forked from ArduPilot/ardupilot
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Parameters.cpp
817 lines (683 loc) · 33.8 KB
/
Parameters.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
#include "Rover.h"
/*
Rover parameter definitions
*/
#define GSCALAR(v, name, def) { rover.g.v.vtype, name, Parameters::k_param_ ## v, &rover.g.v, {def_value:def} }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &rover.g.v, {group_info:class::var_info} }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &rover.v, {group_info:class::var_info} }
#define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, &rover.v, {group_info : class::var_info} }
const AP_Param::Info Rover::var_info[] = {
// @Param: FORMAT_VERSION
// @DisplayName: Eeprom format version number
// @Description: This value is incremented when changes are made to the eeprom format
// @User: Advanced
GSCALAR(format_version, "FORMAT_VERSION", 1),
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all log types by setting this to 65535. The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Rangefinder=16384, Arming=32768, FullLogs=65535
// @Values: 0:Disabled,65535:Default
// @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:THR,5:NTUN,7:IMU,8:CMD,9:CURRENT,10:RANGEFINDER,11:COMPASS,12:CAMERA,13:STEERING,14:RC,15:ARM/DISARM,19:IMU_RAW
// @User: Advanced
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
// @Param: RST_SWITCH_CH
// @DisplayName: Reset Switch Channel
// @Description: RC channel to use to reset to last flight mode after geofence takeover.
// @User: Advanced
GSCALAR(reset_switch_chan, "RST_SWITCH_CH", 0),
// @Param: INITIAL_MODE
// @DisplayName: Initial driving mode
// @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. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART.
// @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,6:Follow,7:Simple,10:Auto,11:RTL,12:SmartRTL,15:Guided
// @User: Advanced
GSCALAR(initial_mode, "INITIAL_MODE", Mode::Number::MANUAL),
// @Param: SYSID_THISMAV
// @DisplayName: MAVLink system ID of this vehicle
// @Description: Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
// @Range: 1 255
// @User: Advanced
GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID),
// @Param: SYSID_MYGCS
// @DisplayName: MAVLink ground station ID
// @Description: The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.
// @Range: 1 255
// @User: Advanced
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
// @Param: TELEM_DELAY
// @DisplayName: Telemetry startup delay
// @Description: The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
// @User: Standard
// @Units: s
// @Range: 0 30
// @Increment: 1
GSCALAR(telem_delay, "TELEM_DELAY", 0),
// @Param: GCS_PID_MASK
// @DisplayName: GCS PID tuning mask
// @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
// @User: Advanced
// @Values: 0:None,1:Steering,2:Throttle,4:Pitch,8:Left Wheel,16:Right Wheel,32:Sailboat Heel
// @Bitmask: 0:Steering,1:Throttle,2:Pitch,3:Left Wheel,4:Right Wheel,5:Sailboat Heel
GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
// @Param: AUTO_TRIGGER_PIN
// @DisplayName: Auto mode trigger pin
// @Description: pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver.
// @Values: -1:Disabled,0:APM TriggerPin0,1:APM TriggerPin1,2:APM TriggerPin2,3:APM TriggerPin3,4:APM TriggerPin4,5:APM TriggerPin5,6:APM TriggerPin6,7:APM TriggerPin7,8:APM TriggerPin8,50:Pixhawk TriggerPin50,51:Pixhawk TriggerPin51,52:Pixhawk TriggerPin52,53:Pixhawk TriggerPin53,54:Pixhawk TriggerPin54,55:Pixhawk TriggerPin55
// @User: Standard
GSCALAR(auto_trigger_pin, "AUTO_TRIGGER_PIN", -1),
// @Param: AUTO_KICKSTART
// @DisplayName: Auto mode trigger kickstart acceleration
// @Description: X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor
// @Units: m/s/s
// @Range: 0 20
// @Increment: 0.1
// @User: Standard
GSCALAR(auto_kickstart, "AUTO_KICKSTART", 0.0f),
// @Param: CRUISE_SPEED
// @DisplayName: Target cruise speed in auto modes
// @Description: The target speed in auto missions.
// @Units: m/s
// @Range: 0 100
// @Increment: 0.1
// @User: Standard
GSCALAR(speed_cruise, "CRUISE_SPEED", CRUISE_SPEED),
// @Param: CRUISE_THROTTLE
// @DisplayName: Base throttle percentage in auto
// @Description: The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going.
