AntennaTracker/Parameters.cpp

   1 #include "Tracker.h"
   2
   3 /*
   4  *  AntennaTracker parameter definitions
   5  *
   6  */
   7
   8 const AP_Param::Info Tracker::var_info[] = {
   9     // @Param: FORMAT_VERSION
  10     // @DisplayName: Eeprom format version number
  11     // @Description: This value is incremented when changes are made to the eeprom format
  12     // @User: Advanced
  13     GSCALAR(format_version,         "FORMAT_VERSION", 0),
  14
  15     // @Param: SYSID_THISMAV
  16     // @DisplayName: MAVLink system ID of this vehicle
  17     // @Description: Allows setting an individual system id for this vehicle to distinguish it from others on the same network
  18     // @Range: 1 255
  19     // @User: Advanced
  20     GSCALAR(sysid_this_mav,         "SYSID_THISMAV",  MAV_SYSTEM_ID),
  21
  22     // @Param: SYSID_MYGCS
  23     // @DisplayName: Ground station MAVLink system ID
  24     // @Description: The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.
  25     // @Range: 1 255
  26     // @Increment: 1
  27     // @User: Advanced
  28     GSCALAR(sysid_my_gcs,           "SYSID_MYGCS",    255),
  29
  30     // @Param: SYSID_TARGET
  31     // @DisplayName: Target vehicle's MAVLink system ID
  32     // @Description: The identifier of the vehicle being tracked. This should be zero (to auto detect) or be the same as the SYSID_THISMAV parameter of the vehicle being tracked.
  33     // @Range: 1 255
  34     // @User: Advanced
  35     GSCALAR(sysid_target,           "SYSID_TARGET",    0),
  36
  37     // @Param: YAW_SLEW_TIME
  38     // @DisplayName: Time for yaw to slew through its full range
  39     // @Description: This controls how rapidly the tracker will change the servo output for yaw. It is set as the number of seconds to do a full rotation. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update.
  40     // @Units: s
  41     // @Increment: 0.1
  42     // @Range: 0 20
  43     // @User: Standard
  44     GSCALAR(yaw_slew_time,          "YAW_SLEW_TIME",    2),
  45
  46     // @Param: PITCH_SLEW_TIME
  47     // @DisplayName: Time for pitch to slew through its full range
  48     // @Description: This controls how rapidly the tracker will change the servo output for pitch. It is set as the number of seconds to do a full range of pitch movement. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update.
  49     // @Units: s
  50     // @Increment: 0.1
  51     // @Range: 0 20
  52     // @User: Standard
  53     GSCALAR(pitch_slew_time,        "PITCH_SLEW_TIME",  2),
  54
  55     // @Param: MIN_REVERSE_TIME
  56     // @DisplayName: Minimum time to apply a yaw reversal
  57     // @Description: When the tracker detects it has reached the limit of servo movement in yaw it will reverse and try moving to the other extreme of yaw. This parameter controls the minimum time it should reverse for. It is used to cope with trackers that have a significant lag in movement to ensure they do move all the way around.
  58     // @Units: s
  59     // @Increment: 1
  60     // @Range: 0 20
  61     // @User: Standard
  62     GSCALAR(min_reverse_time,       "MIN_REVERSE_TIME",  1),
  63
  64     // @Param: START_LATITUDE
  65     // @DisplayName: Initial Latitude before GPS lock
  66     // @Description: Combined with START_LONGITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached.
  67     // @Units: deg
  68     // @Increment: 0.000001
  69     // @Range: -90 90
  70     // @User: Standard
  71     GSCALAR(start_latitude,         "START_LATITUDE",   0),
  72
  73     // @Param: START_LONGITUDE
  74     // @DisplayName: Initial Longitude before GPS lock
  75     // @Description: Combined with START_LATITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached.
