Line data Source code
1 : #include "Sub.h"
2 :
3 : #include <AP_Gripper/AP_Gripper.h>
4 :
5 : /*
6 : This program is free software: you can redistribute it and/or modify
7 : it under the terms of the GNU General Public License as published by
8 : the Free Software Foundation, either version 3 of the License, or
9 : (at your option) any later version.
10 :
11 : This program is distributed in the hope that it will be useful,
12 : but WITHOUT ANY WARRANTY; without even the implied warranty of
13 : MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 : GNU General Public License for more details.
15 :
16 : You should have received a copy of the GNU General Public License
17 : along with this program. If not, see <http://www.gnu.org/licenses/>.
18 : */
19 :
20 : /*
21 : * ArduSub parameter definitions
22 : *
23 : */
24 :
25 : const AP_Param::Info Sub::var_info[] = {
26 :
27 : // @Param: SURFACE_DEPTH
28 : // @DisplayName: Depth reading at surface
29 : // @Description: The depth the external pressure sensor will read when the vehicle is considered at the surface (in centimeters)
30 : // @Units: cm
31 : // @Range: -100 0
32 : // @User: Standard
33 : GSCALAR(surface_depth, "SURFACE_DEPTH", SURFACE_DEPTH_DEFAULT),
34 :
35 : // @Param: FORMAT_VERSION
36 : // @DisplayName: Eeprom format version number
37 : // @Description: This value is incremented when changes are made to the eeprom format
38 : // @User: Advanced
39 : GSCALAR(format_version, "FORMAT_VERSION", 0),
40 :
41 : // SYSID_THISMAV was here
42 :
43 : // SYSID_MYGCS was here
44 :
45 : // @Param: PILOT_THR_FILT
46 : // @DisplayName: Throttle filter cutoff
47 : // @Description: Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
48 : // @User: Advanced
49 : // @Units: Hz
50 : // @Range: 0 10
51 : // @Increment: 0.5
52 : GSCALAR(throttle_filt, "PILOT_THR_FILT", 0),
53 :
54 : // AP_SerialManager was here
55 :
56 : // @Param: GCS_PID_MASK
57 : // @DisplayName: GCS PID tuning mask
58 : // @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
59 : // @User: Advanced
60 : // @Bitmask: 0:Roll,1:Pitch,2:Yaw
61 : GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
62 :
63 : // @Param: FS_GCS_ENABLE
64 : // @DisplayName: Ground Station Failsafe Enable
65 : // @Description: Controls what action to take when GCS heartbeat is lost.
66 : // @Values: 0:Disabled,1:Warn only,2:Disarm,3:Enter depth hold mode,4:Enter surface mode
67 : // @User: Standard
68 : GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_DISARM),
69 :
70 : // @Param: FS_GCS_TIMEOUT
71 : // @DisplayName: GCS failsafe timeout
72 : // @Description: Timeout before triggering the GCS failsafe
73 : // @Units: s
74 : // @Increment: 1
75 : // @User: Standard
76 : GSCALAR(failsafe_gcs_timeout, "FS_GCS_TIMEOUT", FS_GCS_TIMEOUT_S),
77 :
78 : // @Param: FS_LEAK_ENABLE
79 : // @DisplayName: Leak Failsafe Enable
80 : // @Description: Controls what action to take if a leak is detected.
81 : // @Values: 0:Disabled,1:Warn only,2:Enter surface mode
82 : // @User: Standard
83 : GSCALAR(failsafe_leak, "FS_LEAK_ENABLE", FS_LEAK_WARN_ONLY),
84 :
85 : // @Param: FS_PRESS_ENABLE
86 : // @DisplayName: Internal Pressure Failsafe Enable
87 : // @Description: Controls what action to take if internal pressure exceeds FS_PRESS_MAX parameter.
88 : // @Values: 0:Disabled,1:Warn only
89 : // @User: Standard
90 : GSCALAR(failsafe_pressure, "FS_PRESS_ENABLE", FS_PRESS_DISABLED),
91 :
92 : // @Param: FS_TEMP_ENABLE
93 : // @DisplayName: Internal Temperature Failsafe Enable
94 : // @Description: Controls what action to take if internal temperature exceeds FS_TEMP_MAX parameter.
95 : // @Values: 0:Disabled,1:Warn only
96 : // @User: Standard
97 : GSCALAR(failsafe_temperature, "FS_TEMP_ENABLE", FS_TEMP_DISABLED),
98 :
99 : #if AP_SUB_RC_ENABLED
100 : // @Param: FS_THR_ENABLE
101 : // @DisplayName: Throttle Failsafe Enable
102 : // @Description: The throttle failsafe allows you to configure a software RC failsafe activated by a setting on the throttle input channel. It also enables RC failsafe on absence of RC signals being recieved.
103 : // @Values: 0:Disabled,1: Force effective control inputs to trim positions and prevent arming,2:Surface and hold on surface on failsafe
104 : // @User: Standard
105 : GSCALAR(failsafe_throttle, "FS_THR_ENABLE", 0),
106 :
107 : // @Param: FS_THR_VALUE
108 : // @DisplayName: Throttle Failsafe Value
109 : // @Description: The PWM level in microseconds on channel 3 below which throttle failsafe triggers
110 : // @Range: 910 1100
111 : // @Units: PWM
112 : // @Increment: 1
113 : // @User: Standard
114 : GSCALAR(failsafe_throttle_value, "FS_THR_VALUE", FS_THR_VALUE_DEFAULT),
115 :
116 : // @Param: FLTMODE1
117 : // @DisplayName: Flight Mode 1
118 : // @Description: Flight mode when pwm of Flightmode channel(FLTMODE_CH) is <= 1230
119 : // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,7:Circle,9:Surface,16:PosHold,19:Manual,20:Motor Detect,21:SurfTrak
120 : // @User: Standard
121 : GARRAY(flight_modes, 0, "FLTMODE1", (uint8_t)FLIGHT_MODE_1),
122 :
123 : // @Param: FLTMODE2
124 : // @CopyFieldsFrom: FLTMODE1
125 : // @DisplayName: Flight Mode 2
126 : // @Description: Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1230, <= 1360
127 : GARRAY(flight_modes, 1, "FLTMODE2", (uint8_t)FLIGHT_MODE_2),
128 :
129 : // @Param: FLTMODE3
130 : // @CopyFieldsFrom: FLTMODE1
131 : // @DisplayName: Flight Mode 3
132 : // @Description: Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1360, <= 1490
133 : GARRAY(flight_modes, 2, "FLTMODE3", (uint8_t)FLIGHT_MODE_3),
134 :
135 : // @Param: FLTMODE4
136 : // @CopyFieldsFrom: FLTMODE1
137 : // @DisplayName: Flight Mode 4
138 : // @Description: Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1490, <= 1620
139 : GARRAY(flight_modes, 3, "FLTMODE4", (uint8_t)FLIGHT_MODE_4),
140 :
141 : // @Param: FLTMODE5
142 : // @CopyFieldsFrom: FLTMODE1
143 : // @DisplayName: Flight Mode 5
144 : // @Description: Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1620, <= 1749
145 : GARRAY(flight_modes, 4, "FLTMODE5", (uint8_t)FLIGHT_MODE_5),
146 :
147 : // @Param: FLTMODE6
148 : // @CopyFieldsFrom: FLTMODE1
149 : // @DisplayName: Flight Mode 6
150 : // @Description: Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >=1750
151 : GARRAY(flight_modes, 5, "FLTMODE6", (uint8_t)FLIGHT_MODE_6),
152 :
153 : // @Param: FLTMODE_CH
154 : // @DisplayName: Flightmode channel
155 : // @Description: RC Channel to use for flight mode control
156 : // @Values: 0:Disabled,5:Channel5,6:Channel6,7:Channel7,8:Channel8,9:Channel9,10:Channel 10,11:Channel 11,12:Channel 12,13:Channel 13,14:Channel 14,15:Channel 15
157 : // @User: Advanced
158 : GSCALAR(flight_mode_chan, "FLTMODE_CH", 0),
159 :
160 : // @Param: THR_ARM_POS
161 : // @DisplayName: Throttle arming position
162 : // @Description: Determines if throttle must be at min or within trim value to arm, if RC checks and RC_OPTION for "0" throttle are enabled.