// @Units: %
// @Range: 0 100
// @Increment: 1
// @User: Standard
GSCALAR(throttle_cruise, "CRUISE_THROTTLE", 50),
// @Param: PILOT_STEER_TYPE
// @DisplayName: Pilot input steering type
// @Description: Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control
// @Values: 0:Default,1:Two Paddles Input,2:Direction reversed when backing up,3:Direction unchanged when backing up
// @User: Standard
GSCALAR(pilot_steer_type, "PILOT_STEER_TYPE", 0),
// @Param: FS_ACTION
// @DisplayName: Failsafe Action
// @Description: What to do on a failsafe event
// @Values: 0:Nothing,1:RTL,2:Hold,3:SmartRTL or RTL,4:SmartRTL or Hold
// @User: Standard
GSCALAR(fs_action, "FS_ACTION", Failsafe_Action_Hold),
// @Param: FS_TIMEOUT
// @DisplayName: Failsafe timeout
// @Description: The time in seconds that a failsafe condition must persist before the failsafe action is triggered
// @Units: s
// @Range: 1 100
// @Increment: 0.5
// @User: Standard
GSCALAR(fs_timeout, "FS_TIMEOUT", 1.5),
// @Param: FS_THR_ENABLE
// @DisplayName: Throttle Failsafe Enable
// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds.
// @Values: 0:Disabled,1:Enabled,2:Enabled Continue with Mission in Auto
// @User: Standard
GSCALAR(fs_throttle_enabled, "FS_THR_ENABLE", FS_THR_ENABLED),
// @Param: FS_THR_VALUE
// @DisplayName: Throttle Failsafe Value
// @Description: The PWM level on the throttle channel below which throttle failsafe triggers.
// @Range: 910 1100
// @Increment: 1
// @User: Standard
GSCALAR(fs_throttle_value, "FS_THR_VALUE", 910),
// @Param: FS_GCS_ENABLE
// @DisplayName: GCS failsafe enable
// @Description: Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds.
// @Values: 0:Disabled,1:Enabled,2:Enabled Continue with Mission in Auto
// @User: Standard
GSCALAR(fs_gcs_enabled, "FS_GCS_ENABLE", FS_GCS_DISABLED),
// @Param: FS_CRASH_CHECK
// @DisplayName: Crash check action
// @Description: What to do on a crash event. When enabled the rover will go to hold if a crash is detected.
// @Values: 0:Disabled,1:Hold,2:HoldAndDisarm
// @User: Standard
GSCALAR(fs_crash_check, "FS_CRASH_CHECK", FS_CRASH_DISABLE),
// @Param: FS_EKF_ACTION
// @DisplayName: EKF Failsafe Action
// @Description: Controls the action that will be taken when an EKF failsafe is invoked
// @Values: 0:Disabled,1:Hold
// @User: Advanced
GSCALAR(fs_ekf_action, "FS_EKF_ACTION", 1),
// @Param: FS_EKF_THRESH
// @DisplayName: EKF failsafe variance threshold
// @Description: Allows setting the maximum acceptable compass and velocity variance
// @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
// @User: Advanced
GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH", 0.8f),
// @Param: MODE_CH
// @DisplayName: Mode channel
// @Description: RC Channel to use for driving mode control
// @User: Advanced
GSCALAR(mode_channel, "MODE_CH", MODE_CHANNEL),
// @Param: MODE1
// @DisplayName: Mode1
// @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,6:Follow,7:Simple,10:Auto,11:RTL,12:SmartRTL,15:Guided
// @User: Standard
// @Description: Driving mode for switch position 1 (910 to 1230 and above 2049)
GSCALAR(mode1, "MODE1", Mode::Number::MANUAL),
// @Param: MODE2
// @DisplayName: Mode2
// @Description: Driving mode for switch position 2 (1231 to 1360)
// @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,6:Follow,7:Simple,10:Auto,11:RTL,12:SmartRTL,15:Guided
// @User: Standard
GSCALAR(mode2, "MODE2", Mode::Number::MANUAL),
// @Param: MODE3
// @DisplayName: Mode3
// @Description: Driving mode for switch position 3 (1361 to 1490)
// @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,6:Follow,7:Simple,10:Auto,11:RTL,12:SmartRTL,15:Guided
// @User: Standard
GSCALAR(mode3, "MODE3", Mode::Number::MANUAL),
// @Param: MODE4
// @DisplayName: Mode4
