Line data    Source code

       1             : #pragma once
       2             : 
       3             : #define AP_PARAM_VEHICLE_NAME sub
       4             : 
       5             : #include <AP_Common/AP_Common.h>
       6             : 
       7             : #include <AP_Arming/AP_Arming.h>
       8             : #include "actuators.h"
       9             : // Global parameter class.
      10             : //
      11             : class Parameters {
      12             : public:
      13             :     // The version of the layout as described by the parameter enum.
      14             :     //
      15             :     // When changing the parameter enum in an incompatible fashion, this
      16             :     // value should be incremented by one.
      17             :     //
      18             :     // The increment will prevent old parameters from being used incorrectly
      19             :     // by newer code.
      20             :     //
      21             :     static const uint16_t        k_format_version = 1;
      22             : 
      23             :     // Parameter identities.
      24             :     //
      25             :     // The enumeration defined here is used to ensure that every parameter
      26             :     // or parameter group has a unique ID number.   This number is used by
      27             :     // AP_Param to store and locate parameters in EEPROM.
      28             :     //
      29             :     // Note that entries without a number are assigned the next number after
      30             :     // the entry preceding them.    When adding new entries, ensure that they
      31             :     // don't overlap.
      32             :     //
      33             :     // Try to group related variables together, and assign them a set
      34             :     // range in the enumeration.    Place these groups in numerical order
      35             :     // at the end of the enumeration.
      36             :     //
      37             :     // WARNING: Care should be taken when editing this enumeration as the
      38             :     //          AP_Param load/save code depends on the values here to identify
      39             :     //          variables saved in EEPROM.
      40             :     //
      41             :     //
      42             :     enum {
      43             :         // Layout version number, always key zero.
      44             :         //
      45             :         k_param_format_version = 0,
      46             :         k_param_software_type, // unused
      47             : 
      48             :         k_param_g2, // 2nd block of parameters
      49             : 
      50             :         k_param_sitl, // Simulation
      51             :         k_param_osd, //OSD
      52             : 
      53             :         // Telemetry
      54             :         k_param_gcs0_unused = 10,      // unused in ArduPilot-4.7
      55             :         k_param_gcs1_unused,           // unused in ArduPilot-4.7
      56             :         k_param_gcs2_unused,           // unused in ArduPilot-4.7
      57             :         k_param_gcs3_unused,           // unused in ArduPilot-4.7
      58             :         k_param_sysid_this_mav_old,
      59             :         k_param_sysid_my_gcs_old,
      60             : 
      61             :         // Hardware/Software configuration
      62             :         k_param_BoardConfig = 20, // Board configuration (Pixhawk/Linux/etc)
      63             :         k_param_scheduler, // Scheduler (for debugging/perf_info)
      64             :         k_param_logger, // AP_Logger Logging
      65             :         k_param_serial_manager_old, // Serial ports, AP_SerialManager
      66             :         k_param_notify, // Notify Library, AP_Notify
      67             :         k_param_arming = 26, // Arming checks
      68             :         k_param_can_mgr,
      69             :         k_param_thr_arming_position,
      70             : 
      71             :         // Sensor objects
      72             :         k_param_ins = 30, // AP_InertialSensor
      73             :         k_param_compass, // Compass
      74             :         k_param_barometer, // Barometer/Depth Sensor
      75             :         k_param_battery, // AP_BattMonitor
      76             :         k_param_leak_detector, // Leak Detector
      77             :         k_param_rangefinder, // Rangefinder
      78             :         k_param_gps, // GPS
      79             :         k_param_optflow, // Optical Flow
      80             : 
      81             : 
      82             :         // Navigation libraries
      83             :         k_param_ahrs = 50, // AHRS
      84             :         k_param_NavEKF, // Extended Kalman Filter Inertial Navigation             // remove
      85             :         k_param_NavEKF2, // EKF2
      86             :         k_param_attitude_control, // Attitude Control
      87             :         k_param_pos_control, // Position Control
      88             :         k_param_wp_nav, // Waypoint navigation
      89             :         k_param_mission, // Mission library
      90             :         k_param_fence_old, // only used for conversion
