AntennaTracker/Parameters.h

   1 #pragma once
   2
   3 #define AP_PARAM_VEHICLE_NAME tracker
   4
   5 #include <AC_PID/AC_PID.h>
   6 #include <AP_Param/AP_Param.h>
   7
   8 // Global parameter class.
   9 //
  10 class Parameters {
  11 public:
  12
  13     /*
  14      *  The value of k_format_version determines whether the existing
  15      *  eeprom data is considered valid. You should only change this
  16      *  value under the following circumstances:
  17      *
  18      *  1) the meaning of an existing eeprom parameter changes
  19      *
  20      *  2) the value of an existing k_param_* enum value changes
  21      *
  22      *  Adding a new parameter should _not_ require a change to
  23      *  k_format_version except under special circumstances. If you
  24      *  change it anyway then all ArduPlane users will need to reload all
  25      *  their parameters. We want that to be an extremely rare
  26      *  thing. Please do not just change it "just in case".
  27      *
  28      *  To determine if a k_param_* value has changed, use the rules of
  29      *  C++ enums to work out the value of the neighboring enum
  30      *  values. If you don't know the C++ enum rules then please ask for
  31      *  help.
  32      */
  33
  34     //////////////////////////////////////////////////////////////////
  35     // STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE
  36     // COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!!
  37     static const uint16_t k_format_version = 1;
  38     //////////////////////////////////////////////////////////////////
  39
  40
  41     enum {
  42         // Layout version number, always key zero.
  43         //
  44         k_param_format_version = 0,
  45         k_param_software_type,      // deprecated
  46
  47         k_param_gcs0 = 100,         // stream rates for SERIAL0
  48         k_param_gcs1,               // stream rates for SERIAL1
  49         k_param_sysid_this_mav,
  50         k_param_sysid_my_gcs,
  51         k_param_serial0_baud,       // deprecated
  52         k_param_serial1_baud,       // deprecated
  53         k_param_imu,
  54         k_param_compass_enabled_deprecated,
  55         k_param_compass,
  56         k_param_ahrs,  // AHRS group
  57         k_param_barometer,
  58         k_param_scheduler,
  59         k_param_ins,
  60         k_param_sitl,
  61         k_param_pidPitch_old,   // deprecated
  62         k_param_pidYaw_old,     // deprecated
  63         k_param_gcs2,               // stream rates for SERIAL2
  64         k_param_serial2_baud,       // deprecated
  65
  66         k_param_yaw_slew_time,
  67         k_param_pitch_slew_time,
  68         k_param_min_reverse_time,
  69
  70         k_param_start_latitude,
  71         k_param_start_longitude,
  72         k_param_startup_delay,
  73         k_param_BoardConfig,
  74         k_param_gps,
  75         k_param_scan_speed_unused, // deprecated
  76         k_param_proxy_mode_unused, // deprecated
  77         k_param_servo_pitch_type,
  78         k_param_onoff_yaw_rate,
  79         k_param_onoff_pitch_rate,
  80         k_param_onoff_yaw_mintime,
  81         k_param_onoff_pitch_mintime,
  82         k_param_yaw_trim,
  83         k_param_pitch_trim,
  84         k_param_yaw_range,
  85         k_param_pitch_range,    //deprecated
  86         k_param_distance_min,
  87         k_param_sysid_target,       // 138
  88         k_param_gcs3,               // stream rates for fourth MAVLink port
  89         k_param_log_bitmask,        // 140
  90         k_param_notify,
  91         k_param_can_mgr,
  92         k_param_battery,
  93
  94         k_param_serial_manager_old = 144,     // serial manager library
  95         k_param_servo_yaw_type,
  96         k_param_alt_source,
  97         k_param_mavlink_update_rate,
  98         k_param_pitch_min,
  99         k_param_pitch_max,
 100         k_param_gcs4,
 101         k_param_gcs5,
 102         k_param_gcs6,
 103
 104         //
 105         // 200 : Radio settings
 106         //
 107         k_param_channel_yaw_old = 200,
 108         k_param_channel_pitch_old,
 109         k_param_pidPitch2Srv,
 110         k_param_pidYaw2Srv,
 111         k_param_rc_channels,
 112         k_param_servo_channels,
 113
 114         k_param_stats_old = 218,
 115         k_param_scripting_old = 219,
 116
 117         //
 118         // 220: Waypoint data
 119         //
 120         k_param_command_total = 220,
 121
 122         // 254,255: reserved
 123         k_param_gcs_pid_mask = 225,
 124         k_param_scan_speed_yaw,
 125         k_param_scan_speed_pitch,
 126         k_param_initial_mode,
 127         k_param_disarm_pwm,
 128
 129         k_param_auto_opts,
 130         k_param_NavEKF2,
 131         k_param_NavEKF3,
 132
 133         k_param_logger = 253, // 253 - Logging Group
 134
 135         k_param_vehicle = 257, // vehicle common block of parameters
 136     };
 137
 138     AP_Int16 format_version;
 139
 140     // Telemetry control
 141     //
 142     AP_Int16 sysid_this_mav;
 143     AP_Int16 sysid_my_gcs;
 144     AP_Int16 sysid_target;
 145
 146     AP_Float yaw_slew_time;
 147     AP_Float pitch_slew_time;
 148     AP_Float min_reverse_time;
 149     AP_Int16 scan_speed_yaw;
 150     AP_Int16 scan_speed_pitch;
 151
 152     AP_Float start_latitude;
 153     AP_Float start_longitude;
 154
 155     AP_Float startup_delay;
 156     AP_Int8  servo_pitch_type;
 157     AP_Int8  servo_yaw_type;
 158     AP_Int8  alt_source;
 159     AP_Int8  mavlink_update_rate;
 160     AP_Float onoff_yaw_rate;
 161     AP_Float onoff_pitch_rate;
 162     AP_Float onoff_yaw_mintime;
 163     AP_Float onoff_pitch_mintime;
 164     AP_Float yaw_trim;
 165     AP_Float pitch_trim;
 166     AP_Int16 yaw_range;             // yaw axis total range of motion in degrees
 167     AP_Int16 distance_min;          // target's must be at least this distance from tracker to be tracked
 168     AP_Int16 pitch_min;
 169     AP_Int16 pitch_max;
 170     AP_Int16 gcs_pid_mask;
 171     AP_Int8  initial_mode;
 172     AP_Int8 disarm_pwm;
 173     AP_Int8 auto_opts;
 174
 175     // Waypoints
 176     //
 177     AP_Int8 command_total; // 1 if HOME is set
 178
 179     AP_Int32 log_bitmask;
 180
 181     // AC_PID controllers
 182     AC_PID         pidPitch2Srv;
 183     AC_PID         pidYaw2Srv;
 184
 185     Parameters() :
 186         pidPitch2Srv(0.2, 0.0f, 0.05f, 0.02f, 4000.0f, 0.0f, 0.0f, 0.0f, 0.1f),
 187         pidYaw2Srv  (0.2, 0.0f, 0.05f, 0.02f, 4000.0f, 0.0f, 0.0f, 0.0f, 0.1f)
 188         {}
 189 };
 190
 191 extern const AP_Param::Info var_info[];