_THR_MIN
135 : // @DisplayName: Takeoff minimum throttle
136 : // @Description: The minimum throttle to use in takeoffs in AUTO and TAKEOFF flight modes, when TKOFF_OPTIONS bit 0 is set. Also, the minimum throttle to use in a quadpane forward transition. This can be useful to ensure faster takeoffs or transitions on aircraft where the normal throttle control leads to a slow takeoff or transition. It is used when it is larger than THR_MIN, otherwise THR_MIN is used instead.
137 : // @Units: %
138 : // @Range: 0 100
139 : // @Increment: 1
140 : // @User: Standard
141 : ASCALAR(takeoff_throttle_min, "TKOFF_THR_MIN", 0),
142 :
143 : // @Param: TKOFF_THR_IDLE
144 : // @DisplayName: Takeoff idle throttle
145 : // @Description: The idle throttle to hold after arming and before a takeoff. Applicable in TAKEOFF and AUTO modes.
146 : // @Units: %
147 : // @Range: 0 100
148 : // @Increment: 1
149 : // @User: Standard
150 : ASCALAR(takeoff_throttle_idle, "TKOFF_THR_IDLE", 0),
151 :
152 : // @Param: TKOFF_OPTIONS
153 : // @DisplayName: Takeoff options
154 : // @Description: This selects the mode of the takeoff in AUTO and TAKEOFF flight modes.
155 : // @Bitmask: 0: When unset the maximum allowed throttle is always used (THR_MAX or TKOFF_THR_MAX) during takeoff. When set TECS is allowed to operate between a minimum (THR_MIN or TKOFF_THR_MIN) and a maximum (THR_MAX or TKOFF_THR_MAX) limit. Applicable only when using an airspeed sensor.
156 : // @User: Advanced
157 : ASCALAR(takeoff_options, "TKOFF_OPTIONS", 0),
158 :
159 : // @Param: TKOFF_TDRAG_ELEV
160 : // @DisplayName: Takeoff tail dragger elevator
161 : // @Description: This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial "tail hold" stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time.
162 : // @Units: %
163 : // @Range: -100 100
164 : // @Increment: 1
165 : // @User: Standard
166 : GSCALAR(takeoff_tdrag_elevator, "TKOFF_TDRAG_ELEV", 0),
167 :
168 : // @Param: TKOFF_TDRAG_SPD1
169 : // @DisplayName: Takeoff tail dragger speed1
170 : // @Description: This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to gently hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.
171 : // @Units: m/s
172 : // @Range: 0 30
173 : // @Increment: 0.1
174 : // @User: Standard
175 : GSCALAR(takeoff_tdrag_speed1, "TKOFF_TDRAG_SPD1", 0),
176 :
177 : // @Param: TKOFF_ROTATE_SPD
178 : // @DisplayName: Takeoff rotate speed
179 : // @Description: This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent. During the run, use TKOFF_GND_PITCH to keep the aircraft on the runway while below this airspeed.
180 : // @Units: m/s
181 : // @Range: 0 30
182 : // @Increment: 0.1
183 : // @User: Standard
184 : GSCALAR(takeoff_rotate_speed, "TKOFF_ROTATE_SPD", 0),
185 :
186 : // @Param: TKOFF_THR_SLEW
187 : // @DisplayName: Takeoff throttle slew rate
188 : // @Description: This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle. A value of -1 means no limit on slew rate in takeoff.
189 : // @Units: %/s
190 : // @Range: -1 500
191 : // @Increment: 1
192 : // @User: Standard
193 : GSCALAR(takeoff_throttle_slewrate, "TKOFF_THR_SLEW", 0),
194 :
195 : // @Param: TKOFF_PLIM_SEC
196 : // @DisplayName: Takeoff pitch limit reduction
197 : // @Description: This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be.
198 : // @Units: s
199 : // @Range: 0 10
200 : // @Increment: 0.5
201 : // @User: Advanced
202 : GSCALAR(takeoff_pitch_limit_reduction_sec, "TKOFF_PLIM_SEC", 2),
203 :
204 : // @Param: TKOFF_FLAP_PCNT
205 : // @DisplayName: Takeoff flap percentage
206 : // @Description: The amount of flaps (as a percentage) to apply in automatic takeoff
207 : // @Range: 0 100
208 : // @Units: %
209 : // @Increment: 1
210 : // @User: Advanced
211 : GSCALAR(takeoff_flap_percent, "TKOFF_FLAP_PCNT", 0),
212 :
213 : // @Param: LEVEL_ROLL_LIMIT
214 : // @DisplayName: Level flight roll limit
215 : // @Description: This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff while below 5 meters and during the flare portion of a final landing approach.
216 : // @Units: deg
217 : // @Range: 0 45
218 : // @Increment: 1
219 : // @User: Standard
220 : GSCALAR(level_roll_limit, "LEVEL_ROLL_LIMIT", 5),
221 :
222 : // @Param: USE_REV_THRUST
223 : // @DisplayName: Bitmask for when to allow negative reverse thrust
224 : // @Description: This controls when to use reverse thrust. If set to a non-zero value then the bits correspond to flight stages where reverse thrust may be used. The most commonly used value for USE_REV_THRUST is 2, which means AUTO_LAND only. That enables reverse thrust in the landing stage of AUTO mode. Another common choice is 1, which means to use reverse thrust in all auto flight stages. Reverse thrust is always used in MANUAL mode if enabled with THR_MIN < 0. In non-autothrottle controlled modes, if reverse thrust is not used, then THR_MIN is effectively set to 0 for that mode.
225 : // @Bitmask: 0:AUTO_ALWAYS,1:AUTO_LAND,2:AUTO_LOITER_TO_ALT,3:AUTO_LOITER_ALL,4:AUTO_WAYPOINTS,5:LOITER,6:RTL,7:CIRCLE,8:CRUISE,9:FBWB,10:GUIDED,11:AUTO_LANDING_PATTERN,12:FBWA,13:ACRO,14:STABILIZE,15:THERMAL
226 : // @User: Advanced
227 : GSCALAR(use_reverse_thrust, "USE_REV_THRUST", float(UseReverseThrust::AUTO_LAND_APPROACH)),
228 :
229 : // @Param: ALT_OFFSET
230 : // @DisplayName: Altitude offset
231 : // @Description: This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission. The offset resets to zero on reboot
232 : // @Units: m
233 : // @Range: -32767 32767
234 : // @Increment: 1
235 : // @User: Advanced
236 : // @Volatile: True
237 : GSCALAR(alt_offset, "ALT_OFFSET", 0),
238 :
239 : // @Param: WP_RADIUS
240 : // @DisplayName: Waypoint Radius
241 : // @Description: Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.
242 : // @Units: m
243 : // @Range: 1 32767
244 : // @Increment: 1
245 : // @User: Standard
246 : GSCALAR(waypoint_radius, "WP_RADIUS", WP_RADIUS_DEFAULT),
247 :
248 : // @Param: WP_MAX_RADIUS
249 : // @DisplayName: Waypoint Maximum Radius
250 : // @Description: Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.
251 : // @Units: m
252 : // @Range: 0 32767
253 : // @Increment: 1
254 : // @User: Standard
255 : GSCALAR(waypoint_max_radius, "WP_MAX_RADIUS", 0),
256 :
257 : // @Param: WP_LOITER_RAD
258 : // @DisplayName: Waypoint Loiter Radius
259 : // @Description: Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise. If this value is too close to zero, the achieved loiter radius will be determined by ROLL_LIMIT_DEG.
260 : // @Units: m
261 : // @Range: -32767 32767
262 : // @Increment: 1
263 : // @User: Standard
264 : ASCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS_DEFAULT),
265 :
266 : // @Param: RTL_RADIUS
267 : // @DisplayName: RTL loiter radius
268 : // @Description: Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used. For quadplanes with Q_RTL_MODE set to 1 (Enabled), this value is used to set the minimum radius at which the plane will transition from fixed-wing to VTOL mode for landing.
269 : // @Units: m
270 : // @Range: -32767 32767
271 : // @Increment: 1
272 : // @User: Standard
273 : GSCALAR(rtl_radius, "RTL_RADIUS", 0),
274 :
275 : // @Param: STALL_PREVENTION
276 : // @DisplayName: Enable stall prevention
277 : // @Description: Enables roll limits at low airspeed in roll limiting flight modes. Roll limits based on aerodynamic load factor in turns and scale on AIRSPEED_MIN that must be set correctly. Without airspeed sensor, uses synthetic airspeed from wind speed estimate that may both be inaccurate.
278 : // @Values: 0:Disabled,1:Enabled
279 : // @User: Standard
280 : ASCALAR(stall_prevention, "STALL_PREVENTION", 1),
281 :
282 : // @Param: AIRSPEED_CRUISE
283 : // @DisplayName: Target cruise airspeed
284 : // @Description: Target cruise airspeed in m/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed.
