ArduPlane/Parameters.h

   1 #pragma once
   2
   3 #define AP_PARAM_VEHICLE_NAME plane
   4
   5 #include <AP_Common/AP_Common.h>
   6
   7 // Global parameter class.
   8 //
   9 class Parameters {
  10 public:
  11
  12     /*
  13      *  The value of k_format_version determines whether the existing
  14      *  eeprom data is considered valid. You should only change this
  15      *  value under the following circumstances:
  16      *
  17      *  1) the meaning of an existing eeprom parameter changes
  18      *
  19      *  2) the value of an existing k_param_* enum value changes
  20      *
  21      *  Adding a new parameter should _not_ require a change to
  22      *  k_format_version except under special circumstances. If you
  23      *  change it anyway then all ArduPlane users will need to reload all
  24      *  their parameters. We want that to be an extremely rare
  25      *  thing. Please do not just change it "just in case".
  26      *
  27      *  To determine if a k_param_* value has changed, use the rules of
  28      *  C++ enums to work out the value of the neighboring enum
  29      *  values. If you don't know the C++ enum rules then please ask for
  30      *  help.
  31      */
  32
  33     //////////////////////////////////////////////////////////////////
  34     // STOP!!! DO NOT CHANGE THIS VALUE UNTIL YOU FULLY UNDERSTAND THE
  35     // COMMENTS ABOVE. IF UNSURE, ASK ANOTHER DEVELOPER!!!
  36     static const uint16_t k_format_version = 13;
  37     //////////////////////////////////////////////////////////////////
  38
  39
  40     enum {
  41         // Layout version number, always key zero.
  42         //
  43         k_param_format_version = 0,
  44         k_param_software_type, // unused;
  45         k_param_num_resets, // unused
  46         k_param_NavEKF2,
  47         k_param_g2,
  48         k_param_avoidance_adsb,
  49         k_param_landing,
  50         k_param_NavEKF3,
  51         k_param_can_mgr,
  52         k_param_osd,
  53
  54         // Misc
  55         //
  56         k_param_auto_trim      = 10, // unused
  57         k_param_log_bitmask_old,  // unused
  58         k_param_pitch_trim,
  59         k_param_mix_mode,
  60         k_param_reverse_elevons, // unused
  61         k_param_reverse_ch1_elevon, // unused
  62         k_param_reverse_ch2_elevon, // unused
  63         k_param_flap_1_percent,
  64         k_param_flap_1_speed,
  65         k_param_flap_2_percent,
  66         k_param_flap_2_speed,
  67         k_param_reset_switch_chan, // unused - moved to RC option
  68         k_param_manual_level, // unused
  69         k_param_land_pitch_cd,  // unused - moved to AP_Landing
  70         k_param_ins_old,            // *** Deprecated, remove with next eeprom number change
  71         k_param_stick_mixing,
  72         k_param_reset_mission_chan, // unused - moved to RC option
  73         k_param_land_flare_alt, // unused - moved to AP_Landing
  74         k_param_land_flare_sec, // unused - moved to AP_Landing
  75         k_param_crosstrack_min_distance, // unused
  76         k_param_rudder_steer, // unused
  77         k_param_throttle_nudge,
  78         k_param_alt_offset,
  79         k_param_ins,                // libraries/AP_InertialSensor variables
  80         k_param_takeoff_throttle_min_speed,
  81         k_param_takeoff_throttle_min_accel,
  82         k_param_takeoff_heading_hold, // unused
  83         k_param_level_roll_limit,