// @Description: Driving mode for switch position 4 (1491 to 1620)
// @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,6:Follow,7:Simple,10:Auto,11:RTL,12:SmartRTL,15:Guided
// @User: Standard
GSCALAR(mode4, "MODE4", Mode::Number::MANUAL),
// @Param: MODE5
// @DisplayName: Mode5
// @Description: Driving mode for switch position 5 (1621 to 1749)
// @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,6:Follow,7:Simple,10:Auto,11:RTL,12:SmartRTL,15:Guided
// @User: Standard
GSCALAR(mode5, "MODE5", Mode::Number::MANUAL),
// @Param: MODE6
// @DisplayName: Mode6
// @Description: Driving mode for switch position 6 (1750 to 2049)
// @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,6:Follow,7:Simple,10:Auto,11:RTL,12:SmartRTL,15:Guided
// @User: Standard
GSCALAR(mode6, "MODE6", Mode::Number::MANUAL),
// @Param: TURN_MAX_G
// @DisplayName: Turning maximum G force
// @Description: The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns
// @Units: gravities
// @Range: 0.1 10
// @Increment: 0.01
// @User: Standard
GSCALAR(turn_max_g, "TURN_MAX_G", 0.6f),
// variables not in the g class which contain EEPROM saved variables
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
// @Group: SCHED_
// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
GOBJECT(scheduler, "SCHED_", AP_Scheduler),
// barometer ground calibration. The GND_ prefix is chosen for
// compatibility with previous releases of ArduPlane
// @Group: GND_
// @Path: ../libraries/AP_Baro/AP_Baro.cpp
GOBJECT(barometer, "GND_", AP_Baro),
// @Group: RELAY_
// @Path: ../libraries/AP_Relay/AP_Relay.cpp
GOBJECT(relay, "RELAY_", AP_Relay),
// @Group: RCMAP_
// @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
GOBJECT(rcmap, "RCMAP_", RCMapper),
// @Group: SR0_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[0], gcs0, "SR0_", GCS_MAVLINK_Parameters),
// @Group: SR1_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[1], gcs1, "SR1_", GCS_MAVLINK_Parameters),
// @Group: SR2_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[2], gcs2, "SR2_", GCS_MAVLINK_Parameters),
// @Group: SR3_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs.chan_parameters[3], gcs3, "SR3_", GCS_MAVLINK_Parameters),
// @Group: SERIAL
// @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
GOBJECT(serial_manager, "SERIAL", AP_SerialManager),
// @Group: NAVL1_
// @Path: ../libraries/AP_L1_Control/AP_L1_Control.cpp
GOBJECT(L1_controller, "NAVL1_", AP_L1_Control),
// @Group: RNGFND
// @Path: ../libraries/AP_RangeFinder/AP_RangeFinder.cpp
GOBJECT(rangefinder, "RNGFND", RangeFinder),
// @Group: INS_
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
GOBJECT(ins, "INS_", AP_InertialSensor),
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// @Group: SIM_
// @Path: ../libraries/SITL/SITL.cpp
GOBJECT(sitl, "SIM_", SITL::SITL),
#endif
// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
GOBJECT(ahrs, "AHRS_", AP_AHRS),
#if CAMERA == ENABLED
// @Group: CAM_
// @Path: ../libraries/AP_Camera/AP_Camera.cpp
GOBJECT(camera, "CAM_", AP_Camera),
#endif
#if MOUNT == ENABLED
// @Group: MNT
// @Path: ../libraries/AP_Mount/AP_Mount.cpp
GOBJECT(camera_mount, "MNT", AP_Mount),
#endif
// @Group: ARMING_
// @Path: ../libraries/AP_Arming/AP_Arming.cpp
GOBJECT(arming, "ARMING_", AP_Arming),
// @Group: LOG
// @Path: ../libraries/AP_Logger/AP_Logger.cpp
GOBJECT(logger, "LOG", AP_Logger),
// @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
GOBJECT(battery, "BATT", AP_BattMonitor),
// @Group: BRD_
// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
GOBJECT(BoardConfig, "BRD_", AP_BoardConfig),
#if HAL_WITH_UAVCAN
// @Group: CAN_
// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
GOBJECT(BoardConfig_CAN, "CAN_", AP_BoardConfig_CAN),