  76     // @Units: deg
  77     // @Increment: 0.000001
  78     // @Range: -180 180
  79     // @User: Standard
  80     GSCALAR(start_longitude,        "START_LONGITUDE",  0),
  81
  82     // @Param: STARTUP_DELAY
  83     // @DisplayName: Delay before first servo movement from trim
  84     // @Description: This parameter can be used to force the servos to their trim value for a time on startup. This can help with some servo types
  85     // @Units: s
  86     // @Increment: 0.1
  87     // @Range: 0 10
  88     // @User: Standard
  89     GSCALAR(startup_delay,          "STARTUP_DELAY",   0),
  90
  91     // @Param: SERVO_PITCH_TYPE
  92     // @DisplayName: Type of servo system being used for pitch
  93     // @Description: This allows selection of position servos or on/off servos for pitch
  94     // @Values: 0:Position,1:OnOff,2:ContinuousRotation
  95     // @User: Standard
  96     GSCALAR(servo_pitch_type,          "SERVO_PITCH_TYPE",   SERVO_TYPE_POSITION),
  97
  98     // @Param: SERVO_YAW_TYPE
  99     // @DisplayName: Type of servo system being used for yaw
 100     // @Description: This allows selection of position servos or on/off servos for yaw
 101     // @Values: 0:Position,1:OnOff,2:ContinuousRotation
 102     // @User: Standard
 103     GSCALAR(servo_yaw_type,          "SERVO_YAW_TYPE",   SERVO_TYPE_POSITION),
 104
 105     // @Param: ONOFF_YAW_RATE
 106     // @DisplayName: Yaw rate for on/off servos
 107     // @Description: Rate of change of yaw in degrees/second for on/off servos
 108     // @Units: deg/s
 109     // @Increment: 0.1
 110     // @Range: 0 50
 111     // @User: Standard
 112     GSCALAR(onoff_yaw_rate,      "ONOFF_YAW_RATE", 9.0f),
 113
 114     // @Param: ONOFF_PITCH_RATE
 115     // @DisplayName: Pitch rate for on/off servos
 116     // @Description: Rate of change of pitch in degrees/second for on/off servos
 117     // @Units: deg/s
 118     // @Increment: 0.1
 119     // @Range: 0 50
 120     // @User: Standard
 121     GSCALAR(onoff_pitch_rate,      "ONOFF_PITCH_RATE", 1.0f),
 122
 123     // @Param: ONOFF_YAW_MINT
 124     // @DisplayName: Yaw minimum movement time
 125     // @Description: Minimum amount of time in seconds to move in yaw
 126     // @Units: s
 127     // @Increment: 0.01
 128     // @Range: 0 2
 129     // @User: Standard
 130     GSCALAR(onoff_yaw_mintime,     "ONOFF_YAW_MINT", 0.1f),
 131
 132     // @Param: ONOFF_PITCH_MINT
 133     // @DisplayName: Pitch minimum movement time
 134     // @Description: Minimum amount of time in seconds to move in pitch
 135     // @Units: s
 136     // @Increment: 0.01
 137     // @Range: 0 2
 138     // @User: Standard
 139     GSCALAR(onoff_pitch_mintime,   "ONOFF_PITCH_MINT", 0.1f),
 140
 141     // @Param: YAW_TRIM
 142     // @DisplayName: Yaw trim
 143     // @Description: Amount of extra yaw to add when tracking. This allows for small adjustments for an out of trim compass.
 144     // @Units: deg
 145     // @Increment: 0.1
 146     // @Range: -10 10
 147     // @User: Standard
 148     GSCALAR(yaw_trim,              "YAW_TRIM", 0),
 149
 150     // @Param: PITCH_TRIM
 151     // @DisplayName: Pitch trim
 152     // @Description: Amount of extra pitch to add when tracking. This allows for small adjustments for a badly calibrated barometer.