      91             :         k_param_terrain, // Terrain database
      92             :         k_param_rally, // Disabled
      93             :         k_param_circle_nav, // Disabled
      94             :         k_param_avoid, // Relies on proximity and fence
      95             :         k_param_NavEKF3,
      96             :         k_param_loiter_nav,
      97             : 
      98             : 
      99             :         // Other external hardware interfaces
     100             :         k_param_motors = 65, // Motors
     101             :         k_param_relay, // Relay
     102             :         k_param_camera, // Camera
     103             :         k_param_camera_mount, // Camera gimbal
     104             : 
     105             : 
     106             :         // RC_Channel settings (deprecated)
     107             :         k_param_rc_1_old = 75,
     108             :         k_param_rc_2_old,
     109             :         k_param_rc_3_old,
     110             :         k_param_rc_4_old,
     111             :         k_param_rc_5_old,
     112             :         k_param_rc_6_old,
     113             :         k_param_rc_7_old,
     114             :         k_param_rc_8_old,
     115             :         k_param_rc_9_old,
     116             :         k_param_rc_10_old,
     117             :         k_param_rc_11_old,
     118             :         k_param_rc_12_old,
     119             :         k_param_rc_13_old,
     120             :         k_param_rc_14_old,
     121             : 
     122             :         // Joystick gain parameters
     123             :         k_param_gain_default,
     124             :         k_param_maxGain,
     125             :         k_param_minGain,
     126             :         k_param_numGainSettings,
     127             :         k_param_cam_tilt_step, // deprecated
     128             :         k_param_lights_step, // deprecated
     129             : 
     130             :         // Joystick button mapping parameters
     131             :         k_param_jbtn_0 = 95,
     132             :         k_param_jbtn_1,
     133             :         k_param_jbtn_2,
     134             :         k_param_jbtn_3,
     135             :         k_param_jbtn_4,
     136             :         k_param_jbtn_5,
     137             :         k_param_jbtn_6,
     138             :         k_param_jbtn_7,
     139             :         k_param_jbtn_8,
     140             :         k_param_jbtn_9,
     141             :         k_param_jbtn_10,
     142             :         k_param_jbtn_11,
     143             :         k_param_jbtn_12,
     144             :         k_param_jbtn_13,
     145             :         k_param_jbtn_14,
     146             :         k_param_jbtn_15,
     147             : 
     148             :         // 16 more for MANUAL_CONTROL extensions
     149             :         k_param_jbtn_16,
     150             :         k_param_jbtn_17,
     151             :         k_param_jbtn_18,
     152             :         k_param_jbtn_19,
     153             :         k_param_jbtn_20,
     154             :         k_param_jbtn_21,
     155             :         k_param_jbtn_22,
     156             :         k_param_jbtn_23,
     157             :         k_param_jbtn_24,
     158             :         k_param_jbtn_25,
     159             :         k_param_jbtn_26,
     160             :         k_param_jbtn_27,
     161             :         k_param_jbtn_28,
     162             :         k_param_jbtn_29,
     163             :         k_param_jbtn_30,
     164             :         k_param_jbtn_31,
     165             : 
     166             :         // PID Controllers
     167             :         k_param_p_pos_xy = 126, // deprecated
     168             :         k_param_p_alt_hold, // deprecated
     169             :         k_param_pi_vel_xy, // deprecated
     170             :         k_param_p_vel_z, // deprecated
     171             :         k_param_pid_accel_z, // deprecated
     172             : 
     173             : 
     174             :         // Failsafes
     175             :         k_param_failsafe_gcs = 140,
     176             :         k_param_failsafe_leak, // leak failsafe behavior
     177             :         k_param_failsafe_pressure, // internal pressure failsafe behavior
     178             :         k_param_failsafe_pressure_max, // maximum internal pressure in pascal before failsafe is triggered
     179             :         k_param_failsafe_temperature, // internal temperature failsafe behavior
     180             :         k_param_failsafe_temperature_max, // maximum internal temperature in degrees C before failsafe is triggered
     181             :         k_param_failsafe_terrain, // terrain failsafe behavior
     182             :         k_param_fs_ekf_thresh,
     183             :         k_param_fs_ekf_action,
     184             :         k_param_fs_crash_check,
     185             :         k_param_failsafe_battery_enabled, // unused - moved to AP_BattMonitor
     186             :         k_param_fs_batt_mah,              // unused - moved to AP_BattMonitor
     187             :         k_param_fs_batt_voltage,          // unused - moved to AP_BattMonitor