285 : // @Units: m/s
286 : // @User: Standard
287 : ASCALAR(airspeed_cruise, "AIRSPEED_CRUISE", AIRSPEED_CRUISE),
288 :
289 : // @Param: AIRSPEED_MIN
290 : // @DisplayName: Minimum Airspeed
291 : // @Description: Minimum airspeed demanded in automatic throttle modes. Should be set to 20% higher than level flight stall speed.
292 : // @Units: m/s
293 : // @Range: 5 100
294 : // @Increment: 1
295 : // @User: Standard
296 : ASCALAR(airspeed_min, "AIRSPEED_MIN", AIRSPEED_FBW_MIN),
297 :
298 : // @Param: AIRSPEED_MAX
299 : // @DisplayName: Maximum Airspeed
300 : // @Description: Maximum airspeed demanded in automatic throttle modes. Should be set slightly less than level flight speed at THR_MAX and also at least 50% above AIRSPEED_MIN to allow for accurate TECS altitude control.
301 : // @Units: m/s
302 : // @Range: 5 100
303 : // @Increment: 1
304 : // @User: Standard
305 : ASCALAR(airspeed_max, "AIRSPEED_MAX", AIRSPEED_FBW_MAX),
306 :
307 : // @Param: AIRSPEED_STALL
308 : // @DisplayName: Stall airspeed
309 : // @Description: If stall prevention is enabled this speed is used to calculate the minimum airspeed while banking. It is also used during landing final as the minimum airspeed that can be demanded by the TECS, which allows using TECS_LAND_ARSPD or LAND_PF_ARSPD to achieve landings slower than AIRSPEED_MIN. If this is set to 0 then the stall speed is assumed to be the minimum airspeed speed. Typically set slightly higher then true stall speed.
310 : // @Units: m/s
311 : // @Range: 5 75
312 : // @User: Standard
313 : ASCALAR(airspeed_stall, "AIRSPEED_STALL", 0),
314 :
315 : // @Param: FBWB_ELEV_REV
316 : // @DisplayName: Fly By Wire elevator reverse
317 : // @Description: Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to raise altitude. When set to 1, up elevator means to lower altitude.
318 : // @Values: 0:Disabled,1:Enabled
319 : // @User: Standard
320 : GSCALAR(flybywire_elev_reverse, "FBWB_ELEV_REV", 0),
321 :
322 : #if AP_TERRAIN_AVAILABLE
323 : // @Param: TERRAIN_FOLLOW
324 : // @DisplayName: Use terrain following
325 : // @Description: This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission.
326 : // @Bitmask: 0: Enable all modes, 1:FBWB, 2:Cruise, 3:Auto, 4:RTL, 5:Avoid_ADSB, 6:Guided, 7:Loiter, 8:Circle, 9:QRTL, 10:QLand, 11:Qloiter, 12:AUTOLAND
327 : // @User: Standard
328 : GSCALAR(terrain_follow, "TERRAIN_FOLLOW", 0),
329 :
330 : // @Param: TERRAIN_LOOKAHD
331 : // @DisplayName: Terrain lookahead
332 : // @Description: This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode.
333 : // @Range: 0 10000
334 : // @Units: m
335 : // @User: Standard
336 : GSCALAR(terrain_lookahead, "TERRAIN_LOOKAHD", 2000),
337 : #endif
338 :
339 : // @Param: FBWB_CLIMB_RATE
340 : // @DisplayName: Fly By Wire B altitude change rate
341 : // @Description: This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters.
342 : // @Range: 1 10
343 : // @Units: m/s
344 : // @Increment: 0.1
345 : // @User: Standard
346 : GSCALAR(flybywire_climb_rate, "FBWB_CLIMB_RATE", 2.0f),
347 :
348 : // @Param: THR_MIN
349 : // @DisplayName: Minimum Throttle
350 : // @Description: Minimum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set. Negative values allow reverse thrust if hardware supports it.
351 : // @Units: %
352 : // @Range: -100 100
353 : // @Increment: 1
354 : // @User: Standard
355 : ASCALAR(throttle_min, "THR_MIN", THROTTLE_MIN),
356 :
357 : // @Param: THR_MAX
358 : // @DisplayName: Maximum Throttle
359 : // @Description: Maximum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set.
360 : // @Units: %
361 : // @Range: 0 100
362 : // @Increment: 1
363 : // @User: Standard
364 : ASCALAR(throttle_max, "THR_MAX", THROTTLE_MAX),
365 :
366 : // @Param: TKOFF_THR_MAX
367 : // @DisplayName: Maximum Throttle for takeoff
368 : // @Description: The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well.
369 : // @Units: %
370 : // @Range: 0 100
371 : // @Increment: 1
372 : // @User: Advanced
373 : ASCALAR(takeoff_throttle_max, "TKOFF_THR_MAX", 0),
374 :
375 : // @Param: THR_SLEWRATE
376 : // @DisplayName: Throttle slew rate
377 : // @Description: Maximum change in throttle percentage per second. Lower limit based on 1 microsend of servo increase per loop. Divide SCHED_LOOP_RATE by approximately 10 to determine minimum achievable value.
378 : // @Units: %/s
379 : // @Range: 0 500
380 : // @Increment: 1
381 : // @User: Standard
382 : ASCALAR(throttle_slewrate, "THR_SLEWRATE", 100),
383 :
384 : // @Param: FLAP_SLEWRATE
385 : // @DisplayName: Flap slew rate
386 : // @Description: maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting.
387 : // @Units: %/s
388 : // @Range: 0 100
389 : // @Increment: 1
390 : // @User: Advanced
391 : GSCALAR(flap_slewrate, "FLAP_SLEWRATE", 75),
392 :
393 : // @Param: THR_SUPP_MAN
394 : // @DisplayName: Throttle suppress manual passthru
395 : // @Description: When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff
396 : // @Values: 0:Disabled,1:Enabled
397 : // @User: Advanced
398 : GSCALAR(throttle_suppress_manual,"THR_SUPP_MAN", 0),
399 :
400 : // @Param: THR_PASS_STAB
401 : // @DisplayName: Throttle passthru in stabilize
402 : // @Description: If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum.
403 : // @Values: 0:Disabled,1:Enabled
404 : // @User: Advanced
405 : GSCALAR(throttle_passthru_stabilize,"THR_PASS_STAB", 0),
406 :
407 : // @Param: THR_FAILSAFE
408 : // @DisplayName: Throttle and RC Failsafe Enable
409 : // @Description: 0 disables the failsafe. 1 enables failsafe on loss of RC input. This is detected either by throttle values below THR_FS_VALUE, loss of receiver valid pulses/data, or by the FS bit in receivers that provide it, like SBUS. A programmable failsafe action will occur and RC inputs, if present, will be ignored. A value of 2 means that the RC inputs won't be used when RC failsafe is detected by any of the above methods, but it won't trigger an RC failsafe action.
410 : // @Values: 0:Disabled,1:Enabled,2:EnabledNoFailsafe
411 : // @User: Standard
412 : GSCALAR(throttle_fs_enabled, "THR_FAILSAFE", int(ThrFailsafe::Enabled)),
413 :
414 :
415 : // @Param: THR_FS_VALUE
416 : // @DisplayName: Throttle Failsafe Value
417 : // @Description: The PWM level on the throttle input channel below which throttle failsafe triggers. Note that this should be well below the normal minimum for your throttle channel.
418 : // @Range: 925 2200
419 : // @Increment: 1
420 : // @User: Standard
421 : GSCALAR(throttle_fs_value, "THR_FS_VALUE", 950),
422 :
423 : // @Param: TRIM_THROTTLE
424 : // @DisplayName: Throttle cruise percentage
425 : // @Description: Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains AIRSPEED_CRUISE. Caution: low battery voltages at the end of flights may require higher throttle to maintain airspeed.
426 : // @Units: %
427 : // @Range: 0 100
428 : // @Increment: 1
429 : // @User: Standard
430 : ASCALAR(throttle_cruise, "TRIM_THROTTLE", AP_PLANE_TRIM_THROTTLE_DEFAULT),
431 :
432 : // @Param: THROTTLE_NUDGE
433 : // @DisplayName: Throttle nudge enable
434 : // @Description: When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from AIRSPEED_CRUISE up to a maximum of AIRSPEED_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.
435 : // @Values: 0:Disabled,1:Enabled
436 : // @User: Standard
437 : GSCALAR(throttle_nudge, "THROTTLE_NUDGE", 1),
438 :
439 : // @Param: FS_SHORT_ACTN
440 : // @DisplayName: Short failsafe action
441 : // @Description: The action to take on a short failsafe event. A short failsafe event can be triggered instantly by loss of RC control or by throttle value (see THR_FS_VALUE). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause a change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, a change to FBWA mode with zero throttle if FS_SHORT_ACTN is 2, and a change to FBWB mode if FS_SHORT_ACTN is 4. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change if FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1, will change to FBWA mode with zero throttle if set to 2, or will change to FBWB if set to 4. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe. This parameter only applies to failsafes during fixed wing modes. Quadplane modes will switch to QLAND unless Q_OPTIONS bit 5(QRTL) or 20(RTL) are set.