 153     // @Units: deg
 154     // @Increment: 0.1
 155     // @Range: -10 10
 156     // @User: Standard
 157     GSCALAR(pitch_trim,              "PITCH_TRIM", 0),
 158
 159     // @Param: YAW_RANGE
 160     // @DisplayName: Yaw Angle Range
 161     // @Description: Yaw axis total range of motion in degrees
 162     // @Units: deg
 163     // @Increment: 0.1
 164     // @Range: 0 360
 165     // @User: Standard
 166     GSCALAR(yaw_range,              "YAW_RANGE", YAW_RANGE_DEFAULT),
 167
 168     // @Param: DISTANCE_MIN
 169     // @DisplayName: Distance minimum to target
 170     // @Description: Tracker will track targets at least this distance away
 171     // @Units: m
 172     // @Increment: 1
 173     // @Range: 0 100
 174     // @User: Standard
 175     GSCALAR(distance_min,           "DISTANCE_MIN", DISTANCE_MIN_DEFAULT),
 176
 177     // @Param: ALT_SOURCE
 178     // @DisplayName: Altitude Source
 179     // @Description: What provides altitude information for vehicle. Vehicle only assumes tracker has same altitude as vehicle's home
 180     // @Values: 0:Barometer,1:GPS,2:GPS vehicle only
 181     // @User: Standard
 182     GSCALAR(alt_source,                         "ALT_SOURCE",   0),
 183
 184     // @Param: MAV_UPDATE_RATE
 185     // @DisplayName: Mavlink Update Rate
 186     // @Description: The rate at which Mavlink updates position and baro data
 187     // @Units: Hz
 188     // @Increment: 1
 189     // @Range: 1 10
 190     // @User: Standard
 191     GSCALAR(mavlink_update_rate,        "MAV_UPDATE_RATE",      1),
 192
 193     // @Param: PITCH_MIN
 194     // @DisplayName: Minimum Pitch Angle
 195     // @Description: The lowest angle the pitch can reach
 196     // @Units: deg
 197     // @Increment: 1
 198     // @Range: -90 0
 199     // @User: Standard
 200     GSCALAR(pitch_min,               "PITCH_MIN",       PITCH_MIN_DEFAULT),
 201
 202     // @Param: PITCH_MAX
 203     // @DisplayName: Maximum Pitch Angle
 204     // @Description: The highest angle the pitch can reach
 205     // @Units: deg
 206     // @Increment: 1
 207     // @Range: 0 90
 208     // @User: Standard
 209     GSCALAR(pitch_max,               "PITCH_MAX",       PITCH_MAX_DEFAULT),
 210
 211     // barometer library
 212     // @Group: BARO
 213     // @Path: ../libraries/AP_Baro/AP_Baro.cpp
 214     GOBJECT(barometer, "BARO", AP_Baro),
 215
 216     // @Group: COMPASS_
 217     // @Path: ../libraries/AP_Compass/AP_Compass.cpp
 218     GOBJECT(compass,                "COMPASS_",     Compass),
 219
 220     // @Group: SCHED_
 221     // @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
 222     GOBJECT(scheduler, "SCHED_", AP_Scheduler),
 223
 224     // @Group: SR0_
 225     // @Path: GCS_Mavlink.cpp
 226     GOBJECTN(_gcs.chan_parameters[0], gcs0,        "SR0_",     GCS_MAVLINK_Parameters),
 227
 228 #if MAVLINK_COMM_NUM_BUFFERS >= 2
 229     // @Group: SR1_
 230     // @Path: GCS_Mavlink.cpp
 231     GOBJECTN(_gcs.chan_parameters[1],  gcs1,       "SR1_",     GCS_MAVLINK_Parameters),
 232 #endif
 233
 234 #if MAVLINK_COMM_NUM_BUFFERS >= 3
 235     // @Group: SR2_
 236     // @Path: GCS_Mavlink.cpp
 237     GOBJECTN(_gcs.chan_parameters[2],  gcs2,       "SR2_",     GCS_MAVLINK_Parameters),
 238 #endif
 239
 240 #if MAVLINK_COMM_NUM_BUFFERS >= 4
 241     // @Group: SR3_
 242     // @Path: GCS_Mavlink.cpp