163 : // @User: Standard
164 : // @Bitmask: 0:Throttle at or below min, 1: Throttle within a dead zone of RC trim value
165 : GSCALAR(thr_arming_position, "THR_ARM_POS", 1),
166 : #endif
167 : // @Param: FS_PRESS_MAX
168 : // @DisplayName: Internal Pressure Failsafe Threshold
169 : // @Description: The maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS_PRESS_ENABLE parameter
170 : // @Units: Pa
171 : // @User: Standard
172 : GSCALAR(failsafe_pressure_max, "FS_PRESS_MAX", FS_PRESS_MAX_DEFAULT),
173 :
174 : // @Param: FS_TEMP_MAX
175 : // @DisplayName: Internal Temperature Failsafe Threshold
176 : // @Description: The maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS_TEMP_ENABLE parameter.
177 : // @Units: degC
178 : // @User: Standard
179 : GSCALAR(failsafe_temperature_max, "FS_TEMP_MAX", FS_TEMP_MAX_DEFAULT),
180 :
181 : // @Param: SURFACE_MAX_THR
182 : // @DisplayName: Surface Maximum Throttle
183 : // @Description: Maximum throttle value when the vehicle is at the surface. This value is used to scale throttle linearly from 1. (full) to min as the vehicle approaches the surface. The attenuation starts at 1 meter from surface. Only upwards throttle is limited.
184 : // @Range: 0.0 1.0
185 : // @User: Standard
186 : // @Increment: 0.01
187 : GSCALAR(surface_max_throttle, "SURFACE_MAX_THR", 0.1f),
188 :
189 : // @Param: FS_TERRAIN_ENAB
190 : // @DisplayName: Terrain Failsafe Enable
191 : // @Description: Controls what action to take if terrain information is lost during AUTO mode
192 : // @Values: 0:Disarm, 1:Hold Position, 2:Surface
193 : // @User: Standard
194 : GSCALAR(failsafe_terrain, "FS_TERRAIN_ENAB", FS_TERRAIN_DISARM),
195 :
196 : // @Param: FS_PILOT_INPUT
197 : // @DisplayName: Pilot input failsafe action
198 : // @Description: Controls what action to take if no pilot input has been received after the timeout period specified by the FS_PILOT_TIMEOUT parameter
199 : // @Values: 0:Disabled, 1:Warn Only, 2:Disarm
200 : // @User: Standard
201 : GSCALAR(failsafe_pilot_input, "FS_PILOT_INPUT", FS_PILOT_INPUT_DISARM),
202 :
203 : // @Param: FS_PILOT_TIMEOUT
204 : // @DisplayName: Timeout for activation of pilot input failsafe
205 : // @Description: Controls the maximum interval between received pilot inputs before the failsafe action is triggered
206 : // @Units: s
207 : // @Range: 0.1 3.0
208 : // @User: Standard
209 : GSCALAR(failsafe_pilot_input_timeout, "FS_PILOT_TIMEOUT", 3.0f),
210 :
211 : // @Param: XTRACK_ANG_LIM
212 : // @DisplayName: Crosstrack correction angle limit
213 : // @Description: Maximum allowed angle (in degrees) between current track and desired heading during waypoint navigation
214 : // @Range: 10 90
215 : // @User: Standard
216 : GSCALAR(xtrack_angle_limit,"XTRACK_ANG_LIM", 45),
217 :
218 : // @Param: WP_YAW_BEHAVIOR
219 : // @DisplayName: Yaw behaviour during missions
220 : // @Description: Determines how the autopilot controls the yaw during missions and RTL
221 : // @Values: 0:Never change yaw, 1:Face next waypoint, 2:Face next waypoint except RTL, 3:Face along GPS course, 4:Correct crosstrack error
222 : // @User: Standard
223 : GSCALAR(wp_yaw_behavior, "WP_YAW_BEHAVIOR", WP_YAW_BEHAVIOR_DEFAULT),
224 :
225 : // @Param: PILOT_SPEED_UP
226 : // @DisplayName: Pilot maximum vertical ascending speed
227 : // @Description: The maximum vertical ascending velocity the pilot may request in cm/s
228 : // @Units: cm/s
229 : // @Range: 20 500
230 : // @Increment: 10
231 : // @User: Standard
232 : GSCALAR(pilot_speed_up, "PILOT_SPEED_UP", PILOT_VELZ_MAX),
233 :
234 : // @Param: PILOT_SPEED_DN
235 : // @DisplayName: Pilot maximum vertical descending speed
236 : // @Description: The maximum vertical descending velocity the pilot may request in cm/s
237 : // @Units: cm/s
238 : // @Range: 20 500
239 : // @Increment: 10
240 : // @User: Standard
241 : GSCALAR(pilot_speed_dn, "PILOT_SPEED_DN", 0),
242 :
243 : // @Param: PILOT_SPEED
244 : // @DisplayName: Pilot maximum horizontal speed
245 : // @Description: The maximum horizontal velocity the pilot may request in cm/s
246 : // @Units: cm/s
247 : // @Range: 10 500
248 : // @Increment: 10
249 : // @User: Standard
250 : GSCALAR(pilot_speed, "PILOT_SPEED", PILOT_SPEED_DEFAULT),
251 :
252 : // @Param: PILOT_ACCEL_Z
253 : // @DisplayName: Pilot vertical acceleration
254 : // @Description: The vertical acceleration used when pilot is controlling the altitude
255 : // @Units: cm/s/s
256 : // @Range: 50 500
257 : // @Increment: 10
258 : // @User: Standard
259 : GSCALAR(pilot_accel_z, "PILOT_ACCEL_Z", PILOT_ACCEL_Z_DEFAULT),
260 :
261 : // @Param: THR_DZ
262 : // @DisplayName: Throttle deadzone