442 : // @Values: 0:CIRCLE/no change(if already in AUTO|GUIDED|LOITER),1:CIRCLE,2:FBWA at zero throttle,3:Disable,4:FBWB
443 : // @User: Standard
444 : GSCALAR(fs_action_short, "FS_SHORT_ACTN", FS_ACTION_SHORT_BESTGUESS),
445 :
446 : // @Param: FS_LONG_ACTN
447 : // @DisplayName: Long failsafe action
448 : // @Description: The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTN is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). If FS_LONG_ACTN is set to 4 the aircraft will switch to mode AUTO with the current waypoint if it is not already in mode AUTO, unless it is in the middle of a landing sequence. If FS_LONG_ACTN is set to 5, will switch to AUTOLAND mode if possible, otherwise RTL mode. This parameter only applies to failsafes during fixed wing modes. Quadplane modes will switch to QLAND unless Q_OPTIONS bit 5 (QRTL) or 20(RTL) are set.
449 : // @Values: 0:Continue,1:ReturnToLaunch,2:Glide,3:Deploy Parachute,4:Auto,5:AUTOLAND
450 : // @User: Standard
451 : GSCALAR(fs_action_long, "FS_LONG_ACTN", FS_ACTION_LONG_CONTINUE),
452 :
453 : // @Param: FS_LONG_TIMEOUT
454 : // @DisplayName: Long failsafe timeout
455 : // @Description: The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds.
456 : // @Units: s
457 : // @Range: 1 300
458 : // @Increment: 0.5
459 : // @User: Standard
460 : GSCALAR(fs_timeout_long, "FS_LONG_TIMEOUT", 5),
461 :
462 : // @Param: FS_GCS_ENABL
463 : // @DisplayName: GCS failsafe enable
464 : // @Description: Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are three possible enabled settings. Setting FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Note that heartbeat tracking only becomes active after having received the first heartbeat from the MAV_GCS_SYSID primary GCS system. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled telemetry adio indicating that the primary ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED.
465 : // @Values: 0:Disabled,1:Heartbeat,2:HeartbeatAndREMRSSI,3:HeartbeatAndAUTO
466 : // @User: Standard
467 : GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL", GCS_FAILSAFE_OFF),
468 :
469 : // @Param: FLTMODE_CH
470 : // @DisplayName: Flightmode channel
471 : // @Description: RC Channel to use for flight mode control
472 : // @Values: 0:Disabled,1:Channel 1,2:Channel 2,3:Channel 3,4:Channel 4,5:Channel 5,6:Channel 6,7:Channel 7,8:Channel 8,9:Channel 9,10:Channel 10,11:Channel 11,12:Channel 12,13:Channel 13,14:Channel 14,15:Channel 15,16:Channel 16
473 : // @User: Advanced
474 : GSCALAR(flight_mode_channel, "FLTMODE_CH", FLIGHT_MODE_CHANNEL),
475 :
476 : // @Param: FLTMODE1
477 : // @DisplayName: FlightMode1
478 : // @Description: Flight mode for switch position 1 (910 to 1230 and above 2049)
479 : // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,4:ACRO,5:FBWA,6:FBWB,7:CRUISE,8:AUTOTUNE,10:Auto,11:RTL,12:Loiter,13:TAKEOFF,14:AVOID_ADSB,15:Guided,17:QSTABILIZE,18:QHOVER,19:QLOITER,20:QLAND,21:QRTL,22:QAUTOTUNE,23:QACRO,24:THERMAL,25:Loiter to QLand,26:AUTOLAND
480 : // @User: Standard
481 : GARRAY(flight_modes, 0, "FLTMODE1", FLIGHT_MODE_1),
482 :
483 : // @Param: FLTMODE2
484 : // @CopyFieldsFrom: FLTMODE1
485 : // @DisplayName: FlightMode2
486 : // @Description: Flight mode for switch position 2 (1231 to 1360)
487 : GARRAY(flight_modes, 1, "FLTMODE2", FLIGHT_MODE_2),
488 :
489 : // @Param: FLTMODE3
490 : // @CopyFieldsFrom: FLTMODE1
491 : // @DisplayName: FlightMode3
492 : // @Description: Flight mode for switch position 3 (1361 to 1490)
493 : GARRAY(flight_modes, 2, "FLTMODE3", FLIGHT_MODE_3),
494 :
495 : // @Param: FLTMODE4
496 : // @CopyFieldsFrom: FLTMODE1
497 : // @DisplayName: FlightMode4
498 : // @Description: Flight mode for switch position 4 (1491 to 1620)
499 : GARRAY(flight_modes, 3, "FLTMODE4", FLIGHT_MODE_4),
500 :
501 : // @Param: FLTMODE5
502 : // @CopyFieldsFrom: FLTMODE1
503 : // @DisplayName: FlightMode5
504 : // @Description: Flight mode for switch position 5 (1621 to 1749)
505 : GARRAY(flight_modes, 4, "FLTMODE5", FLIGHT_MODE_5),
506 :
507 : // @Param: FLTMODE6
508 : // @CopyFieldsFrom: FLTMODE1
509 : // @DisplayName: FlightMode6
510 : // @Description: Flight mode for switch position 6 (1750 to 2049)
511 : GARRAY(flight_modes, 5, "FLTMODE6", FLIGHT_MODE_6),
512 :
513 : // @Param: INITIAL_MODE
514 : // @DisplayName: Initial flight mode
515 : // @Description: This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.
516 : // @CopyValuesFrom: FLTMODE1
517 : // @User: Advanced
518 : GSCALAR(initial_mode, "INITIAL_MODE", Mode::Number::MANUAL),
519 :
520 : // @Param: ROLL_LIMIT_DEG
521 : // @DisplayName: Maximum Bank Angle
522 : // @Description: Maximum bank angle commanded in modes with stabilized limits. Increase this value for sharper turns, but decrease to prevent accelerated stalls.
523 : // @Units: deg
524 : // @Range: 0 90
525 : // @Increment: 1
526 : // @User: Standard
527 : ASCALAR(roll_limit, "ROLL_LIMIT_DEG", ROLL_LIMIT_DEG),
528 :
529 : // @Param: PTCH_LIM_MAX_DEG
530 : // @DisplayName: Maximum Pitch Angle
531 : // @Description: Maximum pitch up angle commanded in modes with stabilized limits.
532 : // @Units: deg
533 : // @Range: 0 90
534 : // @Increment: 1
535 : // @User: Standard
536 : ASCALAR(pitch_limit_max, "PTCH_LIM_MAX_DEG", PITCH_MAX),
537 :
538 : // @Param: PTCH_LIM_MIN_DEG
539 : // @DisplayName: Minimum Pitch Angle
540 : // @Description: Maximum pitch down angle commanded in modes with stabilized limits
541 : // @Units: deg
542 : // @Range: -90 0
543 : // @Increment: 1
544 : // @User: Standard
545 : ASCALAR(pitch_limit_min, "PTCH_LIM_MIN_DEG", PITCH_MIN),
546 :
547 : // @Param: ACRO_ROLL_RATE
548 : // @DisplayName: ACRO mode roll rate
549 : // @Description: The maximum roll rate at full stick deflection in ACRO mode
550 : // @Units: deg/s
551 : // @Range: 10 500
552 : // @Increment: 1
553 : // @User: Standard
554 : GSCALAR(acro_roll_rate, "ACRO_ROLL_RATE", 180),
555 :
556 : // @Param: ACRO_PITCH_RATE
557 : // @DisplayName: ACRO mode pitch rate
558 : // @Description: The maximum pitch rate at full stick deflection in ACRO mode
559 : // @Units: deg/s
560 : // @Range: 10 500
561 : // @Increment: 1
562 : // @User: Standard
563 : GSCALAR(acro_pitch_rate, "ACRO_PITCH_RATE", 180),
564 :
565 : // @Param: ACRO_YAW_RATE
566 : // @DisplayName: ACRO mode yaw rate
567 : // @Description: The maximum yaw rate at full stick deflection in ACRO mode. If this is zero then rudder is directly controlled by rudder stick input. This option is only available if you also set YAW_RATE_ENABLE to 1.
568 : // @Units: deg/s
569 : // @Range: 0 500
570 : // @Increment: 1
571 : // @User: Standard
572 : GSCALAR(acro_yaw_rate, "ACRO_YAW_RATE", 0),
573 :
574 : // @Param: ACRO_LOCKING
575 : // @DisplayName: ACRO mode attitude locking
576 : // @Description: Enable attitude locking when sticks are released. If set to 2 then quaternion based locking is used if the yaw rate controller is enabled. Quaternion based locking will hold any attitude
577 : // @Values: 0:Disabled,1:Enabled,2:Quaternion
578 : // @User: Standard
579 : GSCALAR(acro_locking, "ACRO_LOCKING", 0),
580 :
581 : // @Param: GROUND_STEER_ALT
582 : // @DisplayName: Ground steer altitude
583 : // @Description: Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude.