 243     GOBJECTN(_gcs.chan_parameters[3],  gcs3,       "SR3_",     GCS_MAVLINK_Parameters),
 244 #endif
 245
 246 #if MAVLINK_COMM_NUM_BUFFERS >= 5
 247     // @Group: SR4_
 248     // @Path: GCS_Mavlink.cpp
 249     GOBJECTN(_gcs.chan_parameters[4],  gcs4,       "SR4_",     GCS_MAVLINK_Parameters),
 250 #endif
 251
 252 #if MAVLINK_COMM_NUM_BUFFERS >= 6
 253     // @Group: SR5_
 254     // @Path: GCS_Mavlink.cpp
 255     GOBJECTN(_gcs.chan_parameters[5],  gcs5,       "SR5_",     GCS_MAVLINK_Parameters),
 256 #endif
 257
 258 #if MAVLINK_COMM_NUM_BUFFERS >= 7
 259     // @Group: SR6_
 260     // @Path: GCS_Mavlink.cpp
 261     GOBJECTN(_gcs.chan_parameters[6],  gcs6,       "SR6_",     GCS_MAVLINK_Parameters),
 262 #endif
 263
 264     // @Param: LOG_BITMASK
 265     // @DisplayName: Log bitmask
 266     // @Description: 4 byte bitmap of log types to enable
 267     // @Bitmask: 0:ATTITUDE,1:GPS,2:RCIN,3:IMU,4:RCOUT,5:COMPASS,6:Battery
 268     // @User: Standard
 269     GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
 270
 271     // @Group: INS
 272     // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
 273     GOBJECT(ins,                    "INS", AP_InertialSensor),
 274
 275     // @Group: AHRS_
 276     // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
 277     GOBJECT(ahrs,                   "AHRS_",    AP_AHRS),
 278
 279 #if AP_SIM_ENABLED
 280     // @Group: SIM_
 281     // @Path: ../libraries/SITL/SITL.cpp
 282     GOBJECT(sitl, "SIM_", SITL::SIM),
 283 #endif
 284
 285     // @Group: BRD_
 286     // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
 287     GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),
 288
 289 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
 290     // @Group: CAN_
 291     // @Path: ../libraries/AP_CANManager/AP_CANManager.cpp
 292     GOBJECT(can_mgr,        "CAN_",       AP_CANManager),
 293 #endif
 294
 295     // GPS driver
 296     // @Group: GPS
 297     // @Path: ../libraries/AP_GPS/AP_GPS.cpp
 298     GOBJECT(gps, "GPS", AP_GPS),
 299
 300     // @Group: NTF_
 301     // @Path: ../libraries/AP_Notify/AP_Notify.cpp
 302     GOBJECT(notify, "NTF_",  AP_Notify),
 303
 304     // @Group: RC
 305     // @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
 306     GOBJECT(rc_channels,     "RC", RC_Channels_Tracker),
 307
 308     // @Group: SERVO
 309     // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
 310     GOBJECT(servo_channels,     "SERVO", SRV_Channels),
 311
 312     // AP_SerialManager was here
 313
 314     // @Param: PITCH2SRV_P
 315     // @DisplayName: Pitch axis controller P gain
 316     // @Description: Pitch axis controller P gain.  Converts the difference between desired pitch angle and actual pitch angle into a pitch servo pwm change
 317     // @Range: 0.0 3.0
 318     // @Increment: 0.01
 319     // @User: Standard
 320
 321     // @Param: PITCH2SRV_I
 322     // @DisplayName: Pitch axis controller I gain
 323     // @Description: Pitch axis controller I gain.  Corrects long-term difference in desired pitch angle vs actual pitch angle
 324     // @Range: 0.0 3.0
 325     // @Increment: 0.01
 326     // @User: Standard
 327
 328     // @Param: PITCH2SRV_IMAX
 329     // @DisplayName: Pitch axis controller I gain maximum
 330     // @Description: Pitch axis controller I gain maximum.  Constrains the maximum pwm change that the I gain will output