  84         k_param_hil_servos_unused,  // unused
  85         k_param_vtail_output, // unused
  86         k_param_nav_controller, // unused
  87         k_param_elevon_output, // unused
  88         k_param_att_controller, // unused
  89         k_param_mixing_gain,
  90         k_param_scheduler,
  91         k_param_relay,
  92         k_param_takeoff_throttle_delay,
  93         k_param_mode_takeoff, // was skip_gyro_cal
  94         k_param_auto_fbw_steer, // unused
  95         k_param_waypoint_max_radius,
  96         k_param_ground_steer_alt,
  97         k_param_ground_steer_dps,
  98         k_param_rally_limit_km_old, //unused anymore -- just holding this index
  99         k_param_hil_err_limit_unused,  // unused
 100         k_param_sonar_old, // unused
 101         k_param_log_bitmask,
 102         k_param_BoardConfig,
 103         k_param_rssi_range,     // unused, replaced by rssi_ library parameters
 104         k_param_flapin_channel_old,  // unused, moved to RC_OPTION
 105         k_param_flaperon_output, // unused
 106         k_param_gps,
 107         k_param_autotune_level,
 108         k_param_rally,
 109         k_param_serial0_baud,           // deprecated
 110         k_param_serial1_baud,           // deprecated
 111         k_param_serial2_baud,           // deprecated
 112         k_param_takeoff_tdrag_elevator,
 113         k_param_takeoff_tdrag_speed1,
 114         k_param_takeoff_rotate_speed,
 115         k_param_takeoff_throttle_slewrate,
 116         k_param_takeoff_throttle_max,
 117         k_param_rangefinder,
 118         k_param_terrain,
 119         k_param_terrain_follow,
 120         k_param_stab_pitch_down_cd_old, // deprecated
 121         k_param_glide_slope_min,
 122         k_param_stab_pitch_down,
 123         k_param_terrain_lookahead,
 124         k_param_fbwa_tdrag_chan, // unused - moved to RC option
 125         k_param_rangefinder_landing,
 126         k_param_land_flap_percent,  // unused - moved to AP_Landing
 127         k_param_takeoff_flap_percent,
 128         k_param_flap_slewrate,
 129         k_param_rtl_autoland,
 130         k_param_override_channel,
 131         k_param_stall_prevention,
 132         k_param_optflow,
 133         k_param_cli_enabled_old, // unused - CLI removed
 134         k_param_trim_rc_at_start, // unused
 135         k_param_hil_mode_unused,  // unused
 136         k_param_land_disarm_delay,  // unused - moved to AP_Landing
 137         k_param_glide_slope_threshold,
 138         k_param_rudder_only,
 139         k_param_gcs3,            // 93
 140         k_param_gcs_pid_mask,
 141         k_param_crash_detection_enable,
 142         k_param_land_abort_throttle_enable, // unused - moved to AP_Landing
 143         k_param_rssi = 97,
 144         k_param_rpm_sensor,
 145         k_param_parachute,
 146         k_param_arming = 100,
 147         k_param_parachute_channel, // unused - moved to RC option
 148         k_param_crash_accel_threshold,
 149         k_param_override_safety, // unused
 150         k_param_land_throttle_slewrate, // 104 unused - moved to AP_Landing
 151
 152         // 105: Extra parameters
 153         k_param_fence_retalt = 105,
 154         k_param_fence_autoenable,
 155         k_param_fence_ret_rally,
 156         k_param_q_attitude_control,
 157         k_param_takeoff_pitch_limit_reduction_sec,
 158
 159         // 110: Telemetry control
 160         //
 161         k_param_gcs0 = 110,         // stream rates for SERIAL0