#endif
// GPS driver
// @Group: GPS_
// @Path: ../libraries/AP_GPS/AP_GPS.cpp
GOBJECT(gps, "GPS_", AP_GPS),
#if AP_AHRS_NAVEKF_AVAILABLE
#if HAL_NAVEKF2_AVAILABLE
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2),
#endif
#if HAL_NAVEKF3_AVAILABLE
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
#endif
#endif
// @Group: RPM
// @Path: ../libraries/AP_RPM/AP_RPM.cpp
GOBJECT(rpm_sensor, "RPM", AP_RPM),
// @Group: MIS_
// @Path: ../libraries/AP_Mission/AP_Mission.cpp
GOBJECTN(mode_auto.mission, mission, "MIS_", AP_Mission),
// @Group: RSSI_
// @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
GOBJECT(rssi, "RSSI_", AP_RSSI),
// @Group: NTF_
// @Path: ../libraries/AP_Notify/AP_Notify.cpp
GOBJECT(notify, "NTF_", AP_Notify),
// @Group: BTN_
// @Path: ../libraries/AP_Button/AP_Button.cpp
GOBJECT(button, "BTN_", AP_Button),
// @Group:
// @Path: Parameters.cpp
GOBJECT(g2, "", ParametersG2),
#if OSD_ENABLED == ENABLED
// @Group: OSD
// @Path: ../libraries/AP_OSD/AP_OSD.cpp
GOBJECT(osd, "OSD", AP_OSD),
#endif
// @Group:
// @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
{ AP_PARAM_GROUP, "", Parameters::k_param_vehicle, (const void *)&rover, {group_info : AP_Vehicle::var_info} },
AP_VAREND
};
/*
2nd group of parameters
*/
const AP_Param::GroupInfo ParametersG2::var_info[] = {
#if STATS_ENABLED == ENABLED
// @Group: STAT
// @Path: ../libraries/AP_Stats/AP_Stats.cpp
AP_SUBGROUPINFO(stats, "STAT", 1, ParametersG2, AP_Stats),
#endif
// @Param: SYSID_ENFORCE
// @DisplayName: GCS sysid enforcement
// @Description: This controls whether packets from other than the expected GCS system ID will be accepted
// @Values: 0:NotEnforced,1:Enforced
// @User: Advanced
AP_GROUPINFO("SYSID_ENFORCE", 2, ParametersG2, sysid_enforce, 0),
// @Group: SERVO
// @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
AP_SUBGROUPINFO(servo_channels, "SERVO", 3, ParametersG2, SRV_Channels),
// @Group: RC
// @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
AP_SUBGROUPINFO(rc_channels, "RC", 4, ParametersG2, RC_Channels_Rover),
#if ADVANCED_FAILSAFE == ENABLED
// @Group: AFS_
// @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
AP_SUBGROUPINFO(afs, "AFS_", 5, ParametersG2, AP_AdvancedFailsafe),
#endif
// @Group: BCN
// @Path: ../libraries/AP_Beacon/AP_Beacon.cpp
AP_SUBGROUPINFO(beacon, "BCN", 6, ParametersG2, AP_Beacon),
// 7 was used by AP_VisualOdometry
// @Group: MOT_
// @Path: AP_MotorsUGV.cpp
AP_SUBGROUPINFO(motors, "MOT_", 8, ParametersG2, AP_MotorsUGV),
// @Group: WENC
// @Path: ../libraries/AP_WheelEncoder/AP_WheelEncoder.cpp
AP_SUBGROUPINFO(wheel_encoder, "WENC", 9, ParametersG2, AP_WheelEncoder),
// @Group: ATC
// @Path: ../libraries/APM_Control/AR_AttitudeControl.cpp
AP_SUBGROUPINFO(attitude_control, "ATC", 10, ParametersG2, AR_AttitudeControl),
// @Param: TURN_RADIUS
// @DisplayName: Turn radius of vehicle
// @Description: Turn radius of vehicle in meters while at low speeds. Lower values produce tighter turns in steering mode
// @Units: m
// @Range: 0 10
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("TURN_RADIUS", 11, ParametersG2, turn_radius, 0.9),
// @Param: ACRO_TURN_RATE
// @DisplayName: Acro mode turn rate maximum
// @Description: Acro mode turn rate maximum
// @Units: deg/s
// @Range: 0 360
// @Increment: 1
// @User: Standard
AP_GROUPINFO("ACRO_TURN_RATE", 12, ParametersG2, acro_turn_rate, 180.0f),
// @Group: SRTL_
// @Path: ../libraries/AP_SmartRTL/AP_SmartRTL.cpp
AP_SUBGROUPINFO(smart_rtl, "SRTL_", 13, ParametersG2, AP_SmartRTL),
// 14 was WP_SPEED and should not be re-used
// @Param: RTL_SPEED
// @DisplayName: Return-to-Launch speed default
// @Description: Return-to-Launch speed default. If zero use WP_SPEED or CRUISE_SPEED.