     188             :         k_param_failsafe_pilot_input,
     189             :         k_param_failsafe_pilot_input_timeout,
     190             :         k_param_failsafe_gcs_timeout,
     191             : 
     192             : 
     193             :         // Misc Sub settings
     194             :         k_param_log_bitmask = 165,
     195             :         k_param_angle_max = 167,    // remove
     196             :         k_param_rangefinder_gain, // deprecated
     197             :         k_param_wp_yaw_behavior = 170,
     198             :         k_param_xtrack_angle_limit, // Angle limit for crosstrack correction in Auto modes (degrees)
     199             :         k_param_pilot_speed_up,     // renamed from k_param_pilot_velocity_z_max
     200             :         k_param_pilot_accel_z,
     201             :         k_param_compass_enabled_deprecated,
     202             :         k_param_surface_depth,
     203             :         k_param_rc_speed, // Main output pwm frequency
     204             :         k_param_gcs_pid_mask = 178,
     205             :         k_param_throttle_filt,
     206             :         k_param_throttle_deadzone, // Used in auto-throttle modes
     207             :         k_param_terrain_follow = 182,   // deprecated
     208             :         k_param_rc_feel_rp,
     209             :         k_param_throttle_gain,
     210             :         k_param_cam_tilt_center, // deprecated
     211             :         k_param_frame_configuration,
     212             :         k_param_surface_max_throttle,
     213             :         k_param_surface_nobaro_thrust,
     214             :         // 200: flight modes
     215             :         k_param_flight_modes0 = 200,
     216             :         k_param_flight_modes1,
     217             :         k_param_flight_modes2,
     218             :         k_param_flight_modes3,
     219             :         k_param_flight_modes4,
     220             :         k_param_flight_modes5,
     221             :         k_param_simple_modes,
     222             :         k_param_flight_mode_chan,
     223             : #if AP_RSSI_ENABLED
     224             :         k_param_rssi,
     225             : #endif 
     226             :         
     227             :         // Acro Mode parameters
     228             :         k_param_acro_yaw_p = 220, // Used in all modes for get_pilot_desired_yaw_rate
     229             :         k_param_acro_trainer,
     230             :         k_param_acro_expo,
     231             :         k_param_acro_rp_p,
     232             :         k_param_acro_balance_roll,
     233             :         k_param_acro_balance_pitch,
     234             : 
     235             :         // RPM Sensor
     236             :         k_param_rpm_sensor_old = 232, // unused - moved to vehicle
     237             : 
     238             :         // RC_Mapper Library
     239             :         k_param_rcmap, // Disabled
     240             : 
     241             :         k_param_gcs4_unused,           // unused in ArduPilot-4.7
     242             :         k_param_gcs5_unused,           // unused in ArduPilot-4.7
     243             :         k_param_gcs6_unused,           // unused in ArduPilot-4.7
     244             : 
     245             :         k_param_cam_slew_limit = 237, // deprecated
     246             :         k_param_lights_steps,
     247             :         k_param_pilot_speed_dn,
     248             :         k_param_rangefinder_signal_min,
     249             :         k_param_surftrak_depth,
     250             :         k_param_pilot_speed,
     251             :         k_param_failsafe_throttle,
     252             :         k_param_failsafe_throttle_value,
     253             :         k_param_vehicle = 257, // vehicle common block of parameters
     254             :         k_param__gcs = 258,
     255             :     };
     256             : 
     257             :     AP_Int16        format_version;
     258             : 
     259             :     // Telemetry control
     260             :     //
     261             :     AP_Float        throttle_filt;
     262             : 
     263             : #if AP_RANGEFINDER_ENABLED
     264             :     AP_Int8         rangefinder_signal_min;     // minimum signal quality for good rangefinder readings
     265             :     AP_Float        surftrak_depth;             // surftrak will try to keep sub below this depth
     266             : #endif
     267             : 
     268             :     AP_Int8         failsafe_leak;              // leak detection failsafe behavior
     269             :     AP_Int8         failsafe_gcs;               // ground station failsafe behavior
     270             :     AP_Int8         failsafe_pressure;
     271             :     AP_Int8         failsafe_temperature;
     272             :     AP_Int32        failsafe_pressure_max;
     273             :     AP_Int8         failsafe_temperature_max;
     274             :     AP_Int8         failsafe_terrain;
     275             :     AP_Int8         failsafe_pilot_input;       // pilot input failsafe behavior
     276             :     AP_Float        failsafe_pilot_input_timeout;