 162         k_param_gcs1,               // stream rates for SERIAL1
 163         k_param_sysid_this_mav,
 164         k_param_sysid_my_gcs,
 165         k_param_serial1_baud_old,   // deprecated
 166         k_param_telem_delay,
 167         k_param_serial0_baud_old,   // deprecated
 168         k_param_gcs2,               // stream rates for SERIAL2
 169         k_param_serial2_baud_old,   // deprecated
 170         k_param_serial2_protocol,   // deprecated
 171
 172         // 120: Fly-by-wire control
 173         //
 174         k_param_airspeed_min = 120,
 175         k_param_airspeed_max,
 176         k_param_cruise_alt_floor,
 177         k_param_flybywire_elev_reverse,
 178         k_param_alt_control_algorithm, // unused
 179         k_param_flybywire_climb_rate,
 180         k_param_acro_roll_rate,
 181         k_param_acro_pitch_rate,
 182         k_param_acro_locking,
 183         k_param_use_reverse_thrust = 129,
 184
 185         //
 186         // 130: Sensor parameters
 187         //
 188         k_param_imu = 130,  // unused
 189         k_param_altitude_mix, // deprecated
 190
 191         k_param_compass_enabled_deprecated,
 192         k_param_compass,
 193         k_param_battery_monitoring, // unused
 194         k_param_volt_div_ratio,     // unused
 195         k_param_curr_amp_per_volt,  // unused
 196         k_param_input_voltage, // deprecated, can be deleted
 197         k_param_pack_capacity,      // unused
 198         k_param_sonar_enabled_old,  // unused
 199         k_param_ahrs,  // AHRS group
 200         k_param_barometer,   // barometer ground calibration
 201         k_param_airspeed,           // only used for parameter conversion; AP_Airspeed parameters moved to AP_Vehicle
 202         k_param_curr_amp_offset,
 203         k_param_NavEKF,  // deprecated - remove
 204         k_param_mission, // mission library
 205         k_param_serial_manager_old, // serial manager library
 206         k_param_NavEKF2_old,  // deprecated - remove
 207         k_param_land_pre_flare_alt, // unused - moved to AP_Landing
 208         k_param_land_pre_flare_airspeed = 149,  // unused - moved to AP_Landing
 209
 210         //
 211         // 150: Navigation parameters
 212         //
 213         k_param_crosstrack_gain = 150, // unused
 214         k_param_crosstrack_entry_angle, // unused
 215         k_param_roll_limit,
 216         k_param_pitch_limit_max,
 217         k_param_pitch_limit_min,
 218         k_param_airspeed_cruise,
 219         k_param_RTL_altitude,
 220         k_param_inverted_flight_ch_unused, // unused
 221         k_param_min_groundspeed,
 222         k_param_crosstrack_use_wind, // unused
 223
 224
 225         //
 226         // Camera and mount parameters
 227         //
 228         k_param_camera = 160,
 229         k_param_camera_mount,
 230         k_param_camera_mount2,      // unused
 231         k_param_adsb,
 232         k_param_notify,
 233         k_param_land_pre_flare_sec = 165,   // unused - moved to AP_Landing
 234
 235         //
 236         // Battery monitoring parameters
 237         //
 238         k_param_battery = 166,
 239         k_param_rssi_pin,               // unused, replaced by rssi_ library parameters - 167
 240         k_param_battery_volt_pin,       // unused - 168
 241         k_param_battery_curr_pin,       // unused - 169
 242
 243         //
 244         // 170: Radio settings - all unused now
 245         //
 246         k_param_rc_1_old = 170,
 247         k_param_rc_2_old,