// @Units: m/s
// @Range: 0 100
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("RTL_SPEED", 15, ParametersG2, rtl_speed, 0.0f),
// @Param: FRAME_CLASS
// @DisplayName: Frame Class
// @Description: Frame Class
// @Values: 0:Undefined,1:Rover,2:Boat,3:BalanceBot
// @User: Standard
AP_GROUPINFO("FRAME_CLASS", 16, ParametersG2, frame_class, 1),
// @Group: FENCE_
// @Path: ../libraries/AC_Fence/AC_Fence.cpp
AP_SUBGROUPINFO(fence, "FENCE_", 17, ParametersG2, AC_Fence),
// @Group: PRX
// @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
AP_SUBGROUPINFO(proximity, "PRX", 18, ParametersG2, AP_Proximity),
// @Group: AVOID_
// @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
AP_SUBGROUPINFO(avoid, "AVOID_", 19, ParametersG2, AC_Avoid),
// 20 was PIVOT_TURN_RATE and should not be re-used
// @Param: BAL_PITCH_MAX
// @DisplayName: BalanceBot Maximum Pitch
// @Description: Pitch angle in degrees at 100% throttle
// @Units: deg
// @Range: 0 5
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("BAL_PITCH_MAX", 21, ParametersG2, bal_pitch_max, 2),
// @Param: CRASH_ANGLE
// @DisplayName: Crash Angle
// @Description: Pitch/Roll angle limit in degrees for crash check. Zero disables check
// @Units: deg
// @Range: 0 60
// @Increment: 1
// @User: Standard
AP_GROUPINFO("CRASH_ANGLE", 22, ParametersG2, crash_angle, 0),
// @Group: FOLL
// @Path: ../libraries/AP_Follow/AP_Follow.cpp
AP_SUBGROUPINFO(follow, "FOLL", 23, ParametersG2, AP_Follow),
// @Param: FRAME_TYPE
// @DisplayName: Frame Type
// @Description: Frame Type
// @Values: 0:Undefined,1:Omni3,2:OmniX,3:OmniPlus
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("FRAME_TYPE", 24, ParametersG2, frame_type, 0),
// @Param: LOIT_TYPE
// @DisplayName: Loiter type
// @Description: Loiter behaviour when moving to the target point
// @Values: 0:Forward or reverse to target point,1:Always face bow towards target point,2:Always face stern towards target point
// @User: Standard
AP_GROUPINFO("LOIT_TYPE", 25, ParametersG2, loit_type, 0),
#if HAL_SPRAYER_ENABLED
// @Group: SPRAY_
// @Path: ../libraries/AC_Sprayer/AC_Sprayer.cpp
AP_SUBGROUPINFO(sprayer, "SPRAY_", 26, ParametersG2, AC_Sprayer),
#endif
// @Group: WRC
// @Path: ../libraries/AP_WheelEncoder/AP_WheelRateControl.cpp
AP_SUBGROUPINFO(wheel_rate_control, "WRC", 27, ParametersG2, AP_WheelRateControl),
#if AP_RALLY == ENABLED
// @Group: RALLY_
// @Path: AP_Rally.cpp,../libraries/AP_Rally/AP_Rally.cpp
AP_SUBGROUPINFO(rally, "RALLY_", 28, ParametersG2, AP_Rally_Rover),
#endif
// @Param: SIMPLE_TYPE
// @DisplayName: Simple_Type
// @Description: Simple mode types
// @Values: 0:InitialHeading,1:CardinalDirections
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("SIMPLE_TYPE", 29, ParametersG2, simple_type, 0),
// @Param: LOIT_RADIUS
// @DisplayName: Loiter radius
// @Description: Vehicle will drift when within this distance of the target position
// @Units: m
// @Range: 0 20
// @Increment: 1
// @User: Standard
AP_GROUPINFO("LOIT_RADIUS", 30, ParametersG2, loit_radius, 2),
// @Group: WNDVN_
// @Path: ../libraries/AP_WindVane/AP_WindVane.cpp