 331     // @Range: 0 4000
 332     // @Increment: 10
 333     // @Units: d%
 334     // @User: Standard
 335
 336     // @Param: PITCH2SRV_D
 337     // @DisplayName: Pitch axis controller D gain
 338     // @Description: Pitch axis controller D gain.  Compensates for short-term change in desired pitch angle vs actual pitch angle
 339     // @Range: 0.001 0.1
 340     // @Increment: 0.001
 341     // @User: Standard
 342
 343     // @Param: PITCH2SRV_FF
 344     // @DisplayName: Pitch axis controller feed forward
 345     // @Description: Pitch axis controller feed forward
 346     // @Range: 0 0.5
 347     // @Increment: 0.001
 348     // @User: Standard
 349
 350     // @Param: PITCH2SRV_FLTT
 351     // @DisplayName: Pitch axis controller target frequency in Hz
 352     // @Description: Pitch axis controller target frequency in Hz
 353     // @Range: 1 50
 354     // @Increment: 1
 355     // @Units: Hz
 356     // @User: Standard
 357
 358     // @Param: PITCH2SRV_FLTE
 359     // @DisplayName: Pitch axis controller error frequency in Hz
 360     // @Description: Pitch axis controller error frequency in Hz
 361     // @Range: 1 100
 362     // @Increment: 1
 363     // @Units: Hz
 364     // @User: Standard
 365
 366     // @Param: PITCH2SRV_FLTD
 367     // @DisplayName: Pitch axis controller derivative frequency in Hz
 368     // @Description: Pitch axis controller derivative frequency in Hz
 369     // @Range: 1 100
 370     // @Increment: 1
 371     // @Units: Hz
 372     // @User: Standard
 373
 374     // @Param: PITCH2SRV_SMAX
 375     // @DisplayName: Pitch slew rate limit
 376     // @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
 377     // @Range: 0 200
 378     // @Increment: 0.5
 379     // @User: Advanced
 380
 381     // @Param: PITCH2SRV_PDMX
 382     // @DisplayName: Pitch axis controller PD sum maximum
 383     // @Description: Pitch axis controller PD sum maximum.  The maximum/minimum value that the sum of the P and D term can output
 384     // @Range: 0 4000
 385     // @Increment: 10
 386     // @Units: d%
 387     // @User: Advanced
 388
 389     // @Param: PITCH2SRV_D_FF
 390     // @DisplayName: Pitch Derivative FeedForward Gain
 391     // @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
 392     // @Range: 0 0.1
 393     // @Increment: 0.001
 394     // @User: Advanced
 395
 396     // @Param: PITCH2SRV_NTF
 397     // @DisplayName: Pitch Target notch filter index
 398     // @Description: Pitch Target notch filter index
 399     // @Range: 1 8
 400     // @User: Advanced
 401
 402     // @Param: PITCH2SRV_NEF
 403     // @DisplayName: Pitch Error notch filter index
 404     // @Description: Pitch Error notch filter index
 405     // @Range: 1 8
 406     // @User: Advanced
 407
 408     GGROUP(pidPitch2Srv,       "PITCH2SRV_", AC_PID),
 409
 410     // @Param: YAW2SRV_P
 411     // @DisplayName: Yaw axis controller P gain
 412     // @Description: Yaw axis controller P gain.  Converts the difference between desired yaw angle (heading) and actual yaw angle into a yaw servo pwm change
 413     // @Range: 0.0 3.0
 414     // @Increment: 0.01
 415     // @User: Standard
 416
 417     // @Param: YAW2SRV_I
 418     // @DisplayName: Yaw axis controller I gain