263 : // @Description: The PWM deadzone in microseconds above and below mid throttle. Used in AltHold, Loiter, PosHold flight modes
264 : // @User: Standard
265 : // @Range: 0 300
266 : // @Units: PWM
267 : // @Increment: 1
268 : GSCALAR(throttle_deadzone, "THR_DZ", THR_DZ_DEFAULT),
269 :
270 : // @Param: LOG_BITMASK
271 : // @DisplayName: Log bitmask
272 : // @Description: 4 byte bitmap of log types to enable
273 : // @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW
274 : // @User: Standard
275 : GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
276 :
277 : // @Param: FS_EKF_ACTION
278 : // @DisplayName: EKF Failsafe Action
279 : // @Description: Controls the action that will be taken when an EKF failsafe is invoked
280 : // @Values: 0:Disabled, 1:Warn only, 2:Disarm
281 : // @User: Advanced
282 : GSCALAR(fs_ekf_action, "FS_EKF_ACTION", FS_EKF_ACTION_DEFAULT),
283 :
284 : // @Param: FS_EKF_THRESH
285 : // @DisplayName: EKF failsafe variance threshold
286 : // @Description: Allows setting the maximum acceptable compass and velocity variance
287 : // @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
288 : // @Range: 0.6 1.0
289 : // @User: Advanced
290 : GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH", FS_EKF_THRESHOLD_DEFAULT),
291 :
292 : // @Param: FS_CRASH_CHECK
293 : // @DisplayName: Crash check enable
294 : // @Description: This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
295 : // @Values: 0:Disabled,1:Warn only,2:Disarm
296 : // @User: Advanced
297 : GSCALAR(fs_crash_check, "FS_CRASH_CHECK", FS_CRASH_DISABLED),
298 :
299 : // @Param: JS_GAIN_DEFAULT
300 : // @DisplayName: Default gain at boot
301 : // @Description: Default gain at boot, must be in range [JS_GAIN_MIN , JS_GAIN_MAX]. Current gain value is accessible via NAMED_VALUE_FLOAT MAVLink message with name 'PilotGain'.
302 : // @User: Standard
303 : // @Range: 0.1 1.0
304 : GSCALAR(gain_default, "JS_GAIN_DEFAULT", 0.5),
305 :
306 : // @Param: JS_GAIN_MAX
307 : // @DisplayName: Maximum joystick gain
308 : // @Description: Maximum joystick gain
309 : // @User: Standard
310 : // @Range: 0.2 1.0
311 : GSCALAR(maxGain, "JS_GAIN_MAX", 1.0),
312 :
313 : // @Param: JS_GAIN_MIN
314 : // @DisplayName: Minimum joystick gain
315 : // @Description: Minimum joystick gain
316 : // @User: Standard
317 : // @Range: 0.1 0.8
318 : GSCALAR(minGain, "JS_GAIN_MIN", 0.25),
319 :
320 : // @Param: JS_GAIN_STEPS
321 : // @DisplayName: Gain steps
322 : // @Description: Controls the number of steps between minimum and maximum joystick gain when the gain is adjusted using buttons. Set to 1 to always use JS_GAIN_DEFAULT.
323 : // @User: Standard
324 : // @Range: 1 10
325 : GSCALAR(numGainSettings, "JS_GAIN_STEPS", 4),
326 :
327 : // @Param: JS_LIGHTS_STEPS
328 : // @DisplayName: Lights brightness steps
329 : // @Description: Number of steps in brightness between minimum and maximum brightness
330 : // @User: Standard
331 : // @Range: 1 10
332 : // @Units: PWM
333 : GSCALAR(lights_steps, "JS_LIGHTS_STEPS", 8),
334 :
335 : // @Param: JS_THR_GAIN
336 : // @DisplayName: Throttle gain scalar
337 : // @Description: Scalar for gain on the throttle channel. Gets scaled with the current JS gain
338 : // @User: Standard
339 : // @Range: 0.5 4.0
340 : GSCALAR(throttle_gain, "JS_THR_GAIN", 1.0f),
341 :
342 : // @Param: FRAME_CONFIG
343 : // @DisplayName: Frame configuration
344 : // @Description: Set this parameter according to your vehicle/motor configuration
345 : // @User: Standard
346 : // @RebootRequired: True
347 : // @Values: 0:BlueROV1, 1:Vectored, 2:Vectored_6DOF, 3:Vectored_6DOF_90, 4:SimpleROV-3, 5:SimpleROV-4, 6:SimpleROV-5, 7:Custom
348 : GSCALAR(frame_configuration, "FRAME_CONFIG", AP_Motors6DOF::SUB_FRAME_VECTORED),
349 :
350 : // @Group: BTN0_
351 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
352 : GGROUP(jbtn_0, "BTN0_", JSButton),
353 :
354 : // @Group: BTN1_
355 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
356 : GGROUP(jbtn_1, "BTN1_", JSButton),
357 :
358 : // @Group: BTN2_
359 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
360 : GGROUP(jbtn_2, "BTN2_", JSButton),
361 :
362 : // @Group: BTN3_
363 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
364 : GGROUP(jbtn_3, "BTN3_", JSButton),
365 :
366 : // @Group: BTN4_
367 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
368 : GGROUP(jbtn_4, "BTN4_", JSButton),
369 :
370 : // @Group: BTN5_
371 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
372 : GGROUP(jbtn_5, "BTN5_", JSButton),
373 :
374 : // @Group: BTN6_
375 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
376 : GGROUP(jbtn_6, "BTN6_", JSButton),
377 :
378 : // @Group: BTN7_