AP_SUBGROUPINFO(windvane, "WNDVN_", 31, ParametersG2, AP_WindVane),
// 32 to 36 were old sailboat params
// @Group: ARSPD
// @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp
AP_SUBGROUPINFO(airspeed, "ARSPD", 37, ParametersG2, AP_Airspeed),
// @Param: MIS_DONE_BEHAVE
// @DisplayName: Mission done behave
// @Description: Behaviour after mission completes
// @Values: 0:Hold,1:Loiter,2:Acro
// @User: Standard
AP_GROUPINFO("MIS_DONE_BEHAVE", 38, ParametersG2, mis_done_behave, 0),
#if GRIPPER_ENABLED == ENABLED
// @Group: GRIP_
// @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
AP_SUBGROUPINFO(gripper, "GRIP_", 39, ParametersG2, AP_Gripper),
#endif
// @Param: BAL_PITCH_TRIM
// @DisplayName: Balance Bot pitch trim angle
// @Description: Balance Bot pitch trim for balancing. This offsets the tilt of the center of mass.
// @Units: deg
// @Range: -2 2
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("BAL_PITCH_TRIM", 40, ParametersG2, bal_pitch_trim, 0),
#ifdef ENABLE_SCRIPTING
// @Group: SCR_
// @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
AP_SUBGROUPINFO(scripting, "SCR_", 41, ParametersG2, AP_Scripting),
#endif
// @Param: STICK_MIXING
// @DisplayName: Stick Mixing
// @Description: When enabled, this adds steering user stick input in auto modes, allowing the user to have some degree of control without changing modes.
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
AP_GROUPINFO("STICK_MIXING", 42, ParametersG2, stick_mixing, 0),
// @Group: WP_
// @Path: ../libraries/AR_WPNav/AR_WPNav.cpp
AP_SUBGROUPINFO(wp_nav, "WP_", 43, ParametersG2, AR_WPNav),
// @Group: SAIL_
// @Path: sailboat.cpp
AP_SUBGROUPINFO(sailboat, "SAIL_", 44, ParametersG2, Sailboat),
// @Group: OA_
// @Path: ../libraries/AC_Avoidance/AP_OAPathPlanner.cpp
AP_SUBGROUPINFO(oa, "OA_", 45, ParametersG2, AP_OAPathPlanner),
// @Param: SPEED_MAX
// @DisplayName: Speed maximum
// @Description: Maximum speed vehicle can obtain at full throttle. If 0, it will be estimated based on CRUISE_SPEED and CRUISE_THROTTLE.
// @Units: m/s
// @Range: 0 30
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("SPEED_MAX", 46, ParametersG2, speed_max, 0.0f),
// @Param: LOIT_SPEED_GAIN
// @DisplayName: Loiter speed gain
// @Description: Determines how agressively LOITER tries to correct for drift from loiter point. Higher is faster but default should be acceptable.
// @Range: 0 5
// @Increment: 0.01
// @User: Advanced
AP_GROUPINFO("LOIT_SPEED_GAIN", 47, ParametersG2, loiter_speed_gain, 0.5f),
// @Param: FS_OPTIONS
// @DisplayName: Rover Failsafe Options
// @Description: Bitmask to enable Rover failsafe options
// @Values: 0:None,1:Failsafe enabled in Hold mode
// @Bitmask: 0:Failsafe enabled in Hold mode
// @User: Advanced
AP_GROUPINFO("FS_OPTIONS", 48, ParametersG2, fs_options, 0),
AP_GROUPEND
};
// These auxiliary channel param descriptions are here so that users of beta Mission Planner (which uses the master branch as its source of descriptions)
// can get them. These lines can be removed once Rover-3.6-beta testing begins or we improve the source of descriptions for GCSs.