584 : // @Units: m
585 : // @Range: -100 100
586 : // @Increment: 0.1
587 : // @User: Standard
588 : GSCALAR(ground_steer_alt, "GROUND_STEER_ALT", 0),
589 :
590 : // @Param: GROUND_STEER_DPS
591 : // @DisplayName: Ground steer rate
592 : // @Description: Ground steering rate in degrees per second for full rudder stick deflection
593 : // @Units: deg/s
594 : // @Range: 10 360
595 : // @Increment: 1
596 : // @User: Advanced
597 : GSCALAR(ground_steer_dps, "GROUND_STEER_DPS", 90),
598 :
599 : // @Param: MIXING_GAIN
600 : // @DisplayName: Mixing Gain
601 : // @Description: The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds.
602 : // @Range: 0.5 1.2
603 : // @User: Standard
604 : GSCALAR(mixing_gain, "MIXING_GAIN", 0.5f),
605 :
606 : // @Param: RUDDER_ONLY
607 : // @DisplayName: Rudder only aircraft
608 : // @Description: Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point.
609 : // @Values: 0:Disabled,1:Enabled
610 : // @User: Standard
611 : GSCALAR(rudder_only, "RUDDER_ONLY", 0),
612 :
613 : // @Param: MIXING_OFFSET
614 : // @DisplayName: Mixing Offset
615 : // @Description: The offset for the Vtail and elevon output mixers, as a percentage. This can be used in combination with MIXING_GAIN to configure how the control surfaces respond to input. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing. The default value of zero will leave the aileron-input response equal to the elevator-input response.
616 : // @Units: d%
617 : // @Range: -1000 1000
618 : // @User: Standard
619 : GSCALAR(mixing_offset, "MIXING_OFFSET", 0),
620 :
621 : // @Param: DSPOILR_RUD_RATE
622 : // @DisplayName: Differential spoilers rudder rate
623 : // @Description: Sets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect).
624 : // @Units: %
625 : // @Range: -100 100
626 : // @User: Standard
627 : GSCALAR(dspoiler_rud_rate, "DSPOILR_RUD_RATE", DSPOILR_RUD_RATE_DEFAULT),
628 :
629 : // @Param: LOG_BITMASK
630 : // @DisplayName: Log bitmask
631 : // @Description: Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all basic log types by setting this to 65535.
632 : // @Bitmask: 0:Fast Attitude,1:Medium Attitude,2:GPS,3:Performance,4:Control Tuning,5:Navigation Tuning,7:IMU,8:Mission Commands,9:Battery Monitor,10:Compass,11:TECS,12:Camera,13:RC Input-Output,14:Rangefinder,19:Raw IMU,20:Fullrate Attitude,21:Video Stabilization,22:Fullrate Notch
633 : // @User: Advanced
634 : GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
635 :
636 : // @Param: SCALING_SPEED
637 : // @DisplayName: speed used for speed scaling calculations
638 : // @Description: Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values
639 : // @Units: m/s
640 : // @Range: 0.1 50
641 : // @Increment: 0.1
642 : // @User: Advanced
643 : GSCALAR(scaling_speed, "SCALING_SPEED", SCALING_SPEED),
644 :
645 : // @Param: MIN_GROUNDSPEED
646 : // @DisplayName: Minimum ground speed
647 : // @Description: Minimum ground speed when under airspeed control
648 : // @Units: m/s
649 : // @User: Advanced
650 : ASCALAR(min_groundspeed, "MIN_GROUNDSPEED", MIN_GROUNDSPEED),
651 :
652 : // @Param: PTCH_TRIM_DEG
653 : // @DisplayName: Pitch angle offset
654 : // @Description: Offset in degrees used for in-flight pitch trimming for level flight. Correct ground leveling is an alternative to changing this parameter.
655 : // @Units: deg
656 : // @Range: -45 45
657 : // @User: Standard
658 : GSCALAR(pitch_trim, "PTCH_TRIM_DEG", 0.0f),
659 :
660 : // @Param: RTL_ALTITUDE
661 : // @DisplayName: RTL altitude
662 : // @Description: Target altitude above home for RTL mode. Maintains current altitude if set to -1. Rally point altitudes are used if plane does not return to home.
663 : // @Units: m
664 : // @User: Standard
665 : GSCALAR(RTL_altitude, "RTL_ALTITUDE", ALT_HOLD_HOME),
666 :
667 : // @Param: CRUISE_ALT_FLOOR
668 : // @DisplayName: Minimum altitude for FBWB and CRUISE mode
669 : // @Description: This is the minimum altitude in meters (above home) that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. It will also force a climb to this altitude if below in these modes. A value of zero means no limit.
670 : // @Units: m
671 : // @User: Standard
672 : GSCALAR(cruise_alt_floor, "CRUISE_ALT_FLOOR", CRUISE_ALT_FLOOR),
673 :
674 : // @Param: FLAP_1_PERCNT
675 : // @DisplayName: Flap 1 percentage
676 : // @Description: The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps
677 : // @Range: 0 100
678 : // @Increment: 1
679 : // @Units: %
680 : // @User: Advanced
681 : GSCALAR(flap_1_percent, "FLAP_1_PERCNT", FLAP_1_PERCENT),
682 :
683 : // @Param: FLAP_1_SPEED
684 : // @DisplayName: Flap 1 speed
685 : // @Description: The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED
686 : // @Range: 0 100
687 : // @Increment: 1
688 : // @Units: m/s
689 : // @User: Advanced
690 : GSCALAR(flap_1_speed, "FLAP_1_SPEED", FLAP_1_SPEED),
691 :
692 : // @Param: FLAP_2_PERCNT
693 : // @DisplayName: Flap 2 percentage
694 : // @Description: The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps
695 : // @Range: 0 100
696 : // @Units: %
697 : // @Increment: 1
698 : // @User: Advanced
699 : GSCALAR(flap_2_percent, "FLAP_2_PERCNT", FLAP_2_PERCENT),
700 :
701 : // @Param: FLAP_2_SPEED
702 : // @DisplayName: Flap 2 speed
703 : // @Description: The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED
704 : // @Range: 0 100
705 : // @Units: m/s
706 : // @Increment: 1
707 : // @User: Advanced
708 : GSCALAR(flap_2_speed, "FLAP_2_SPEED", FLAP_2_SPEED),
709 :
710 : #if HAL_WITH_IO_MCU
711 : // @Param: OVERRIDE_CHAN
712 : // @DisplayName: IO override channel
713 : // @Description: If set to a non-zero value then this is an RC input channel number to use for giving IO manual control in case the main FMU microcontroller on a board with a IO co-processor fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the IO microcontroller will directly control the servos. Note that IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on the FMU will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels on boards with an IOMCU.
714 : // @Range: 0 16
715 : // @Increment: 1
716 : // @User: Advanced
717 : GSCALAR(override_channel, "OVERRIDE_CHAN", 0),
718 : #endif
719 :
720 : // @Param: RTL_AUTOLAND
721 : // @DisplayName: RTL auto land
722 : // @Description: Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location For a value of 1 a rally point will be used instead of HOME if in range (see rally point documentation).If this is set to 0 and there is a DO_LAND_START or DO_RETURN_PATH_START mission item then you will get an arming check failure. You can set to a value of 3 to avoid the arming check failure and use the DO_LAND_START for go-around (see wiki for aborting autolandings) without it changing RTL behaviour.
723 : // @Values: 0:Disable,1:Fly HOME then land via DO_LAND_START mission item, 2:Go directly to landing sequence via DO_LAND_START mission item, 3:OnlyForGoAround, 4:Go directly to landing sequence via DO_RETURN_PATH_START mission item
724 : // @User: Standard
725 : GSCALAR(rtl_autoland, "RTL_AUTOLAND", float(RtlAutoland::RTL_DISABLE)),
726 :
727 : // @Param: CRASH_ACC_THRESH
728 : // @DisplayName: Crash Deceleration Threshold
729 : // @Description: X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensitive (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector.
730 : // @Units: m/s/s
731 : // @Range: 0 127
732 : // @Increment: 1
733 : // @User: Advanced
734 : GSCALAR(crash_accel_threshold, "CRASH_ACC_THRESH", 0),
735 :
736 : // @Param: CRASH_DETECT
737 : // @DisplayName: Crash Detection
738 : // @Description: Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for safety and to help against burning out ESC and motor. Set to 0 to disable crash detection.