379 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
380 : GGROUP(jbtn_7, "BTN7_", JSButton),
381 :
382 : // @Group: BTN8_
383 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
384 : GGROUP(jbtn_8, "BTN8_", JSButton),
385 :
386 : // @Group: BTN9_
387 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
388 : GGROUP(jbtn_9, "BTN9_", JSButton),
389 :
390 : // @Group: BTN10_
391 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
392 : GGROUP(jbtn_10, "BTN10_", JSButton),
393 :
394 : // @Group: BTN11_
395 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
396 : GGROUP(jbtn_11, "BTN11_", JSButton),
397 :
398 : // @Group: BTN12_
399 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
400 : GGROUP(jbtn_12, "BTN12_", JSButton),
401 :
402 : // @Group: BTN13_
403 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
404 : GGROUP(jbtn_13, "BTN13_", JSButton),
405 :
406 : // @Group: BTN14_
407 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
408 : GGROUP(jbtn_14, "BTN14_", JSButton),
409 :
410 : // @Group: BTN15_
411 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
412 : GGROUP(jbtn_15, "BTN15_", JSButton),
413 :
414 : // @Group: BTN16_
415 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
416 : GGROUP(jbtn_16, "BTN16_", JSButton),
417 :
418 : // @Group: BTN17_
419 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
420 : GGROUP(jbtn_17, "BTN17_", JSButton),
421 :
422 : // @Group: BTN18_
423 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
424 : GGROUP(jbtn_18, "BTN18_", JSButton),
425 :
426 : // @Group: BTN19_
427 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
428 : GGROUP(jbtn_19, "BTN19_", JSButton),
429 :
430 : // @Group: BTN20_
431 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
432 : GGROUP(jbtn_20, "BTN20_", JSButton),
433 :
434 : // @Group: BTN21_
435 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
436 : GGROUP(jbtn_21, "BTN21_", JSButton),
437 :
438 : // @Group: BTN22_
439 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
440 : GGROUP(jbtn_22, "BTN22_", JSButton),
441 :
442 : // @Group: BTN23_
443 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
444 : GGROUP(jbtn_23, "BTN23_", JSButton),
445 :
446 : // @Group: BTN24_
447 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
448 : GGROUP(jbtn_24, "BTN24_", JSButton),
449 :
450 : // @Group: BTN25_
451 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
452 : GGROUP(jbtn_25, "BTN25_", JSButton),
453 :
454 : // @Group: BTN26_
455 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
456 : GGROUP(jbtn_26, "BTN26_", JSButton),
457 :
458 : // @Group: BTN27_
459 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
460 : GGROUP(jbtn_27, "BTN27_", JSButton),
461 :
462 : // @Group: BTN28_
463 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
464 : GGROUP(jbtn_28, "BTN28_", JSButton),
465 :
466 : // @Group: BTN29_
467 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
468 : GGROUP(jbtn_29, "BTN29_", JSButton),
469 :
470 : // @Group: BTN30_
471 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
472 : GGROUP(jbtn_30, "BTN30_", JSButton),
473 :
474 : // @Group: BTN31_
475 : // @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
476 : GGROUP(jbtn_31, "BTN31_", JSButton),
477 :
478 : // @Param: RC_SPEED
479 : // @DisplayName: ESC Update Speed
480 : // @Description: This is the speed in Hertz that your ESCs will receive updates
481 : // @Units: Hz
482 : // @Range: 50 490
483 : // @Increment: 1
484 : // @User: Advanced
485 : GSCALAR(rc_speed, "RC_SPEED", RC_SPEED_DEFAULT),
486 :
487 : // @Param: ACRO_RP_P
488 : // @DisplayName: Acro Roll and Pitch P gain
489 : // @Description: Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode. Higher values mean faster rate of rotation.
490 : // @Range: 1 10
491 : // @User: Standard
492 : GSCALAR(acro_rp_p, "ACRO_RP_P", ACRO_RP_P),
493 :
494 : // @Param: ACRO_YAW_P
495 : // @DisplayName: Acro Yaw P gain
496 : // @Description: Converts pilot yaw input into a desired rate of rotation. Higher values mean faster rate of rotation.
497 : // @Range: 1 10
498 : // @User: Standard
499 : GSCALAR(acro_yaw_p, "ACRO_YAW_P", ACRO_YAW_P),
500 :
501 : // @Param: ACRO_BAL_ROLL
502 : // @DisplayName: Acro Balance Roll
503 : // @Description: rate at which roll angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.
504 : // @Range: 0 3
505 : // @Increment: 0.1
506 : // @User: Advanced
507 : GSCALAR(acro_balance_roll, "ACRO_BAL_ROLL", ACRO_BALANCE_ROLL),
508 :
509 : // @Param: ACRO_BAL_PITCH
510 : // @DisplayName: Acro Balance Pitch
511 : // @Description: rate at which pitch angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.