//
// @Param: CH7_OPTION
// @DisplayName: Channel 7 option
// @Description: What to do use channel 7 for
// @Values: 0:Nothing,1:SaveWaypoint,2:LearnCruiseSpeed,3:ArmDisarm,4:Manual,5:Acro,6:Steering,7:Hold,8:Auto,9:RTL,10:SmartRTL,11:Guided,12:Loiter
// @User: Standard
// @Param: AUX_CH
// @DisplayName: Auxiliary switch channel
// @Description: RC Channel to use for auxiliary functions including saving waypoints
// @User: Advanced
// @Param: PIVOT_TURN_ANGLE
// @DisplayName: Pivot turn angle
// @Description: Navigation angle threshold in degrees to switch to pivot steering. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns.
// @Units: deg
// @Range: 0 360
// @Increment: 1
// @User: Standard
// @Param: PIVOT_TURN_RATE
// @DisplayName: Pivot turn rate
// @Description: Desired pivot turn rate in deg/s.
// @Units: deg/s
// @Range: 0 360
// @Increment: 1
// @User: Standard
ParametersG2::ParametersG2(void)
:
#if ADVANCED_FAILSAFE == ENABLED
afs(rover.mode_auto.mission),
#endif
beacon(rover.serial_manager),
motors(rover.ServoRelayEvents),
wheel_rate_control(wheel_encoder),
attitude_control(rover.ahrs),
smart_rtl(),
proximity(),
avoid(),
follow(),
windvane(),
airspeed(),
wp_nav(attitude_control, rover.L1_controller),
sailboat()
{
AP_Param::setup_object_defaults(this, var_info);
}
/*
This is a conversion table from old parameter values to new
parameter names. The startup code looks for saved values of the old
parameters and will copy them across to the new parameters if the
new parameter does not yet have a saved value. It then saves the new
value.
Note that this works even if the old parameter has been removed. It
relies on the old k_param index not being removed
The second column below is the index in the var_info[] table for the
old object. This should be zero for top level parameters.
*/
const AP_Param::ConversionInfo conversion_table[] = {
{ Parameters::k_param_battery_monitoring, 0, AP_PARAM_INT8, "BATT_MONITOR" },
{ Parameters::k_param_battery_volt_pin, 0, AP_PARAM_INT8, "BATT_VOLT_PIN" },
{ Parameters::k_param_battery_curr_pin, 0, AP_PARAM_INT8, "BATT_CURR_PIN" },
{ Parameters::k_param_volt_div_ratio, 0, AP_PARAM_FLOAT, "BATT_VOLT_MULT" },
{ Parameters::k_param_curr_amp_per_volt, 0, AP_PARAM_FLOAT, "BATT_AMP_PERVOLT" },
{ Parameters::k_param_pack_capacity, 0, AP_PARAM_INT32, "BATT_CAPACITY" },
{ Parameters::k_param_serial0_baud, 0, AP_PARAM_INT16, "SERIAL0_BAUD" },
{ Parameters::k_param_serial1_baud, 0, AP_PARAM_INT16, "SERIAL1_BAUD" },
{ Parameters::k_param_serial2_baud, 0, AP_PARAM_INT16, "SERIAL2_BAUD" },
{ Parameters::k_param_throttle_min_old, 0, AP_PARAM_INT8, "MOT_THR_MIN" },
{ Parameters::k_param_throttle_max_old, 0, AP_PARAM_INT8, "MOT_THR_MAX" },
{ Parameters::k_param_compass_enabled_deprecated, 0, AP_PARAM_INT8, "COMPASS_ENABLE" },
{ Parameters::k_param_pivot_turn_angle_old, 0, AP_PARAM_INT16, "WP_PIVOT_ANGLE" },
{ Parameters::k_param_waypoint_radius_old, 0, AP_PARAM_FLOAT, "WP_RADIUS" },
{ Parameters::k_param_waypoint_overshoot_old, 0, AP_PARAM_FLOAT, "WP_OVERSHOOT" },
{ Parameters::k_param_g2, 20, AP_PARAM_INT16, "WP_PIVOT_RATE" },
{ Parameters::k_param_g2, 32, AP_PARAM_FLOAT, "SAIL_ANGLE_MIN" },
{ Parameters::k_param_g2, 33, AP_PARAM_FLOAT, "SAIL_ANGLE_MAX" },
{ Parameters::k_param_g2, 34, AP_PARAM_FLOAT, "SAIL_ANGLE_IDEAL" },
{ Parameters::k_param_g2, 35, AP_PARAM_FLOAT, "SAIL_HEEL_MAX" },