 419     // @Description: Yaw axis controller I gain.  Corrects long-term difference in desired yaw angle (heading) vs actual yaw angle
 420     // @Range: 0.0 3.0
 421     // @Increment: 0.01
 422     // @User: Standard
 423
 424     // @Param: YAW2SRV_IMAX
 425     // @DisplayName: Yaw axis controller I gain maximum
 426     // @Description: Yaw axis controller I gain maximum.  Constrains the maximum pwm change that the I gain will output
 427     // @Range: 0 4000
 428     // @Increment: 10
 429     // @Units: d%
 430     // @User: Standard
 431
 432     // @Param: YAW2SRV_D
 433     // @DisplayName: Yaw axis controller D gain
 434     // @Description: Yaw axis controller D gain.  Compensates for short-term change in desired yaw angle (heading) vs actual yaw angle
 435     // @Range: 0.001 0.1
 436     // @Increment: 0.001
 437     // @User: Standard
 438
 439     // @Param: YAW2SRV_FF
 440     // @DisplayName: Yaw axis controller feed forward
 441     // @Description: Yaw axis controller feed forward
 442     // @Range: 0 0.5
 443     // @Increment: 0.001
 444     // @User: Standard
 445
 446     // @Param: YAW2SRV_FLTT
 447     // @DisplayName: Yaw axis controller target frequency in Hz
 448     // @Description: Yaw axis controller target frequency in Hz
 449     // @Range: 1 50
 450     // @Increment: 1
 451     // @Units: Hz
 452     // @User: Standard
 453
 454     // @Param: YAW2SRV_FLTE
 455     // @DisplayName: Yaw axis controller error frequency in Hz
 456     // @Description: Yaw axis controller error frequency in Hz
 457     // @Range: 1 100
 458     // @Increment: 1
 459     // @Units: Hz
 460     // @User: Standard
 461
 462     // @Param: YAW2SRV_FLTD
 463     // @DisplayName: Yaw axis controller derivative frequency in Hz
 464     // @Description: Yaw axis controller derivative frequency in Hz
 465     // @Range: 1 100
 466     // @Increment: 1
 467     // @Units: Hz
 468     // @User: Standard
 469
 470     // @Param: YAW2SRV_SMAX
 471     // @DisplayName: Yaw slew rate limit
 472     // @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
 473     // @Range: 0 200
 474     // @Increment: 0.5
 475     // @User: Advanced
 476
 477     // @Param: YAW2SRV_PDMX
 478     // @DisplayName: Yaw axis controller PD sum maximum
 479     // @Description: Yaw axis controller PD sum maximum.  The maximum/minimum value that the sum of the P and D term can output
 480     // @Range: 0 4000
 481     // @Increment: 10
 482     // @Units: d%
 483     // @User: Advanced
 484
 485     // @Param: YAW2SRV_D_FF
 486     // @DisplayName: Yaw Derivative FeedForward Gain
 487     // @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
 488     // @Range: 0 0.1
 489     // @Increment: 0.001
 490     // @User: Advanced
 491
 492     // @Param: YAW2SRV_NTF
 493     // @DisplayName: Yaw Target notch filter index
 494     // @Description: Yaw Target notch filter index
 495     // @Range: 1 8
 496     // @User: Advanced
 497
 498     // @Param: YAW2SRV_NEF
 499     // @DisplayName: Yaw Error notch filter index
 500     // @Description: Yaw Error notch filter index
 501     // @Range: 1 8
 502     // @User: Advanced
 503
 504     GGROUP(pidYaw2Srv,         "YAW2SRV_", AC_PID),
 505
 506     // @Param: CMD_TOTAL
 507     // @DisplayName: Number of loaded mission items
 508     // @Description: Set to 1 if HOME location has been loaded by the ground station. Do not change this manually.