512 : // @Range: 0 3
513 : // @Increment: 0.1
514 : // @User: Advanced
515 : GSCALAR(acro_balance_pitch, "ACRO_BAL_PITCH", ACRO_BALANCE_PITCH),
516 :
517 : // @Param: ACRO_TRAINER
518 : // @DisplayName: Acro Trainer
519 : // @Description: Type of trainer used in acro mode
520 : // @Values: 0:Disabled,1:Leveling,2:Leveling and Limited
521 : // @User: Advanced
522 : GSCALAR(acro_trainer, "ACRO_TRAINER", ACRO_TRAINER_LIMITED),
523 :
524 : // @Param: ACRO_EXPO
525 : // @DisplayName: Acro Expo
526 : // @Description: Acro roll/pitch Expo to allow faster rotation when stick at edges
527 : // @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
528 : // @Range: -0.5 0.95
529 : // @User: Advanced
530 : GSCALAR(acro_expo, "ACRO_EXPO", ACRO_EXPO_DEFAULT),
531 :
532 : // variables not in the g class which contain EEPROM saved variables
533 :
534 : #if AP_CAMERA_ENABLED
535 : // @Group: CAM
536 : // @Path: ../libraries/AP_Camera/AP_Camera.cpp
537 : GOBJECT(camera, "CAM", AP_Camera),
538 : #endif
539 :
540 : #if AP_RELAY_ENABLED
541 : // @Group: RELAY
542 : // @Path: ../libraries/AP_Relay/AP_Relay.cpp
543 : GOBJECT(relay, "RELAY", AP_Relay),
544 : #endif
545 :
546 : // @Group: COMPASS_
547 : // @Path: ../libraries/AP_Compass/AP_Compass.cpp
548 : GOBJECT(compass, "COMPASS_", Compass),
549 :
550 : // @Group: INS
551 : // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
552 : GOBJECT(ins, "INS", AP_InertialSensor),
553 :
554 : // @Group: WP_
555 : // @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
556 : GOBJECT(wp_nav, "WP_", AC_WPNav),
557 :
558 : // @Group: LOIT_
559 : // @Path: ../libraries/AC_WPNav/AC_Loiter.cpp
560 : GOBJECT(loiter_nav, "LOIT_", AC_Loiter),
561 :
562 : #if CIRCLE_NAV_ENABLED
563 : // @Group: CIRCLE_
564 : // @Path: ../libraries/AC_WPNav/AC_Circle.cpp
565 : GOBJECT(circle_nav, "CIRCLE_", AC_Circle),
566 : #endif
567 :
568 : // @Group: ATC_
569 : // @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
570 : GOBJECT(attitude_control, "ATC_", AC_AttitudeControl_Sub),
571 :
572 : // @Group: PSC
573 : // @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
574 : GOBJECT(pos_control, "PSC", AC_PosControl),
575 :
576 : // @Group: AHRS_
577 : // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
578 : GOBJECT(ahrs, "AHRS_", AP_AHRS),
579 :
580 : #if HAL_MOUNT_ENABLED
581 : // @Group: MNT
582 : // @Path: ../libraries/AP_Mount/AP_Mount.cpp
583 : GOBJECT(camera_mount, "MNT", AP_Mount),
584 : #endif
585 :
586 : // @Group: BATT
587 : // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
588 : GOBJECT(battery, "BATT", AP_BattMonitor),
589 :
590 : // @Group: ARMING_
591 : // @Path: AP_Arming_Sub.cpp,../libraries/AP_Arming/AP_Arming.cpp
592 : GOBJECT(arming, "ARMING_", AP_Arming_Sub),
593 :
594 : // @Group: BRD_
595 : // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
596 : GOBJECT(BoardConfig, "BRD_", AP_BoardConfig),
597 :
598 : #if HAL_MAX_CAN_PROTOCOL_DRIVERS
599 : // @Group: CAN_
600 : // @Path: ../libraries/AP_CANManager/AP_CANManager.cpp
601 : GOBJECT(can_mgr, "CAN_", AP_CANManager),
602 : #endif
603 :
604 : #if AP_SIM_ENABLED
605 : // @Group: SIM_
606 : // @Path: ../libraries/SITL/SITL.cpp
607 : GOBJECT(sitl, "SIM_", SITL::SIM),
608 : #endif
609 :
610 : // @Group: BARO
611 : // @Path: ../libraries/AP_Baro/AP_Baro.cpp
612 : GOBJECT(barometer, "BARO", AP_Baro),
613 :
614 : // GPS driver
615 : // @Group: GPS
616 : // @Path: ../libraries/AP_GPS/AP_GPS.cpp
617 : GOBJECT(gps, "GPS", AP_GPS),
618 :
619 : // Leak detector
620 : // @Group: LEAK
621 : // @Path: ../libraries/AP_LeakDetector/AP_LeakDetector.cpp
622 : GOBJECT(leak_detector, "LEAK", AP_LeakDetector),
623 :
624 : // @Group: SCHED_
625 : // @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
626 : GOBJECT(scheduler, "SCHED_", AP_Scheduler),
627 :
628 : #if AVOIDANCE_ENABLED
629 : // @Group: AVOID_
630 : // @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
631 : GOBJECT(avoid, "AVOID_", AC_Avoid),
632 : #endif
633 :
634 : #if HAL_RALLY_ENABLED
635 : // @Group: RALLY_
636 : // @Path: ../libraries/AP_Rally/AP_Rally.cpp
637 : GOBJECT(rally, "RALLY_", AP_Rally),
638 : #endif
639 :
640 : // @Group: MOT_
641 : // @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp,../libraries/AP_Motors/AP_MotorsMulticopter.cpp
642 : GOBJECT(motors, "MOT_", AP_Motors6DOF),
643 :
644 : #if RCMAP_ENABLED
645 : // @Group: RCMAP_
646 : // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
647 : GOBJECT(rcmap, "RCMAP_", RCMapper),
648 : #endif
649 :
650 : #if HAL_NAVEKF2_AVAILABLE
651 : // @Group: EK2_
652 : // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
653 : GOBJECTN(ahrs.ekf2.EKF2, NavEKF2, "EK2_", NavEKF2),
654 : #endif
655 :
656 : #if HAL_NAVEKF3_AVAILABLE
657 : // @Group: EK3_
658 : // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
659 : GOBJECTN(ahrs.ekf3.EKF3, NavEKF3, "EK3_", NavEKF3),
660 : #endif
661 :
662 : // @Group: MIS_
663 : // @Path: ../libraries/AP_Mission/AP_Mission.cpp
664 : GOBJECT(mission, "MIS_", AP_Mission),
665 :
666 : #if AP_RANGEFINDER_ENABLED
667 : // @Group: RNGFND
668 : // @Path: ../libraries/AP_RangeFinder/AP_RangeFinder.cpp
669 : GOBJECT(rangefinder, "RNGFND", RangeFinder),
670 :
671 : // @Param: RNGFND_SQ_MIN
672 : // @DisplayName: Rangefinder signal quality minimum
673 : // @Description: Minimum signal quality for good rangefinder readings
674 : // @Range: 0 100
675 : // @User: Advanced