 248         k_param_rc_3_old,
 249         k_param_rc_4_old,
 250         k_param_rc_5_old,
 251         k_param_rc_6_old,
 252         k_param_rc_7_old,
 253         k_param_rc_8_old,
 254         k_param_rc_9_old,
 255         k_param_rc_10_old,
 256         k_param_rc_11_old,
 257
 258         k_param_throttle_min,
 259         k_param_throttle_max,
 260         k_param_throttle_fs_enabled,
 261         k_param_throttle_fs_value,
 262         k_param_throttle_cruise,
 263
 264         k_param_fs_action_short,
 265         k_param_fs_action_long,
 266         k_param_gcs_heartbeat_fs_enabled,
 267         k_param_throttle_slewrate,
 268         k_param_throttle_suppress_manual,
 269         k_param_throttle_passthru_stabilize,
 270         k_param_rc_12_old,
 271         k_param_fs_batt_voltage, // unused - moved to AP_BattMonitor
 272         k_param_fs_batt_mah,     // unused - moved to AP_BattMonitor
 273         k_param_fs_timeout_short,
 274         k_param_fs_timeout_long,
 275         k_param_rc_13_old,
 276         k_param_rc_14_old,
 277         k_param_tuning,
 278
 279         //
 280         // 200: Feed-forward gains
 281         //
 282         k_param_kff_pitch_compensation = 200, // unused
 283         k_param_kff_rudder_mix,
 284         k_param_kff_pitch_to_throttle, // unused
 285         k_param_kff_throttle_to_pitch,
 286         k_param_scaling_speed,
 287         k_param_quadplane,
 288         k_param_rtl_radius,
 289         k_param_land_then_servos_neutral,   // unused - moved to AP_Landing
 290         k_param_rc_15_old,
 291         k_param_rc_16_old,
 292
 293         //
 294         // 210: flight modes
 295         //
 296         k_param_flight_mode_channel = 210,
 297         k_param_flight_mode1,
 298         k_param_flight_mode2,
 299         k_param_flight_mode3,
 300         k_param_flight_mode4,
 301         k_param_flight_mode5,
 302         k_param_flight_mode6,
 303         k_param_initial_mode,
 304         k_param_land_slope_recalc_shallow_threshold,    // unused - moved to AP_Landing
 305         k_param_land_slope_recalc_steep_threshold_to_abort, // unused - moved to AP_Landing
 306
 307         //
 308         // 220: Waypoint data
 309         //
 310         k_param_waypoint_mode = 220, // unused
 311         k_param_command_total,  // unused
 312         k_param_command_index,  // unused
 313         k_param_waypoint_radius,
 314         k_param_loiter_radius,
 315         k_param_fence_action,
 316         k_param_fence_total,
 317         k_param_fence_channel, // unused - moved to RC option
 318         k_param_fence_minalt,
 319         k_param_fence_maxalt,
 320
 321         // other objects
 322         k_param_sitl = 230,
 323         k_param_afs,
 324         k_param_rollController,
 325         k_param_pitchController,
 326         k_param_yawController,
 327         k_param_L1_controller,
 328         k_param_rcmap,
 329         k_param_TECS_controller,
 330         k_param_rally_total_old,  //unused
 331         k_param_steerController,
 332
 333         //
 334         // 240: PID Controllers
 335         k_param_pidNavRoll = 240, // unused
 336         k_param_pidServoRoll, // unused
 337         k_param_pidServoPitch, // unused
 338         k_param_pidNavPitchAirspeed, // unused
 339         k_param_pidServoRudder, // unused
 340         k_param_pidTeThrottle, // unused
 341         k_param_pidNavPitchAltitude, // unused
 342         k_param_pidWheelSteer, // unused