739 : // @Bitmask: 0:Disarm
740 : // @User: Advanced
741 : ASCALAR(crash_detection_enable, "CRASH_DETECT", 0),
742 :
743 : // @Group: BARO
744 : // @Path: ../libraries/AP_Baro/AP_Baro.cpp
745 : GOBJECT(barometer, "BARO", AP_Baro),
746 :
747 : // GPS driver
748 : // @Group: GPS
749 : // @Path: ../libraries/AP_GPS/AP_GPS.cpp
750 : GOBJECT(gps, "GPS", AP_GPS),
751 :
752 : #if AP_CAMERA_ENABLED
753 : // @Group: CAM
754 : // @Path: ../libraries/AP_Camera/AP_Camera.cpp
755 : GOBJECT(camera, "CAM", AP_Camera),
756 : #endif
757 :
758 : // @Group: ARMING_
759 : // @Path: AP_Arming_Plane.cpp,../libraries/AP_Arming/AP_Arming.cpp
760 : GOBJECT(arming, "ARMING_", AP_Arming_Plane),
761 :
762 : #if AP_RELAY_ENABLED
763 : // @Group: RELAY
764 : // @Path: ../libraries/AP_Relay/AP_Relay.cpp
765 : GOBJECT(relay, "RELAY", AP_Relay),
766 : #endif
767 :
768 : #if HAL_PARACHUTE_ENABLED
769 : // @Group: CHUTE_
770 : // @Path: ../libraries/AP_Parachute/AP_Parachute.cpp
771 : GOBJECT(parachute, "CHUTE_", AP_Parachute),
772 : #endif
773 :
774 : #if AP_RANGEFINDER_ENABLED
775 : // @Group: RNGFND
776 : // @Path: ../libraries/AP_RangeFinder/AP_RangeFinder.cpp
777 : GOBJECT(rangefinder, "RNGFND", RangeFinder),
778 :
779 : // @Param: RNGFND_LANDING
780 : // @DisplayName: Enable use of rangefinder
781 : // @Description: Sets the use of a rangefinder for automatic landing and other use cases. When enabled for landing and takeoff the rangefinder will be used both on the landing approach and for final flare as well as as VTOL landing and for takeoffs and throttle suppression when close to the ground. When enabled for assist the rangefinder will be used for VTOL assistance. When enabled for climb the rangefinder will be used for the initial climb in QRTL and AUTO. Set to 0 to disable use of the rangefinder.
782 : // @Bitmask: 0:All, 1:TakeoffAndLanding, 2:Assist, 3:InitialClimb
783 : // @User: Standard
784 : GSCALAR(rangefinder_landing, "RNGFND_LANDING", 0),
785 : #endif
786 :
787 : #if AP_TERRAIN_AVAILABLE
788 : // @Group: TERRAIN_
789 : // @Path: ../libraries/AP_Terrain/AP_Terrain.cpp
790 : GOBJECT(terrain, "TERRAIN_", AP_Terrain),
791 : #endif
792 :
793 : #if HAL_ADSB_ENABLED
794 : // @Group: ADSB_
795 : // @Path: ../libraries/AP_ADSB/AP_ADSB.cpp
796 : GOBJECT(adsb, "ADSB_", AP_ADSB),
797 : #endif // HAL_ADSB_ENABLED
798 :
799 : #if AP_ADSB_AVOIDANCE_ENABLED
800 : // @Group: AVD_
801 : // @Path: ../libraries/AP_Avoidance/AP_Avoidance.cpp
802 : GOBJECT(avoidance_adsb, "AVD_", AP_Avoidance_Plane),
803 : #endif // AP_ADSB_AVOIDANCE_ENABLED
804 :
805 : #if HAL_QUADPLANE_ENABLED
806 : // @Group: Q_
807 : // @Path: quadplane.cpp
808 : GOBJECT(quadplane, "Q_", QuadPlane),
809 : #endif
810 :
811 : #if AP_TUNING_ENABLED
812 : // @Group: TUNE_
813 : // @Path: tuning.cpp,../libraries/AP_Tuning/AP_Tuning.cpp
814 : GOBJECT(tuning, "TUNE_", AP_Tuning_Plane),
815 : #endif
816 :
817 : #if HAL_QUADPLANE_ENABLED
818 : // @Group: Q_A_
819 : // @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
820 : { "Q_A_", (const void *)&plane.quadplane.attitude_control,
821 : {group_info : AC_AttitudeControl_Multi::var_info}, AP_PARAM_FLAG_POINTER,
822 : Parameters::k_param_q_attitude_control, AP_PARAM_GROUP },
823 : #endif
824 :
825 : // @Group: RLL
826 : // @Path: ../libraries/APM_Control/AP_RollController.cpp
827 : GOBJECT(rollController, "RLL", AP_RollController),
828 :
829 : // @Group: PTCH
830 : // @Path: ../libraries/APM_Control/AP_PitchController.cpp
831 : GOBJECT(pitchController, "PTCH", AP_PitchController),
832 :
833 : // @Group: YAW
834 : // @Path: ../libraries/APM_Control/AP_YawController.cpp
835 : GOBJECT(yawController, "YAW", AP_YawController),
836 :
837 : // @Group: STEER2SRV_
838 : // @Path: ../libraries/APM_Control/AP_SteerController.cpp
839 : GOBJECT(steerController, "STEER2SRV_", AP_SteerController),
840 :
841 : // variables not in the g class which contain EEPROM saved variables
842 :
843 : // @Group: COMPASS_
844 : // @Path: ../libraries/AP_Compass/AP_Compass.cpp
845 : GOBJECT(compass, "COMPASS_", Compass),
846 :
847 : // @Group: SCHED_
848 : // @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
849 : GOBJECT(scheduler, "SCHED_", AP_Scheduler),
850 :
851 : // @Group: RCMAP_
852 : // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
853 : GOBJECT(rcmap, "RCMAP_", RCMapper),
854 :
855 : // SR0 through SR6 were here
856 :
857 : // @Group: INS
858 : // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
859 : GOBJECT(ins, "INS", AP_InertialSensor),
860 :
861 : // @Group: AHRS_
862 : // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
863 : GOBJECT(ahrs, "AHRS_", AP_AHRS),
864 :
865 : // Airspeed was here
866 :
867 : // @Group: NAVL1_
868 : // @Path: ../libraries/AP_L1_Control/AP_L1_Control.cpp
869 : GOBJECT(L1_controller, "NAVL1_", AP_L1_Control),
870 :
871 : // @Group: TECS_
872 : // @Path: ../libraries/AP_TECS/AP_TECS.cpp
873 : GOBJECT(TECS_controller, "TECS_", AP_TECS),
874 :
875 : #if HAL_MOUNT_ENABLED
876 : // @Group: MNT
877 : // @Path: ../libraries/AP_Mount/AP_Mount.cpp
878 : GOBJECT(camera_mount, "MNT", AP_Mount),
879 : #endif
880 :
881 : // @Group: BATT
882 : // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
883 : GOBJECT(battery, "BATT", AP_BattMonitor),
884 :
885 : // @Group: BRD_
886 : // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
887 : GOBJECT(BoardConfig, "BRD_", AP_BoardConfig),
888 :
889 : #if HAL_MAX_CAN_PROTOCOL_DRIVERS
890 : // @Group: CAN_
891 : // @Path: ../libraries/AP_CANManager/AP_CANManager.cpp
892 : GOBJECT(can_mgr, "CAN_", AP_CANManager),
893 : #endif
894 :
895 : #if AP_SIM_ENABLED
896 : // @Group: SIM_
897 : // @Path: ../libraries/SITL/SITL.cpp
898 : GOBJECT(sitl, "SIM_", SITL::SIM),
899 : #endif
900 :
901 : #if AP_ADVANCEDFAILSAFE_ENABLED
902 : // @Group: AFS_
903 : // @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
904 : GOBJECT(afs, "AFS_", AP_AdvancedFailsafe),
905 : #endif
906 :
907 : #if AP_OPTICALFLOW_ENABLED
908 : // @Group: FLOW
909 : // @Path: ../libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
910 : GOBJECT(optflow, "FLOW", AP_OpticalFlow),
911 : #endif
912 :
913 : // @Group: MIS_
914 : // @Path: ../libraries/AP_Mission/AP_Mission.cpp
915 : GOBJECT(mission, "MIS_", AP_Mission),
916 :
917 : #if HAL_RALLY_ENABLED
918 : // @Group: RALLY_
919 : // @Path: ../libraries/AP_Rally/AP_Rally.cpp
920 : GOBJECT(rally, "RALLY_", AP_Rally),
921 : #endif
922 :
923 : #if HAL_NAVEKF2_AVAILABLE
924 : // @Group: EK2_
925 : // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
926 : GOBJECTN(ahrs.ekf2.EKF2, NavEKF2, "EK2_", NavEKF2),
927 : #endif
928 :
929 : #if HAL_NAVEKF3_AVAILABLE
930 : // @Group: EK3_
931 : // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
932 : GOBJECTN(ahrs.ekf3.EKF3, NavEKF3, "EK3_", NavEKF3),
933 : #endif
934 :
935 : #if AP_RSSI_ENABLED
936 : // @Group: RSSI_
937 : // @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
938 : GOBJECT(rssi, "RSSI_", AP_RSSI),
939 : #endif
940 :
941 : // @Group: NTF_
942 : // @Path: ../libraries/AP_Notify/AP_Notify.cpp
943 : GOBJECT(notify, "NTF_", AP_Notify),
944 :
945 : // @Group:
946 : // @Path: Parameters.cpp
947 : GOBJECT(g2, "", ParametersG2),
948 :
949 : // @Group: LAND_
950 : // @Path: ../libraries/AP_Landing/AP_Landing.cpp