676 : GSCALAR(rangefinder_signal_min, "RNGFND_SQ_MIN", RANGEFINDER_SIGNAL_MIN_DEFAULT),
677 :
678 : // @Param: SURFTRAK_DEPTH
679 : // @DisplayName: SURFTRAK minimum depth
680 : // @Description: Minimum depth to engage SURFTRAK mode
681 : // @Units: cm
682 : // @User: Standard
683 : GSCALAR(surftrak_depth, "SURFTRAK_DEPTH", SURFTRAK_DEPTH_DEFAULT),
684 : #endif
685 :
686 : #if AP_TERRAIN_AVAILABLE
687 : // @Group: TERRAIN_
688 : // @Path: ../libraries/AP_Terrain/AP_Terrain.cpp
689 : GOBJECT(terrain, "TERRAIN_", AP_Terrain),
690 : #endif
691 :
692 : #if AP_OPTICALFLOW_ENABLED
693 : // @Group: FLOW
694 : // @Path: ../libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
695 : GOBJECT(optflow, "FLOW", AP_OpticalFlow),
696 : #endif
697 :
698 : #if OSD_ENABLED || OSD_PARAM_ENABLED
699 : // @Group: OSD
700 : // @Path: ../libraries/AP_OSD/AP_OSD.cpp
701 : GOBJECT(osd, "OSD", AP_OSD),
702 : #endif
703 :
704 : #if AP_RSSI_ENABLED
705 : // @Group: RSSI_
706 : // @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
707 : GOBJECT(rssi, "RSSI_", AP_RSSI),
708 : #endif
709 :
710 : // @Group: NTF_
711 : // @Path: ../libraries/AP_Notify/AP_Notify.cpp
712 : GOBJECT(notify, "NTF_", AP_Notify),
713 :
714 : // @Group:
715 : // @Path: Parameters.cpp
716 : GOBJECT(g2, "", ParametersG2),
717 :
718 : // @Group:
719 : // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
720 : PARAM_VEHICLE_INFO,
721 :
722 : #if HAL_GCS_ENABLED
723 : // @Group: MAV
724 : // @Path: ../libraries/GCS_MAVLink/GCS.cpp
725 : GOBJECT(_gcs, "MAV", GCS),
726 : #endif
727 :
728 : AP_VAREND
729 : };
730 :
731 : /*
732 : 2nd group of parameters
733 : */
734 : const AP_Param::GroupInfo ParametersG2::var_info[] = {
735 :
736 : // 1 was AP_Stats
737 :
738 : #if HAL_PROXIMITY_ENABLED
739 : // @Group: PRX
740 : // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
741 : AP_SUBGROUPINFO(proximity, "PRX", 2, ParametersG2, AP_Proximity),
742 : #endif
743 :
744 : // 3 was AP_Gripper
745 :
746 : // @Group: SERVO
747 : // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
748 : AP_SUBGROUPINFO(servo_channels, "SERVO", 16, ParametersG2, SRV_Channels),
749 :
750 : // @Group: RC
751 : // @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
752 : AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels),
753 :
754 : // 18 was scripting
755 : // 19 was ORIGIN_LAT
756 : // 20 was ORIGIN_LON
757 : // 21 was ORIGIN_ALT
758 :
759 : // @Param: SFC_NOBARO_THST
760 : // @DisplayName: Surface mode throttle output when no barometer is available
761 : // @Description: Surface mode throttle output when no borometer is available. 100% is full throttle. -100% is maximum throttle downwards
762 : // @Units: %
763 : // @User: Standard
764 : // @Range: -100 100
765 : AP_GROUPINFO("SFC_NOBARO_THST", 22, ParametersG2, surface_nobaro_thrust, 10),
766 :
767 : // @Group: ACTUATOR
768 : // @Path: ../ArduSub/actuators.cpp
769 : AP_SUBGROUPINFO(actuators, "ACTUATOR", 23, ParametersG2, Actuators),
770 :
771 : // Hidden param used as a flag for param conversion
772 : // This allows one time conversion while allowing user to flash between versions with and without converted params
773 : AP_GROUPINFO_FLAGS("PARM_FMT_VER", 24, ParametersG2, param_conversion_increment, 0, AP_PARAM_FLAG_HIDDEN),
774 :
775 : AP_GROUPEND
776 : };
777 :
778 : /*
779 : constructor for g2 object
780 : */
781 83 : ParametersG2::ParametersG2()
782 : {
783 83 : AP_Param::setup_object_defaults(this, var_info);
784 83 : }
785 :
786 83 : void Sub::load_parameters()
787 : {
788 83 : AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
789 :
790 83 : AP_Param::set_frame_type_flags(AP_PARAM_FRAME_SUB);
791 :
792 83 : AP_Param::set_defaults_from_table(defaults_table, ARRAY_SIZE(defaults_table));
793 : // We should ignore this parameter since ROVs are neutral buoyancy
794 83 : AP_Param::set_by_name("MOT_THST_HOVER", 0.5);
795 :
796 : // PARAMETER_CONVERSION - Added: Jul-2025 for ArduPilot-4.7
797 : #if AP_RPM_ENABLED
798 83 : AP_Param::convert_class(g.k_param_rpm_sensor_old, &rpm_sensor, rpm_sensor.var_info, 0, true, true);
799 : #endif
800 :
801 : static const AP_Param::G2ObjectConversion g2_conversions[] {
802 : #if AP_STATS_ENABLED
803 : // PARAMETER_CONVERSION - Added: Jan-2024
804 83 : { &stats, stats.var_info, 1 },
805 : #endif
806 : #if AP_SCRIPTING_ENABLED
807 : // PARAMETER_CONVERSION - Added: Jan-2024
808 83 : { &scripting, scripting.var_info, 18 },
809 : #endif
810 : #if AP_GRIPPER_ENABLED
811 : // PARAMETER_CONVERSION - Added: Feb-2024
812 83 : { &gripper, gripper.var_info, 3 },
813 : #endif
814 83 : };
815 :
816 83 : AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));
817 :
818 : // PARAMETER_CONVERSION - Added: Feb-2024
819 : #if HAL_LOGGING_ENABLED
820 83 : AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
821 : #endif
822 :
823 : static const AP_Param::TopLevelObjectConversion toplevel_conversions[] {
824 : #if AP_SERIALMANAGER_ENABLED
825 : // PARAMETER_CONVERSION - Added: Feb-2024
826 83 : { &serial_manager, serial_manager.var_info, Parameters::k_param_serial_manager_old },
827 : #endif
828 83 : };
829 :
830 83 : AP_Param::convert_toplevel_objects(toplevel_conversions, ARRAY_SIZE(toplevel_conversions));
831 :
832 : #if HAL_GCS_ENABLED
833 : // Move parameters into new MAV_ parameter namespace
834 : // PARAMETER_CONVERSION - Added: Mar-2025
835 : {