 343
 344         k_param_mixing_offset,
 345         k_param_dspoiler_rud_rate,
 346
 347         k_param_logger = 253, // Logging Group
 348
 349         // 254,255: reserved
 350
 351         k_param_vehicle = 257, // vehicle common block of parameters
 352         k_param_gcs4,          // stream rates
 353         k_param_gcs5,          // stream rates
 354         k_param_gcs6,          // stream rates
 355         k_param_fence,         // vehicle fence - unused
 356         k_param_acro_yaw_rate,
 357         k_param_takeoff_throttle_max_t,
 358         k_param_autotune_options,
 359     };
 360
 361     AP_Int16 format_version;
 362
 363     // Telemetry control
 364     //
 365     AP_Int16 sysid_this_mav;
 366     AP_Int16 sysid_my_gcs;
 367     AP_Int8 telem_delay;
 368
 369     AP_Enum<RtlAutoland> rtl_autoland;
 370
 371     AP_Int8  crash_accel_threshold;
 372
 373     // Feed-forward gains
 374     //
 375     AP_Float kff_rudder_mix;
 376     AP_Float kff_pitch_to_throttle;
 377     AP_Float kff_throttle_to_pitch;
 378     AP_Float ground_steer_alt;
 379     AP_Int16 ground_steer_dps;
 380     AP_Float stab_pitch_down;
 381
 382     // speed used for speed scaling
 383     AP_Float scaling_speed;
 384
 385     // Waypoints
 386     //
 387     AP_Int16 waypoint_radius;
 388     AP_Int16 waypoint_max_radius;
 389     AP_Int16 rtl_radius;
 390
 391     // Fly-by-wire
 392     //
 393     AP_Int8 flybywire_elev_reverse;
 394     AP_Int8 flybywire_climb_rate;
 395
 396     // Throttle
 397     //
 398     AP_Int8 throttle_suppress_manual;
 399     AP_Int8 throttle_passthru_stabilize;
 400     AP_Int8 throttle_fs_enabled;
 401     AP_Int16 throttle_fs_value;
 402     AP_Int8 throttle_nudge;
 403     AP_Int32 use_reverse_thrust;
 404
 405     // Failsafe
 406     AP_Int8 fs_action_short;
 407     AP_Int8 fs_action_long;
 408     AP_Float fs_timeout_short;
 409     AP_Float fs_timeout_long;
 410     AP_Int8 gcs_heartbeat_fs_enabled;
 411
 412     // Flight modes
 413     //
 414     AP_Int8 flight_mode_channel;
 415     AP_Int8 flight_mode1;
 416     AP_Int8 flight_mode2;
 417     AP_Int8 flight_mode3;
 418     AP_Int8 flight_mode4;
 419     AP_Int8 flight_mode5;
 420     AP_Int8 flight_mode6;
 421     AP_Int8 initial_mode;
 422
 423     // Navigational manoeuvring limits
 424     //
 425     AP_Int16 alt_offset;
 426     AP_Int16 acro_roll_rate;
 427     AP_Int16 acro_pitch_rate;
 428     AP_Int16 acro_yaw_rate;
 429     AP_Int8  acro_locking;
 430
 431     // Misc
 432     //
 433     AP_Int8 rudder_only;
 434     AP_Float mixing_gain;
 435     AP_Int16 mixing_offset;
 436     AP_Int16 dspoiler_rud_rate;
 437     AP_Int32 log_bitmask;
 438     AP_Float RTL_altitude;
 439     AP_Float pitch_trim;
 440     AP_Float cruise_alt_floor;
 441
 442     AP_Int8 flap_1_percent;
 443     AP_Int8 flap_1_speed;
 444     AP_Int8 flap_2_percent;
 445     AP_Int8 flap_2_speed;
 446     AP_Int8 takeoff_flap_percent;
 447     AP_Enum<StickMixing> stick_mixing;
 448     AP_Float takeoff_throttle_min_speed;
 449     AP_Float takeoff_throttle_min_accel;
 450     AP_Int8 takeoff_throttle_delay;
 451     AP_Int8 takeoff_tdrag_elevator;
 452     AP_Float takeoff_tdrag_speed1;
 453     AP_Float takeoff_rotate_speed;
 454     AP_Int8 takeoff_throttle_slewrate;
 455     AP_Float takeoff_pitch_limit_reduction_sec;
 456     AP_Int8 level_roll_limit;
 457 #if AP_TERRAIN_AVAILABLE
 458     AP_Int32 terrain_follow;
 459     AP_Int16 terrain_lookahead;