951 : GOBJECT(landing, "LAND_", AP_Landing),
952 :
953 : #if OSD_ENABLED || OSD_PARAM_ENABLED
954 : // @Group: OSD
955 : // @Path: ../libraries/AP_OSD/AP_OSD.cpp
956 : GOBJECT(osd, "OSD", AP_OSD),
957 : #endif
958 :
959 : // @Group: TKOFF_
960 : // @Path: mode_takeoff.cpp
961 : GOBJECT(mode_takeoff, "TKOFF_", ModeTakeoff),
962 :
963 : #if MODE_AUTOLAND_ENABLED
964 : // @Group: AUTOLAND_
965 : // @Path: mode_autoland.cpp
966 : GOBJECT(mode_autoland, "AUTOLAND_", ModeAutoLand),
967 : #endif
968 :
969 : #if AP_PLANE_GLIDER_PULLUP_ENABLED
970 : // @Group: PUP_
971 : // @Path: pullup.cpp
972 : GOBJECTN(mode_auto.pullup, pullup, "PUP_", GliderPullup),
973 : #endif
974 :
975 : // @Group:
976 : // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
977 : PARAM_VEHICLE_INFO,
978 :
979 : #if AP_QUICKTUNE_ENABLED
980 : // @Group: QWIK_
981 : // @Path: ../libraries/AP_Quicktune/AP_Quicktune.cpp
982 : GOBJECT(quicktune, "QWIK_", AP_Quicktune),
983 : #endif
984 :
985 : #if HAL_GCS_ENABLED
986 : // @Group: MAV
987 : // @Path: ../libraries/GCS_MAVLink/GCS.cpp
988 : GOBJECT(_gcs, "MAV", GCS),
989 : #endif
990 :
991 : AP_VAREND
992 : };
993 :
994 : /*
995 : 2nd group of parameters
996 : */
997 : const AP_Param::GroupInfo ParametersG2::var_info[] = {
998 :
999 : #if HAL_BUTTON_ENABLED
1000 : // @Group: BTN_
1001 : // @Path: ../libraries/AP_Button/AP_Button.cpp
1002 : AP_SUBGROUPPTR(button_ptr, "BTN_", 1, ParametersG2, AP_Button),
1003 : #endif
1004 :
1005 : #if AP_ICENGINE_ENABLED
1006 : // @Group: ICE_
1007 : // @Path: ../libraries/AP_ICEngine/AP_ICEngine.cpp
1008 : AP_SUBGROUPINFO(ice_control, "ICE_", 2, ParametersG2, AP_ICEngine),
1009 : #endif
1010 :
1011 : // 3 was used by prototype for servo_channels
1012 :
1013 : // 4 was used by SYSID_ENFORCE
1014 :
1015 : // AP_Stats was 5
1016 :
1017 : // @Group: SERVO
1018 : // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
1019 : AP_SUBGROUPINFO(servo_channels, "SERVO", 6, ParametersG2, SRV_Channels),
1020 :
1021 : // @Group: RC
1022 : // @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
1023 : AP_SUBGROUPINFO(rc_channels, "RC", 7, ParametersG2, RC_Channels_Plane),
1024 :
1025 : #if HAL_SOARING_ENABLED
1026 : // @Group: SOAR_
1027 : // @Path: ../libraries/AP_Soaring/AP_Soaring.cpp
1028 : AP_SUBGROUPINFO(soaring_controller, "SOAR_", 8, ParametersG2, SoaringController),
1029 : #endif
1030 :
1031 : // @Param: RUDD_DT_GAIN
1032 : // @DisplayName: rudder differential thrust gain
1033 : // @Description: gain control from rudder to differential thrust
1034 : // @Range: 0 100
1035 : // @Units: %
1036 : // @Increment: 1
1037 : // @User: Standard
1038 : AP_GROUPINFO("RUDD_DT_GAIN", 9, ParametersG2, rudd_dt_gain, 10),
1039 :
1040 : // @Param: MANUAL_RCMASK
1041 : // @DisplayName: Manual R/C pass-through mask
1042 : // @Description: Mask of R/C channels to pass directly to corresponding output channel when in MANUAL mode. When in any mode except MANUAL the channels selected with this option behave normally. This parameter is designed to allow for complex mixing strategies to be used for MANUAL flight using transmitter based mixing. Note that when this option is used you need to be very careful with pre-flight checks to ensure that the output is correct both in MANUAL and non-MANUAL modes.
1043 : // @Bitmask: 0:Chan1,1:Chan2,2:Chan3,3:Chan4,4:Chan5,5:Chan6,6:Chan7,7:Chan8,8:Chan9,9:Chan10,10:Chan11,11:Chan12,12:Chan13,13:Chan14,14:Chan15,15:Chan16
1044 : // @User: Advanced
1045 : AP_GROUPINFO("MANUAL_RCMASK", 10, ParametersG2, manual_rc_mask, 0),
1046 :
1047 : // @Param: HOME_RESET_ALT
1048 : // @DisplayName: Home reset altitude threshold
1049 : // @Description: When the aircraft is within this altitude of the home waypoint, while disarmed it will automatically update the home position. Set to 0 to continuously reset it.
1050 : // @Values: -1:Never reset,0:Always reset
1051 : // @Range: -1 127
1052 : // @Units: m
1053 : // @User: Advanced
1054 : AP_GROUPINFO("HOME_RESET_ALT", 11, ParametersG2, home_reset_threshold, 0),
1055 :
1056 : // 12 was AP_Gripper
1057 :
1058 : // @Param: FLIGHT_OPTIONS
1059 : // @DisplayName: Flight mode options
1060 : // @Description: Flight mode specific options
1061 : // @Bitmask: 0: Rudder mixing in direct flight modes only (Manual/Stabilize/Acro)
1062 : // @Bitmask: 1: Use centered throttle in Cruise or FBWB to indicate trim airspeed
1063 : // @Bitmask: 2: Disable attitude check for takeoff arming
1064 : // @Bitmask: 3: Force target airspeed to trim airspeed in Cruise or FBWB
1065 : // @Bitmask: 4: Climb to RTL_ALTITUDE before turning for RTL
1066 : // @Bitmask: 5: Enable yaw damper in acro mode
1067 : // @Bitmask: 6: Suppress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airspeed sensor.
1068 : // @Bitmask: 7: EnableDefaultAirspeed for takeoff
1069 : // @Bitmask: 8: Remove the PTCH_TRIM_DEG on the GCS horizon
1070 : // @Bitmask: 9: Remove the PTCH_TRIM_DEG on the OSD horizon
1071 : // @Bitmask: 10: Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL
1072 : // @Bitmask: 11: Disable suppression of fixed wing rate gains in ground mode
1073 : // @Bitmask: 12: Enable FBWB style loiter altitude control
1074 : // @Bitmask: 13: Indicate takeoff waiting for neutral rudder with flight control surfaces
1075 : // @Bitmask: 14: In AUTO - climb to next waypoint altitude immediately instead of linear climb
1076 : // @Bitmask: 15: Enable autoflap in manual modes and use minimum of target and actual speed for flap setting
1077 : // @Bitmask: 16: Enable full aerodynamic load factor-based roll limits when an airspeed sensor is enabled and AIRSPEED_STALL is set
1078 : // @Bitmask: 17: Reset ALT_OFFSET on flight mode or AUTO waypoint changes
1079 : // @User: Advanced
1080 : AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0),
1081 :
1082 : // 14 was AP_Scripting
1083 :
1084 : // @Param: TKOFF_ACCEL_CNT
1085 : // @DisplayName: Takeoff throttle acceleration count
1086 : // @Description: This is the number of acceleration events to require for arming with TKOFF_THR_MINACC. The default is 1, which means a single forward acceleration above TKOFF_THR_MINACC will arm. By setting this higher than 1 you can require more forward/backward movements to arm.
1087 : // @Range: 1 10
1088 : // @User: Standard
1089 : AP_GROUPINFO("TKOFF_ACCEL_CNT", 15, ParametersG2, takeoff_throttle_accel_count, 1),
1090 :
1091 : #if AP_LANDINGGEAR_ENABLED
1092 : // @Group: LGR_
1093 : // @Path: ../libraries/AP_LandingGear/AP_LandingGear.cpp
1094 : AP_SUBGROUPINFO(landing_gear, "LGR_", 16, ParametersG2, AP_LandingGear),
1095 : #endif
1096 :
1097 : // @Param: DSPOILER_CROW_W1
1098 : // @DisplayName: Differential spoiler crow flaps outer weight
1099 : // @Description: This is amount of deflection applied to the two outer surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 25.
1100 : // @Range: 0 100
1101 : // @Units: %
1102 : // @Increment: 1
1103 : // @User: Advanced
1104 : AP_GROUPINFO("DSPOILER_CROW_W1", 17, ParametersG2, crow_flap_weight_outer, 0),
1105 :
1106 : // @Param: DSPOILER_CROW_W2
1107 : // @DisplayName: Differential spoiler crow flaps inner weight
1108 : // @Description: This is amount of deflection applied to the two inner surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 45.