836 : static const AP_Param::ConversionInfo gcs_conversion_info[] {
837 : { Parameters::k_param_sysid_this_mav_old, 0, AP_PARAM_INT16, "MAV_SYSID" },
838 : { Parameters::k_param_sysid_my_gcs_old, 0, AP_PARAM_INT16, "MAV_GCS_SYSID" },
839 : };
840 83 : AP_Param::convert_old_parameters(&gcs_conversion_info[0], ARRAY_SIZE(gcs_conversion_info));
841 : }
842 : #endif // HAL_GCS_ENABLED
843 :
844 : // upgrade attitude controller parameters
845 83 : sub.attitude_control.convert_parameters();
846 :
847 : // upgrade waypoint navigation parameters
848 83 : wp_nav.convert_parameters();
849 :
850 : // upgrade loiter navigation parameters
851 83 : loiter_nav.convert_parameters();
852 :
853 : #if CIRCLE_NAV_ENABLED
854 83 : circle_nav.convert_parameters();
855 : #endif
856 :
857 : // PARAMETER_CONVERSION - Added: Jan-2026
858 : // move ORIGIN_LAT, ORIGIN_LON, ORIGIN_ALT to AHRS
859 : static const AP_Param::ConversionInfo origin_conversion_info[] {
860 : { 2, 19, AP_PARAM_FLOAT, "AHRS_ORIGIN_LAT" }, // ORIGIN_LAT moved to AHRS_ORIGIN_LAT
861 : { 2, 20, AP_PARAM_FLOAT, "AHRS_ORIGIN_LON" }, // ORIGIN_LON moved to AHRS_ORIGIN_LON
862 : { 2, 21, AP_PARAM_FLOAT, "AHRS_ORIGIN_ALT" }, // ORIGIN_ALT moved to AHRS_ORIGIN_ALT
863 : };
864 83 : AP_Param::convert_old_parameters(&origin_conversion_info[0], ARRAY_SIZE(origin_conversion_info));
865 83 : }
866 :
867 : #if LEAKDETECTOR_MAX_INSTANCES > 0
868 : // PARAMETER_CONVERSION - Added: Dec-2025
869 : // Deals with leak detector getting misconfigured when updating from Sub 4.1
870 82 : void Sub::update_leak_pins()
871 : {
872 328 : for (uint8_t instance = 0; instance < LEAKDETECTOR_MAX_INSTANCES; instance++) {
873 246 : if (leak_detector.get_pin(instance) <= 0) {
874 : // leak detector does not use pin
875 246 : continue;
876 : }
877 : uint8_t servo_channel;
878 0 : if (!hal.gpio->pin_to_servo_channel(leak_detector.get_pin(instance), servo_channel)) {
879 : // leak detector pin does not map to a servo channel
880 0 : continue;
881 : }
882 0 : if (SRV_Channels::is_GPIO(servo_channel)) {
883 : // servo channel is already set to GPIO
884 0 : continue;
885 : }
886 0 : if (SRV_Channels::channel_function(servo_channel) != SRV_Channel::Function::k_none) {
887 : // servo channel is already set to a function
888 0 : gcs().send_text(MAV_SEVERITY_WARNING, "Leak detector %u error. Please set SERVO%u_FUNCTION to GPIO", instance + 1, servo_channel + 1);
889 0 : continue;
890 : }
891 : // servo channel is disabled, let's set it to GPIO for the user
892 0 : gcs().send_text(MAV_SEVERITY_INFO, "Leak detector %u pin (servo %u) auto-set to GPIO", instance + 1, servo_channel + 1);
893 : char param_name[20];
894 0 : snprintf(param_name, sizeof(param_name), "SERVO%u_FUNCTION", servo_channel + 1);
895 0 : AP_Param::set_and_save_by_name(param_name, static_cast<int>(SRV_Channel::Function::k_GPIO));
896 : }
897 82 : }
898 : #endif
899 :
900 : #if AP_RELAY_ENABLED
901 : // PARAMETER_CONVERSION - Added: Dec-2025
902 : // Deals with relay getting misconfigured when updating from Sub 4.1
903 82 : void Sub::update_relay_pins()
904 : {
905 574 : for (uint8_t instance = 0; instance < AP_RELAY_NUM_RELAYS; instance++) {
906 : uint8_t servo_channel;
907 : uint8_t pin;
908 492 : if (!relay.get_pin_by_instance(instance, pin) || !hal.gpio->pin_to_servo_channel(pin, servo_channel)) {
909 : // instance does not use pin or pin does not map to a servo channel
910 492 : continue;
911 : }
912 0 : if (!relay.enabled(instance) || SRV_Channels::is_GPIO(servo_channel)) {
913 : // instance is not enabled or servo channel is already set to GPIO
914 0 : continue;
915 : }
916 0 : if (SRV_Channels::channel_function(servo_channel) != SRV_Channel::Function::k_none) {
917 : // servo channel is already set to a function
918 0 : gcs().send_text(MAV_SEVERITY_WARNING, "Relay %u error. Please set SERVO%u_FUNCTION to GPIO", instance + 1, servo_channel + 1);
919 0 : continue;
920 : }
921 : // servo channel is disabled, let's set it to GPIO for the user
922 0 : gcs().send_text(MAV_SEVERITY_INFO, "Relay %u pin (servo %u) auto-set to GPIO", instance + 1, servo_channel + 1);
923 : char param_name[20];
924 0 : snprintf(param_name, sizeof(param_name), "SERVO%u_FUNCTION", servo_channel + 1);
925 0 : AP_Param::set_and_save_by_name(param_name, static_cast<int>(SRV_Channel::Function::k_GPIO));
926 : }
927 82 : }
928 : #endif
929 :
930 : // Helper function to set servo function by channel number, 1-indexed
931 0 : static void set_servo_function(uint8_t channel, SRV_Channel::Function function)
932 : {
933 : char param_name[20];
934 0 : snprintf(param_name, sizeof(param_name), "SERVO%u_FUNCTION", channel);
935 0 : AP_Param::set_and_save_by_name(param_name, static_cast<int>(function));
936 0 : }
937 :
938 :
939 : // PARAMETER_CONVERSION - Added: Mar-2026
940 9 : void Sub::update_actuators_from_jsbuttons()
941 : {
942 : /*
943 : This function is used to update parameters from Sub <=4.5.4 to the newer actuators implementation.
944 : servo_1_inc/min/dec/etc.. were hard-coded to work only on channels 9,10,11. This update means we now have to change
945 : these functions to the corresponding actuator function to keep the same functionality.
946 : For each of SERVO9,10,11, if they are set to DISABLED, check if there are joystick buttons set to actuator functions.
947 : if so, and no other channel is set to that actuator function, set the servo to the actuator function.