 460 #endif
 461     AP_Int16 glide_slope_min;
 462     AP_Float glide_slope_threshold;
 463     AP_Int8 rangefinder_landing;
 464     AP_Int8 flap_slewrate;
 465 #if HAL_WITH_IO_MCU
 466     AP_Int8 override_channel;
 467 #endif
 468     AP_Int16 gcs_pid_mask;
 469 };
 470
 471 /*
 472   2nd block of parameters, to avoid going past 256 top level keys
 473  */
 474 class ParametersG2 {
 475 public:
 476     ParametersG2(void);
 477
 478     // var_info for holding Parameter information
 479     static const struct AP_Param::GroupInfo var_info[];
 480
 481     // button reporting library
 482 #if HAL_BUTTON_ENABLED
 483     AP_Button *button_ptr;
 484 #endif
 485
 486 #if AP_ICENGINE_ENABLED
 487     // internal combustion engine control
 488     AP_ICEngine ice_control;
 489 #endif
 490
 491     // RC input channels
 492     RC_Channels_Plane rc_channels;
 493
 494     // control over servo output ranges
 495     SRV_Channels servo_channels;
 496
 497     // whether to enforce acceptance of packets only from sysid_my_gcs
 498     AP_Int8 sysid_enforce;
 499
 500 #if HAL_SOARING_ENABLED
 501     // ArduSoar parameters
 502     SoaringController soaring_controller;
 503 #endif
 504
 505     // dual motor tailsitter rudder to differential thrust scaling: 0-100%
 506     AP_Int8 rudd_dt_gain;
 507
 508     // mask of channels to do manual pass-thru for
 509     AP_Int32 manual_rc_mask;
 510
 511     // home reset altitude threshold
 512     AP_Int8 home_reset_threshold;
 513
 514     AP_Int32 flight_options;
 515
 516     AP_Int8 takeoff_throttle_accel_count;
 517     AP_Int8 takeoff_timeout;
 518
 519 #if AP_LANDINGGEAR_ENABLED
 520     AP_LandingGear landing_gear;
 521 #endif
 522
 523 #if AC_PRECLAND_ENABLED
 524     AC_PrecLand precland;
 525 #endif
 526
 527     // crow flaps weighting
 528     AP_Int8 crow_flap_weight_outer;
 529     AP_Int8 crow_flap_weight_inner;
 530     AP_Int8 crow_flap_options;
 531     AP_Int8 crow_flap_aileron_matching;
 532
 533     // Forward throttle battery voltage compensation
 534     class FWD_BATT_CMP {
 535     public:
 536         // Calculate the throttle scale to compensate for battery voltage drop
 537         void update();
 538
 539         // Apply throttle scale to min and max limits
 540         void apply_min_max(int8_t &min_throttle, int8_t &max_throttle) const;
 541
 542         // Apply throttle scale to throttle demand
 543         float apply_throttle(float throttle) const;
 544
 545         AP_Float batt_voltage_max;
 546         AP_Float batt_voltage_min;
 547         AP_Int8  batt_idx;
 548
 549     private:
 550         bool enabled;
 551         float ratio;
 552     } fwd_batt_cmp;
 553
 554
 555 #if OFFBOARD_GUIDED == ENABLED
 556     // guided yaw heading PID
 557     AC_PID guidedHeading{5000.0,  0.0,   0.0, 0 ,  10.0,   5.0,  5.0 ,  5.0  , 0.0};
 558 #endif
 559
 560 #if AP_SCRIPTING_ENABLED && AP_FOLLOW_ENABLED
 561     AP_Follow follow;
 562 #endif
 563
 564     AP_Float        fs_ekf_thresh;
 565
 566     // min initial climb in RTL
 567     AP_Int16        rtl_climb_min;
 568
 569     AP_Int8         man_expo_roll;
 570     AP_Int8         man_expo_pitch;
 571     AP_Int8         man_expo_rudder;
 572
 573     AP_Int32        oneshot_mask;
 574
 575     AP_Int8         axis_bitmask; // axes to be autotuned
 576
 577     // just to make compilation easier when all things are compiled out...
 578     uint8_t unused_integer;
 579 };
 580
 581 extern const AP_Param::Info var_info[];