     277             :     AP_Float        failsafe_gcs_timeout;       // ground station failsafe timeout (seconds)
     278             : 
     279             :     AP_Int8         xtrack_angle_limit;
     280             : 
     281             :     AP_Int8         wp_yaw_behavior;            // controls how the autopilot controls yaw during missions
     282             :     AP_Int8         rc_feel_rp;                 // controls vehicle response to user input with 0 being extremely soft and 100 begin extremely crisp
     283             : 
     284             :     // Waypoints
     285             :     //
     286             :     AP_Int16        pilot_speed_up;             // maximum vertical ascending velocity the pilot may request
     287             :     AP_Int16        pilot_speed_dn;             // maximum vertical descending velocity the pilot may request
     288             :     AP_Int16        pilot_speed;                // maximum horizontal (xy) velocity the pilot may request
     289             :     AP_Int16        pilot_accel_z;              // vertical acceleration the pilot may request
     290             : 
     291             :     // Throttle
     292             :     //
     293             :     AP_Int16        throttle_deadzone;
     294             :     AP_Int8         failsafe_throttle;
     295             :     AP_Int16        failsafe_throttle_value;
     296             :     AP_Int16        thr_arming_position;
     297             :     
     298             : 
     299             :     // Misc
     300             :     //
     301             :     AP_Int32        log_bitmask;
     302             : 
     303             :     AP_Int8         fs_ekf_action;
     304             :     AP_Int8         fs_crash_check;
     305             :     AP_Float        fs_ekf_thresh;
     306             :     AP_Int16        gcs_pid_mask;
     307             : 
     308             :     AP_Int16        rc_speed; // speed of fast RC Channels in Hz
     309             : 
     310             :     AP_Float        gain_default;
     311             :     AP_Float        maxGain;
     312             :     AP_Float        minGain;
     313             :     AP_Int8         numGainSettings;
     314             :     AP_Float        throttle_gain;
     315             : 
     316             :     AP_Int16        lights_steps;
     317             : 
     318             :     // Joystick button parameters
     319             :     JSButton        jbtn_0;
     320             :     JSButton        jbtn_1;
     321             :     JSButton        jbtn_2;
     322             :     JSButton        jbtn_3;
     323             :     JSButton        jbtn_4;
     324             :     JSButton        jbtn_5;
     325             :     JSButton        jbtn_6;
     326             :     JSButton        jbtn_7;
     327             :     JSButton        jbtn_8;
     328             :     JSButton        jbtn_9;
     329             :     JSButton        jbtn_10;
     330             :     JSButton        jbtn_11;
     331             :     JSButton        jbtn_12;
     332             :     JSButton        jbtn_13;
     333             :     JSButton        jbtn_14;
     334             :     JSButton        jbtn_15;
     335             :     // 16 - 31 from manual_control extension
     336             :     JSButton        jbtn_16;
     337             :     JSButton        jbtn_17;
     338             :     JSButton        jbtn_18;
     339             :     JSButton        jbtn_19;
     340             :     JSButton        jbtn_20;
     341             :     JSButton        jbtn_21;
     342             :     JSButton        jbtn_22;
     343             :     JSButton        jbtn_23;
     344             :     JSButton        jbtn_24;
     345             :     JSButton        jbtn_25;
     346             :     JSButton        jbtn_26;
     347             :     JSButton        jbtn_27;
     348             :     JSButton        jbtn_28;
     349             :     JSButton        jbtn_29;
     350             :     JSButton        jbtn_30;
     351             :     JSButton        jbtn_31;
     352             : 
     353             :     // Acro parameters
     354             :     AP_Float        acro_rp_p;
     355             :     AP_Float        acro_yaw_p;
     356             :     AP_Float        acro_balance_roll;
     357             :     AP_Float        acro_balance_pitch;
     358             :     AP_Int8         acro_trainer;
     359             :     AP_Float        acro_expo;
     360             :     
     361             : #if AP_SUB_RC_ENABLED
     362             : 
     363             :     // Flight modes
     364             :     //
     365             :     AP_Int8         flight_modes[6];
     366             :     AP_Int8         simple_modes;
     367             :     AP_Int8         flight_mode_chan;
     368             : #endif 
     369             : 
     370             :     AP_Float                surface_depth;
     371             :     AP_Int8                 frame_configuration;
     372             : 
     373             :     AP_Float surface_max_throttle;
     374             : 
     375             :     // Note: keep initializers here in the same order as they are declared
     376             :     // above.