{ Parameters::k_param_g2, 36, AP_PARAM_FLOAT, "SAIL_NO_GO_ANGLE" },
{ Parameters::k_param_arming, 2, AP_PARAM_INT16, "ARMING_CHECK" },
};
void Rover::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
hal.console->printf("Bad var table\n");
AP_HAL::panic("Bad var table");
}
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
hal.console->printf("Firmware change: erasing EEPROM...\n");
StorageManager::erase();
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
hal.console->printf("done.\n");
}
const uint32_t before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_ROVER);
SRV_Channels::set_default_function(CH_1, SRV_Channel::k_steering);
SRV_Channels::set_default_function(CH_3, SRV_Channel::k_throttle);
if (is_balancebot()) {
g2.crash_angle.set_default(30);
}
SRV_Channels::upgrade_parameters();
hal.console->printf("load_all took %uus\n", unsigned(micros() - before));
// set a more reasonable default NAVL1_PERIOD for rovers
L1_controller.set_default_period(NAVL1_PERIOD);
// convert CH7_OPTION to RC7_OPTION for Rover-3.4 to 3.5 upgrade
const AP_Param::ConversionInfo ch7_option_info = { Parameters::k_param_ch7_option, 0, AP_PARAM_INT8, "RC7_OPTION" };
AP_Int8 ch7_opt_old;
if (AP_Param::find_old_parameter(&ch7_option_info, &ch7_opt_old)) {
const uint8_t ch7_opt_map[] = {0,7,50,41,51,52,53,54,16,4,42,55,56};
const uint8_t ch7_opt_old_val = (uint8_t)ch7_opt_old.get();
if (ch7_opt_old_val < ARRAY_SIZE(ch7_opt_map)) {
AP_Param::set_default_by_name(ch7_option_info.new_name, ch7_opt_map[ch7_opt_old_val]);
}
}
// set AR_WPNav's WP_SPEED to be old WP_SPEED (if set) or CRUISE_SPEED (if set)
const AP_Param::ConversionInfo wp_speed_old_info = { Parameters::k_param_g2, 14, AP_PARAM_FLOAT, "WP_SPEED" };
const AP_Param::ConversionInfo cruise_speed_info = { Parameters::k_param_speed_cruise, 0, AP_PARAM_FLOAT, "WP_SPEED" };
AP_Float wp_speed_old;
if (AP_Param::find_old_parameter(&wp_speed_old_info, &wp_speed_old)) {
// old WP_SPEED parameter value was set so copy to new WP_SPEED
AP_Param::convert_old_parameter(&wp_speed_old_info, 1.0f);
} else {
// copy CRUISE_SPEED to new WP_SPEED
AP_Param::convert_old_parameter(&cruise_speed_info, 1.0f);
}
// attitude control FF and FILT parameter changes for Rover-3.6
const AP_Param::ConversionInfo ff_and_filt_conversion_info[] = {
{ Parameters::k_param_g2, 24650, AP_PARAM_FLOAT, "ATC_STR_RAT_FLTE" },
{ Parameters::k_param_g2, 28746, AP_PARAM_FLOAT, "ATC_STR_RAT_FF" },
{ Parameters::k_param_g2, 24714, AP_PARAM_FLOAT, "ATC_SPEED_FLTE" },
{ Parameters::k_param_g2, 28810, AP_PARAM_FLOAT, "ATC_SPEED_FF" },
{ Parameters::k_param_g2, 25226, AP_PARAM_FLOAT, "ATC_BAL_FLTE" },
{ Parameters::k_param_g2, 29322, AP_PARAM_FLOAT, "ATC_BAL_FF" },
{ Parameters::k_param_g2, 25354, AP_PARAM_FLOAT, "ATC_SAIL_FLTE" },
{ Parameters::k_param_g2, 29450, AP_PARAM_FLOAT, "ATC_SAIL_FF" },
};
uint8_t filt_table_size = ARRAY_SIZE(ff_and_filt_conversion_info);
for (uint8_t i=0; i<filt_table_size; i++) {
AP_Param::convert_old_parameters(&ff_and_filt_conversion_info[i], 1.0f);
}
// configure safety switch to allow stopping the motors while armed
#if HAL_HAVE_SAFETY_SWITCH
AP_Param::set_default_by_name("BRD_SAFETYOPTION", AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF|
AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON|
AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED);
#endif
}