948 : */
949 :
950 : // Configuration constants
951 9 : const uint8_t FIRST_LEGACY_CHANNEL = 9;
952 9 : const uint8_t NUM_LEGACY_ACTUATORS = 3;
953 9 : const size_t FUNCTIONS_PER_SERVO = 9;
954 :
955 : // Legacy servo button functions mapped to actuators 1-3
956 : static constexpr JSButton::button_function_t servo_functions[NUM_LEGACY_ACTUATORS][FUNCTIONS_PER_SERVO] = {
957 : {
958 : // Actuator 1 (was servo_1_*)
959 : JSButton::button_function_t::k_servo_1_inc,
960 : JSButton::button_function_t::k_servo_1_dec,
961 : JSButton::button_function_t::k_servo_1_min,
962 : JSButton::button_function_t::k_servo_1_max,
963 : JSButton::button_function_t::k_servo_1_center,
964 : JSButton::button_function_t::k_servo_1_min_momentary,
965 : JSButton::button_function_t::k_servo_1_max_momentary,
966 : JSButton::button_function_t::k_servo_1_min_toggle,
967 : JSButton::button_function_t::k_servo_1_max_toggle
968 : },
969 : {
970 : // Actuator 2 (was servo_2_*)
971 : JSButton::button_function_t::k_servo_2_inc,
972 : JSButton::button_function_t::k_servo_2_dec,
973 : JSButton::button_function_t::k_servo_2_min,
974 : JSButton::button_function_t::k_servo_2_max,
975 : JSButton::button_function_t::k_servo_2_center,
976 : JSButton::button_function_t::k_servo_2_min_momentary,
977 : JSButton::button_function_t::k_servo_2_max_momentary,
978 : JSButton::button_function_t::k_servo_2_min_toggle,
979 : JSButton::button_function_t::k_servo_2_max_toggle
980 : },
981 : {
982 : // Actuator 3 (was servo_3_*)
983 : JSButton::button_function_t::k_servo_3_inc,
984 : JSButton::button_function_t::k_servo_3_dec,
985 : JSButton::button_function_t::k_servo_3_min,
986 : JSButton::button_function_t::k_servo_3_max,
987 : JSButton::button_function_t::k_servo_3_center,
988 : JSButton::button_function_t::k_servo_3_min_momentary,
989 : JSButton::button_function_t::k_servo_3_max_momentary,
990 : JSButton::button_function_t::k_servo_3_min_toggle,
991 : JSButton::button_function_t::k_servo_3_max_toggle
992 : }
993 : };
994 :
995 : // Target actuator functions for assignment
996 : static constexpr SRV_Channel::Function actuator_functions[NUM_LEGACY_ACTUATORS] = {
997 : SRV_Channel::Function::k_actuator1,
998 : SRV_Channel::Function::k_actuator2,
999 : SRV_Channel::Function::k_actuator3
1000 : };
1001 :
1002 : // Process legacy channels 9-11
1003 36 : for (uint8_t actuator_idx = 0; actuator_idx < NUM_LEGACY_ACTUATORS; actuator_idx++) {
1004 27 : const uint8_t channel = FIRST_LEGACY_CHANNEL + actuator_idx;
1005 27 : const auto target_function = actuator_functions[actuator_idx];
1006 :
1007 : // Skip if actuator function already assigned to any channel
1008 : uint8_t existing_channel;
1009 27 : if (SRV_Channels::find_channel(target_function, existing_channel)) {
1010 18 : continue;
1011 : }
1012 :
1013 : // Skip if channel is not disabled
1014 27 : if (SRV_Channels::channel_function(channel - 1) != SRV_Channel::Function::k_none) {
1015 18 : continue;
1016 : }
1017 :
1018 : // Check if any servo/actuator buttons are assigned
1019 9 : bool has_assigned_button = false;
1020 90 : for (size_t func_idx = 0; func_idx < FUNCTIONS_PER_SERVO; func_idx++) {
1021 81 : if (sub.jsbutton_function_is_assigned(servo_functions[actuator_idx][func_idx])) {
1022 0 : has_assigned_button = true;
1023 0 : break;
1024 : }
1025 : }
1026 :
1027 9 : if (has_assigned_button) {
1028 : // Assign actuator function to preserve legacy behavior
1029 0 : set_servo_function(channel, target_function);
1030 : }
1031 : }
1032 9 : }
1033 :
1034 : // PARAMETER_CONVERSION - Added: Mar-2026
1035 9 : void Sub::update_lights_from_rcin()
1036 : {
1037 : /*
1038 : Maps older systems from using RCIN9 and RCIN10 to using lights1 and lights2.
1039 : This is only done if there are joystick buttons assigned to the lights functions and there are no channels assigned to the lights functions.
1040 : */
1041 :
1042 9 : const uint8_t NUM_LIGHTS = 2;
1043 9 : const uint8_t FUNCTIONS_PER_LIGHT = 3;
1044 : static constexpr JSButton::button_function_t lights_button_functions[NUM_LIGHTS][FUNCTIONS_PER_LIGHT] = {
1045 : {
1046 : JSButton::button_function_t::k_lights1_brighter,
1047 : JSButton::button_function_t::k_lights1_dimmer,
1048 : JSButton::button_function_t::k_lights1_cycle,
1049 : },
1050 : {
1051 : JSButton::button_function_t::k_lights2_brighter,
1052 : JSButton::button_function_t::k_lights2_dimmer,
1053 : JSButton::button_function_t::k_lights2_cycle,
1054 : }
1055 : };
1056 :
1057 : // New, dedicated lights output functions
1058 9 : const SRV_Channel::Function lights_functions[NUM_LIGHTS] = {
1059 : SRV_Channel::Function::k_lights1,
1060 : SRV_Channel::Function::k_lights2
1061 : };
1062 :
1063 : // Legacy, overloaded and hardcoded RCIN passthrough outputs
1064 9 : const SRV_Channel::Function rcin_functions[NUM_LIGHTS] = {
1065 : SRV_Channel::Function::k_rcin9,
1066 : SRV_Channel::Function::k_rcin10
1067 : };
1068 :
1069 : // Confirm the new output is not already assigned, and extract the legacy output for remapping
1070 27 : for (uint8_t light = 0; light < NUM_LIGHTS; light++) {
1071 : uint8_t existing_channel;
1072 18 : if (SRV_Channels::find_channel(lights_functions[light], existing_channel)
1073 18 : || !SRV_Channels::find_channel(rcin_functions[light], existing_channel)) {
1074 18 : continue;
1075 : }
1076 : // We have a potential lights RCIN channel. Do we have lights buttons?
1077 0 : for (uint8_t func_idx = 0; func_idx < FUNCTIONS_PER_LIGHT; func_idx++) {
1078 0 : if (sub.jsbutton_function_is_assigned(lights_button_functions[light][func_idx])) {
1079 : // We have buttons assigned to lights. Set the channel to the new, dedicated lights function.
1080 0 : set_servo_function(existing_channel + 1, lights_functions[light]);
1081 0 : break;
1082 : }
1083 : }
1084 : }
1085 9 : }
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