 509     // @Range: 1 255
 510     // @User: Advanced
 511     GSCALAR(command_total,          "CMD_TOTAL",      0),
 512
 513     // @Group: BATT
 514     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
 515     GOBJECT(battery,                "BATT", AP_BattMonitor),
 516
 517     // @Param: GCS_PID_MASK
 518     // @DisplayName: GCS PID tuning mask
 519     // @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
 520     // @User: Advanced
 521     // @Values: 0:None,1:Pitch,2:Yaw
 522     // @Bitmask: 0:Pitch,1:Yaw
 523     GSCALAR(gcs_pid_mask,           "GCS_PID_MASK",     0),
 524
 525     // @Param: SCAN_SPEED_YAW
 526     // @DisplayName: Speed at which to rotate the yaw axis in scan mode
 527     // @Description: This controls how rapidly the tracker will move the servos in SCAN mode
 528     // @Units: deg/s
 529     // @Increment: 1
 530     // @Range: 0 100
 531     // @User: Standard
 532     GSCALAR(scan_speed_yaw,         "SCAN_SPEED_YAW",   2),
 533
 534     // @Param: SCAN_SPEED_PIT
 535     // @DisplayName: Speed at which to rotate pitch axis in scan mode
 536     // @Description: This controls how rapidly the tracker will move the servos in SCAN mode
 537     // @Units: deg/s
 538     // @Increment: 1
 539     // @Range: 0 100
 540     // @User: Standard
 541     GSCALAR(scan_speed_pitch,       "SCAN_SPEED_PIT",   5),
 542
 543     // @Param: INITIAL_MODE
 544     // @DisplayName: Mode tracker will switch into after initialization
 545     // @Description: 0:MANUAL, 1:STOP, 2:SCAN, 10:AUTO
 546     // @User: Standard
 547     GSCALAR(initial_mode,            "INITIAL_MODE",     10),
 548
 549     // @Param: SAFE_DISARM_PWM
 550     // @DisplayName: PWM that will be output when disarmed or in stop mode
 551     // @Description: 0:zero pwm, 1:trim pwm
 552     // @User: Standard
 553     GSCALAR(disarm_pwm,              "SAFE_DISARM_PWM",        0),
 554
 555     // @Param: AUTO_OPTIONS
 556     // @DisplayName: Auto mode options
 557     // @Description: 1: Scan for unknown target
 558     // @User: Standard
 559     // @Values: 0:None, 1: Scan for unknown target in auto mode
 560     // @Bitmask: 0:Scan for unknown target
 561     GSCALAR(auto_opts,              "AUTO_OPTIONS",        0),
 562
 563     // @Group:
 564     // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
 565     PARAM_VEHICLE_INFO,
 566
 567 #if HAL_NAVEKF2_AVAILABLE
 568     // @Group: EK2_
 569     // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
 570     GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2),
 571 #endif
 572
 573 #if HAL_NAVEKF3_AVAILABLE
 574     // @Group: EK3_
 575     // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
 576     GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
 577 #endif
 578
 579     AP_VAREND
 580 };
 581
 582
 583 void Tracker::load_parameters(void)
 584 {
 585     AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 586
 587 #if AP_STATS_ENABLED
 588     // PARAMETER_CONVERSION - Added: Jan-2024
 589     AP_Param::convert_class(g.k_param_stats_old, &stats, stats.var_info, 0, true);
 590 #endif
 591
 592 #if AP_SCRIPTING_ENABLED
 593     // PARAMETER_CONVERSION - Added: Jan-2024
 594     AP_Param::convert_class(g.k_param_scripting_old, &scripting, scripting.var_info, 0, true);
 595 #endif
 596
 597     // PARAMETER_CONVERSION - Added: Feb-2024 for Tracker-4.6
 598 #if HAL_LOGGING_ENABLED
 599     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
 600 #endif
 601
 602     static const AP_Param::TopLevelObjectConversion toplevel_conversions[] {
 603 #if AP_SERIALMANAGER_ENABLED
 604         // PARAMETER_CONVERSION - Added: Feb-2024 for Tracker-4.6
 605         { &serial_manager, serial_manager.var_info, Parameters::k_param_serial_manager_old },
 606 #endif
 607     };
 608
 609     AP_Param::convert_toplevel_objects(toplevel_conversions, ARRAY_SIZE(toplevel_conversions));
 610
 611 #if HAL_HAVE_SAFETY_SWITCH
 612     // configure safety switch to allow stopping the motors while armed
 613     AP_Param::set_default_by_name("BRD_SAFETYOPTION", AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF|
 614                                                       AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON|
 615                                                       AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED);
 616 #endif
 617 }