1109 : // @Range: 0 100
1110 : // @Units: %
1111 : // @Increment: 1
1112 : // @User: Advanced
1113 : AP_GROUPINFO("DSPOILER_CROW_W2", 18, ParametersG2, crow_flap_weight_inner, 0),
1114 :
1115 : // @Param: TKOFF_TIMEOUT
1116 : // @DisplayName: Takeoff timeout
1117 : // @Description: This is the timeout for an automatic takeoff. If this is non-zero and the aircraft does not reach a ground speed of at least 4 m/s within this number of seconds then the takeoff is aborted and the vehicle disarmed. If the value is zero then no timeout applies.
1118 : // @Range: 0 120
1119 : // @Increment: 1
1120 : // @Units: s
1121 : // @User: Standard
1122 : AP_GROUPINFO("TKOFF_TIMEOUT", 19, ParametersG2, takeoff_timeout, 0),
1123 :
1124 : // @Param: DSPOILER_OPTS
1125 : // @DisplayName: Differential spoiler and crow flaps options
1126 : // @Description: Differential spoiler and crow flaps options. Progressive crow flaps only first (0-50% flap in) then crow flaps (50 - 100% flap in).
1127 : // @Bitmask: 0:Pitch input, 1:use both control surfaces on each wing for roll, 2:Progressive crow flaps
1128 : // @User: Advanced
1129 : AP_GROUPINFO("DSPOILER_OPTS", 20, ParametersG2, crow_flap_options, 3),
1130 :
1131 : // @Param: DSPOILER_AILMTCH
1132 : // @DisplayName: Differential spoiler aileron matching
1133 : // @Description: This scales down the inner flaps so less than full downwards range can be used for differential spoiler and full span ailerons, 100 is use full range, upwards travel is unaffected
1134 : // @Range: 0 100
1135 : // @Units: %
1136 : // @Increment: 1
1137 : // @User: Advanced
1138 : AP_GROUPINFO("DSPOILER_AILMTCH", 21, ParametersG2, crow_flap_aileron_matching, 100),
1139 :
1140 :
1141 : // 22 was EFI
1142 :
1143 : // @Param: FWD_BAT_VOLT_MAX
1144 : // @DisplayName: Forward throttle battery voltage compensation maximum voltage
1145 : // @Description: Forward throttle battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set accordingly.
1146 : // @Range: 6 35
1147 : // @Units: V
1148 : // @Increment: 0.1
1149 : // @User: Advanced
1150 : AP_GROUPINFO("FWD_BAT_VOLT_MAX", 23, ParametersG2, fwd_batt_cmp.batt_voltage_max, 0.0f),
1151 :
1152 : // @Param: FWD_BAT_VOLT_MIN
1153 : // @DisplayName: Forward throttle battery voltage compensation minimum voltage
1154 : // @Description: Forward throttle battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 * cell count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set accordingly.
1155 : // @Range: 6 35
1156 : // @Units: V
1157 : // @Increment: 0.1
1158 : // @User: Advanced
1159 : AP_GROUPINFO("FWD_BAT_VOLT_MIN", 24, ParametersG2, fwd_batt_cmp.batt_voltage_min, 0.0f),
1160 :
1161 : // @Param: FWD_BAT_IDX
1162 : // @DisplayName: Forward throttle battery compensation index
1163 : // @Description: Which battery monitor should be used for doing compensation for the forward throttle
1164 : // @Values: 0:First battery, 1:Second battery
1165 : // @Range: 0 15
1166 : // @User: Advanced
1167 : AP_GROUPINFO("FWD_BAT_IDX", 25, ParametersG2, fwd_batt_cmp.batt_idx, 0),
1168 :
1169 : // @Param: FS_EKF_THRESH
1170 : // @DisplayName: EKF failsafe variance threshold
1171 : // @Description: Allows setting the maximum acceptable compass and velocity variance used to check navigation health in VTOL modes
1172 : // @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
1173 : // @Range: 0.6 1.0
1174 : // @User: Advanced
1175 : AP_GROUPINFO("FS_EKF_THRESH", 26, ParametersG2, fs_ekf_thresh, FS_EKF_THRESHOLD_DEFAULT),
1176 :
1177 : // @Param: RTL_CLIMB_MIN
1178 : // @DisplayName: RTL minimum climb
1179 : // @Description: The vehicle will climb this many m during the initial climb portion of the RTL. During this time the roll will be limited to LEVEL_ROLL_LIMIT degrees.
1180 : // @Units: m
1181 : // @Range: 0 30
1182 : // @Increment: 1
1183 : // @User: Standard
1184 : AP_GROUPINFO("RTL_CLIMB_MIN", 27, ParametersG2, rtl_climb_min, 0),
1185 :
1186 : #if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
1187 : // @Group: GUIDED_
1188 : // @Path: ../libraries/AC_PID/AC_PID.cpp
1189 : AP_SUBGROUPINFO(guidedHeading, "GUIDED_", 28, ParametersG2, AC_PID),
1190 : #endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
1191 :
1192 : // @Param: MAN_EXPO_ROLL
1193 : // @DisplayName: Manual control expo for roll
1194 : // @Description: Percentage exponential for roll input in MANUAL, ACRO and TRAINING modes
1195 : // @Range: 0 100
1196 : // @Increment: 1
1197 : // @User: Standard
1198 : AP_GROUPINFO("MAN_EXPO_ROLL", 29, ParametersG2, man_expo_roll, 0),
1199 :
1200 : // @Param: MAN_EXPO_PITCH
1201 : // @DisplayName: Manual input expo for pitch
1202 : // @Description: Percentage exponential for pitch input in MANUAL, ACRO and TRAINING modes
1203 : // @Range: 0 100
1204 : // @Increment: 1
1205 : // @User: Standard
1206 : AP_GROUPINFO("MAN_EXPO_PITCH", 30, ParametersG2, man_expo_pitch, 0),
1207 :
1208 : // @Param: MAN_EXPO_RUDDER
1209 : // @DisplayName: Manual input expo for rudder
1210 : // @Description: Percentage exponential for rudder input in MANUAL, ACRO and TRAINING modes
1211 : // @Range: 0 100
1212 : // @Increment: 1
1213 : // @User: Standard
1214 : AP_GROUPINFO("MAN_EXPO_RUDDER", 31, ParametersG2, man_expo_rudder, 0),
1215 :
1216 : // @Param: ONESHOT_MASK
1217 : // @DisplayName: Oneshot output mask
1218 : // @Description: Mask of output channels to use oneshot on
1219 : // @User: Advanced
1220 : // @Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32
1221 : AP_GROUPINFO("ONESHOT_MASK", 32, ParametersG2, oneshot_mask, 0),
1222 :
1223 : #if AP_SCRIPTING_ENABLED && AP_FOLLOW_ENABLED
1224 : // @Group: FOLL
1225 : // @Path: ../libraries/AP_Follow/AP_Follow.cpp
1226 : AP_SUBGROUPINFO(follow, "FOLL", 33, ParametersG2, AP_Follow),
1227 : #endif
1228 :
1229 : // @Param: AUTOTUNE_AXES
1230 : // @DisplayName: Autotune axis bitmask
1231 : // @Description: 1-byte bitmap of axes to autotune
1232 : // @Bitmask: 0:Roll,1:Pitch,2:Yaw
1233 : // @User: Standard
1234 : AP_GROUPINFO("AUTOTUNE_AXES", 34, ParametersG2, axis_bitmask, 7),
1235 :
1236 : #if AC_PRECLAND_ENABLED
1237 : // @Group: PLND_
1238 : // @Path: ../libraries/AC_PrecLand/AC_PrecLand.cpp
1239 : AP_SUBGROUPINFO(precland, "PLND_", 35, ParametersG2, AC_PrecLand),
1240 : #endif
1241 :
1242 : #if AP_RANGEFINDER_ENABLED
1243 : // @Param: RNGFND_LND_ORNT
1244 : // @DisplayName: rangefinder landing orientation
1245 : // @Description: The orientation of rangefinder to use for landing detection. Should be set to Down for normal downward facing rangefinder and Back for rearward facing rangefinder for quadplane tailsitters. Custom orientation can be used with Custom1 or Custom2. The orientation must match at least one of the available rangefinders.
1246 : // @Values: 4:Back, 25:Down, 101:Custom1, 102:Custom2
1247 : // @User: Standard
1248 : AP_GROUPINFO("RNGFND_LND_ORNT", 36, ParametersG2, rangefinder_land_orient, ROTATION_PITCH_270),
1249 : #endif
1250 :
1251 : // @Param: FWD_BAT_THR_CUT
1252 : // @DisplayName: Forward throttle cutoff battery voltage
1253 : // @Description: The estimated battery resting voltage below which the throttle is cut in auto-throttle modes. Measured on the battery used for forward throttle compensation (FWD_BAT_IDX). If set to zero, the throttle will not be cut due to low voltage, allowing the motor(s) to continue running until the battery is depleted. This should be set to the minimum operating voltage of you motor(s) or to a voltage level where minimal thrust is produced, to conserve the remaining battery power for the electronics and actuators.