     377          83 :     Parameters()
     378         581 :     {
     379          83 :     }
     380             : };
     381             : 
     382             : /*
     383             :   2nd block of parameters, to avoid going past 256 top level keys
     384             : */
     385             : class ParametersG2 {
     386             : public:
     387             :     ParametersG2(void);
     388             : 
     389             :     // var_info for holding Parameter information
     390             :     static const struct AP_Param::GroupInfo var_info[];
     391             : 
     392             : #if HAL_PROXIMITY_ENABLED
     393             :     // proximity (aka object avoidance) library
     394             :     AP_Proximity proximity;
     395             : #endif
     396             : 
     397             :     // RC input channels
     398             :     RC_Channels_Sub rc_channels;
     399             : 
     400             :     // control over servo output ranges
     401             :     SRV_Channels servo_channels;
     402             : 
     403             :     AP_Float surface_nobaro_thrust;
     404             :     Actuators actuators;
     405             : 
     406             :     // Used to track parameter conversions
     407             :     AP_Int8 param_conversion_increment;
     408             : };
     409             : 
     410             : extern const AP_Param::Info        var_info[];
     411             : 
     412             : // Sub-specific default parameters
     413             : static const struct AP_Param::defaults_table_struct defaults_table[] = {
     414             :     { "BRD_SAFETY_DEFLT",    0 },
     415             :     { "ARMING_SKIPCHK",      (~(uint32_t(AP_Arming::Check::RC) |
     416             :                                 uint32_t(AP_Arming::Check::VOLTAGE) |
     417             :                                 uint32_t(AP_Arming::Check::BATTERY))
     418             :                                ) & ((1U<<24)-1)}, // keep within float range but disable future checks
     419             :     { "CIRCLE_RATE",         2.0f},
     420             :     { "ATC_ACC_Y_MAX",       1100.0f},
     421             :     { "ATC_RATE_Y_MAX",      180.0f},
     422             :     { "RC3_TRIM",            1500},
     423             :     { "COMPASS_OFFS_MAX",    1000},
     424             :     { "INS_GYR_CAL",         0},
     425             :     { "RCMAP_ROLL",          2},
     426             :     { "RCMAP_PITCH",         1},
     427             :     { "RCMAP_FORWARD",       5},
     428             :     { "RCMAP_LATERAL",       6},
     429             : #if HAL_MOUNT_ENABLED
     430             :     { "MNT1_TYPE",           1},
     431             :     { "MNT1_DEFLT_MODE",     MAV_MOUNT_MODE_RC_TARGETING},
     432             :     { "MNT1_RC_RATE",        30},
     433             : #endif
     434             :     { "RC7_OPTION",          214},   // MOUNT1_YAW
     435             :     { "RC8_OPTION",          213},   // MOUNT1_PITCH
     436             :     { "MOT_PWM_MIN",         1100},
     437             :     { "MOT_PWM_MAX",         1900},
     438             :     { "PSC_D_JERK",          50.0f},
     439             :     { "WP_SPD",              1.0f},
     440             :     { "PILOT_SPEED_UP",      100.0f},
     441             :     { "PSC_NE_VEL_P",         6.0f},
     442             :     { "EK3_SRC1_VELZ",       0},
     443             : #if AP_SUB_RC_ENABLED
     444             :     { "RC_PROTOCOLS",        0},
     445             : #endif
     446             : #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
     447             :     { "BATT_MONITOR",        4},
     448             :     { "BATT_CAPACITY",       0},
     449             :     { "LEAK1_PIN",           27},
     450             :     { "SCHED_LOOP_RATE",     200},
     451             :     { "SERVO13_FUNCTION",    181},   // k_lights1
     452             :     { "SERVO14_FUNCTION",    182},   // k_lights2
     453             :     { "SERVO16_FUNCTION",    7},     // k_mount_tilt
     454             :     { "SERVO16_REVERSED",    1},
     455             : #else
     456             : #if AP_BARO_PROBE_EXT_PARAMETER_ENABLED
     457             :     { "BARO_PROBE_EXT",      768},
     458             : #endif
     459             :     { "SERVO9_FUNCTION",     181},   // k_lights1
     460             :     { "SERVO10_FUNCTION",    7},     // k_mount_tilt
     461             : #endif
     462             : };