1254 : // @Range: 0 35
1255 : // @Units: V
1256 : // @Increment: 0.1
1257 : // @User: Standard
1258 : AP_GROUPINFO("FWD_BAT_THR_CUT", 37, ParametersG2, fwd_batt_cmp.batt_voltage_throttle_cutoff, 0.0f),
1259 :
1260 : #if AP_PLANE_SYSTEMID_ENABLED
1261 : // @Group: SID
1262 : // @Path: systemid.cpp
1263 : AP_SUBGROUPINFO(systemid, "SID", 38, ParametersG2, AP_SystemID),
1264 : #endif
1265 :
1266 : // @Param: CLIMB_SLOPE_HGT
1267 : // @DisplayName: Climb slope minimum height
1268 : // @Description: Sets the minimum height above home at which the aircraft will apply a climb slope between waypoints. Below it, the aircraft will ascend immediately, and will only resume the requested trajectory upon reaching this height. This prevents unsafe behavior such as attempting to slowly gain altitude near obstacles. The default value ensures safe operations in most environments, but it can be adjusted based on specific terrain or operational needs.
1269 : // @Units: m
1270 : // @Range: 0 50
1271 : // @Increment: 1
1272 : // @User: Advanced
1273 : AP_GROUPINFO("CLIMB_SLOPE_HGT", 39, ParametersG2, waypoint_climb_slope_height_min, 25),
1274 :
1275 : // @Param: GUIDED_TIMEOUT
1276 : // @DisplayName: Timeout for external guided command.
1277 : // @Description: If external guided command was not received by this timeout, the vehicle will revert to regular GUIDED mode.
1278 : // @Units: s
1279 : // @Range: 0 10
1280 : // @Increment: 0.5
1281 : // @User: Advanced
1282 : AP_GROUPINFO("GUIDED_TIMEOUT", 40, ParametersG2, guided_timeout, 3.0f),
1283 :
1284 : #if AP_RANGEFINDER_ENABLED
1285 : // @Param: RNGFND_LND_DIST
1286 : // @DisplayName: Rangefinder landing engagement distance
1287 : // @Description: The horizontal distance to the landing point at which the rangefinder engages when RNGFND_LANDING is enabled. This is useful for landing on platforms or small plateaus, and to avoid interference from uneven terrain or obstacles on approach. A value of 0 engages the rangefinder as soon as it reports valid readings within its range limits. Very small values are not recommended unless required by the landing scenario, as they can force large slope corrections near the ground, increase auto-abort frequency if LAND_ABORT_DEG is set, and provide no slope-correction benefit if the rangefinder is engaged after flare.
1288 : // @Range: 0 500
1289 : // @Units: m
1290 : // @Increment: 1
1291 : // @User: Standard
1292 : AP_GROUPINFO("RNGFND_LND_DIST", 41, ParametersG2, rangefinder_land_engage_dist_m, 0),
1293 : #endif
1294 :
1295 : AP_GROUPEND
1296 : };
1297 :
1298 692 : ParametersG2::ParametersG2(void) :
1299 692 : unused_integer{1}
1300 : #if HAL_BUTTON_ENABLED
1301 692 : ,button_ptr(&plane.button)
1302 : #endif
1303 : #if HAL_SOARING_ENABLED
1304 692 : ,soaring_controller(plane.TECS_controller, plane.aparm)
1305 : #endif
1306 : {
1307 692 : AP_Param::setup_object_defaults(this, var_info);
1308 692 : }
1309 :
1310 692 : void Plane::load_parameters(void)
1311 : {
1312 692 : AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
1313 :
1314 : // setup defaults in SRV_Channels
1315 692 : g2.servo_channels.set_default_function(CH_1, SRV_Channel::k_aileron);
1316 692 : g2.servo_channels.set_default_function(CH_2, SRV_Channel::k_elevator);
1317 692 : g2.servo_channels.set_default_function(CH_3, SRV_Channel::k_throttle);
1318 692 : g2.servo_channels.set_default_function(CH_4, SRV_Channel::k_rudder);
1319 :
1320 : #if HAL_QUADPLANE_ENABLED
1321 692 : if (quadplane.enable) {
1322 : // quadplanes needs a higher loop rate
1323 201 : AP_Param::set_default_by_name("SCHED_LOOP_RATE", 300);
1324 : }
1325 : #endif
1326 :
1327 692 : AP_Param::set_frame_type_flags(AP_PARAM_FRAME_PLANE);
1328 :
1329 : // PARAMETER_CONVERSION - Added: Jun-2026 for FBWB_CLIMB_RATE width change
1330 692 : g.flybywire_climb_rate.convert_parameter_width(AP_PARAM_INT8);
1331 :
1332 : // PARAMETER_CONVERSION - Added: Jul-2025 for ArduPilot-4.7
1333 : #if AP_RPM_ENABLED
1334 692 : AP_Param::convert_class(g.k_param_rpm_sensor_old, &rpm_sensor, rpm_sensor.var_info, 0, true, true);
1335 : #endif
1336 :
1337 : // PARAMETER_CONVERSION - Added: Dec-2023 for ArduPlane-4.5
1338 : // Convert _CM (centimeter) parameters to meters and _CD (centidegrees) parameters to meters
1339 692 : g.pitch_trim.convert_centi_parameter(AP_PARAM_INT16);
1340 692 : aparm.airspeed_cruise.convert_centi_parameter(AP_PARAM_INT32);
1341 692 : aparm.min_groundspeed.convert_centi_parameter(AP_PARAM_INT32);
1342 692 : g.RTL_altitude.convert_centi_parameter(AP_PARAM_INT32);
1343 692 : g.cruise_alt_floor.convert_centi_parameter(AP_PARAM_INT16);
1344 692 : aparm.pitch_limit_max.convert_centi_parameter(AP_PARAM_INT16);
1345 692 : aparm.pitch_limit_min.convert_centi_parameter(AP_PARAM_INT16);
1346 :
1347 : // PARAMETER_CONVERSION - Added: Mar-2026 for THR_SLEWRATE width change
1348 : // Convert throttle slewrate parameters from int8 to int16 to support higher slew rates
1349 692 : aparm.throttle_slewrate.convert_parameter_width(AP_PARAM_INT8);
1350 692 : g.takeoff_throttle_slewrate.convert_parameter_width(AP_PARAM_INT8);
1351 692 : aparm.roll_limit.convert_centi_parameter(AP_PARAM_INT16);
1352 :
1353 692 : landing.convert_parameters();
1354 :
1355 : static const AP_Param::G2ObjectConversion g2_conversions[] {
1356 : #if AP_STATS_ENABLED
1357 : // PARAMETER_CONVERSION - Added: Jan-2024 for Plane-4.6
1358 692 : { &stats, stats.var_info, 5 },
1359 : #endif
1360 : #if AP_SCRIPTING_ENABLED
1361 : // PARAMETER_CONVERSION - Added: Jan-2024 for Plane-4.6
1362 692 : { &scripting, scripting.var_info, 14 },
1363 : #endif
1364 : #if AP_GRIPPER_ENABLED
1365 : // PARAMETER_CONVERSION - Added: Feb-2024 for Plane-4.6
1366 692 : { &gripper, gripper.var_info, 12 },
1367 : #endif
1368 692 : };
1369 :
1370 692 : AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));
1371 :
1372 : // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
1373 : #if HAL_LOGGING_ENABLED
1374 692 : AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
1375 : #endif
1376 :
1377 : static const AP_Param::TopLevelObjectConversion toplevel_conversions[] {
1378 : #if AP_SERIALMANAGER_ENABLED
1379 : // PARAMETER_CONVERSION - Added: Feb-2024 for Plane-4.6
1380 692 : { &serial_manager, serial_manager.var_info, Parameters::k_param_serial_manager_old },
1381 : #endif
1382 692 : };
1383 :
1384 692 : AP_Param::convert_toplevel_objects(toplevel_conversions, ARRAY_SIZE(toplevel_conversions));
1385 :
1386 : #if HAL_GCS_ENABLED
1387 : // Move parameters into new MAV_ parameter namespace
1388 : // PARAMETER_CONVERSION - Added: Mar-2025 for ArduPilot-4.7
1389 : {
1390 : static const AP_Param::ConversionInfo gcs_conversion_info[] {
1391 : { Parameters::k_param_sysid_this_mav_old, 0, AP_PARAM_INT16, "MAV_SYSID" },
1392 : { Parameters::k_param_sysid_my_gcs_old, 0, AP_PARAM_INT16, "MAV_GCS_SYSID" },
1393 : { Parameters::k_param_g2, 4, AP_PARAM_INT8, "MAV_OPTIONS" },
1394 : { Parameters::k_param_telem_delay_old, 0, AP_PARAM_INT8, "MAV_TELEM_DELAY" },
1395 : };
1396 692 : AP_Param::convert_old_parameters(&gcs_conversion_info[0], ARRAY_SIZE(gcs_conversion_info));
1397 : }
1398 : #endif // HAL_GCS_ENABLED
1399 692 : }
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