#include <sys/stat.h>
#include <fcntl.h>
#endif
#include <sys/types.h>
#include <errno.h>
extern const AP_HAL::HAL& hal;
// table of user settable parameters
const AP_Param::GroupInfo AP_Terrain::var_info[] = {
// @Param: ENABLE
// @DisplayName: Terrain data enable
// @Description: enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.
// @Values: 0:Disable,1:Enable
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 0, AP_Terrain, enable, 1, AP_PARAM_FLAG_ENABLE),
// @Param: SPACING
// @DisplayName: Terrain grid spacing
// @Description: Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed.
// @Units: m
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("SPACING", 1, AP_Terrain, grid_spacing, 100),
AP_GROUPEND
};
// constructor
AP_Terrain::AP_Terrain(const AP_Mission &_mission, const AP_Rally &_rally) :
mission(_mission),
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
#define ADSB_LIST_RADIUS_DEFAULT 10000 // in meters
#else // APM_BUILD_TYPE(APM_BUILD_ArduCopter), Rover, Boat
#define ADSB_LIST_RADIUS_DEFAULT 2000 // in meters
#endif
extern const AP_HAL::HAL& hal;
// table of user settable parameters
const AP_Param::GroupInfo AP_ADSB::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable ADSB
// @Description: Enable ADS-B
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO_FLAGS("ENABLE", 0, AP_ADSB, _enabled, 0, AP_PARAM_FLAG_ENABLE),
// index 1 is reserved - was BEHAVIOR
// @Param: LIST_MAX
// @DisplayName: ADSB vehicle list size
// @Description: ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values.
// @Range: 1 100
// @User: Advanced
AP_GROUPINFO("LIST_MAX", 2, AP_ADSB, in_state.list_size_param, ADSB_VEHICLE_LIST_SIZE_DEFAULT),
// @Param: LIST_RADIUS
// @DisplayName: ADSB vehicle list radius filter
// @Description: ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations.
// @Range: 1 100000
#include "AP_Soaring.h"
#include <GCS_MAVLink/GCS.h>
#include <stdint.h>
extern const AP_HAL::HAL& hal;
// ArduSoar parameters
const AP_Param::GroupInfo SoaringController::var_info[] = {
// @Param: ENABLE
// @DisplayName: Is the soaring mode enabled or not
// @Description: Toggles the soaring mode on and off
// @Values: 0:Disable,1:Enable
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 1, SoaringController, soar_active, 0, AP_PARAM_FLAG_ENABLE),
// @Param: VSPEED
// @DisplayName: Vertical v-speed
// @Description: Rate of climb to trigger themalling speed
// @Units: m/s
// @Range: 0 10
// @User: Advanced
AP_GROUPINFO("VSPEED", 2, SoaringController, thermal_vspeed, 0.7f),
// @Param: Q1
// @DisplayName: Process noise
// @Description: Standard deviation of noise in process for strength
// @Units:
// @Range: 0 10
// @User: Advanced
AP_GROUPINFO("Q1", 3, SoaringController, thermal_q1, 0.001f),
#else
#define ARSPD_DEFAULT_PIN 0
#endif
#ifndef PSI_RANGE_DEFAULT
#define PSI_RANGE_DEFAULT 1.0f
#endif
// table of user settable parameters
const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
// @Param: ENABLE
// @DisplayName: Airspeed enable
// @Description: enable airspeed sensor
// @Values: 0:Disable,1:Enable
AP_GROUPINFO_FLAGS("ENABLE", 0, AP_Airspeed, _enable, 1, AP_PARAM_FLAG_ENABLE),
// @Param: USE
// @DisplayName: Airspeed use
// @Description: use airspeed for flight control
// @Values: 1:Use,0:Don't Use
AP_GROUPINFO("USE", 1, AP_Airspeed, _use, 0),
// @Param: OFFSET
// @DisplayName: Airspeed offset
// @Description: Airspeed calibration offset
// @Increment: 0.1
AP_GROUPINFO("OFFSET", 2, AP_Airspeed, _offset, 0),
// @Param: RATIO
// @DisplayName: Airspeed ratio
#include "AC_PrecLand_Companion.h"
#include "AC_PrecLand_IRLock.h"
#include "AC_PrecLand_SITL_Gazebo.h"
#include "AC_PrecLand_SITL.h"
#include <AP_AHRS/AP_AHRS.h>
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
// @Param: ENABLED
// @DisplayName: Precision Land enabled/disabled and behaviour
// @Description: Precision Land enabled/disabled and behaviour
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLED", 0, AC_PrecLand, _enabled, 0, AP_PARAM_FLAG_ENABLE),
// @Param: TYPE
// @DisplayName: Precision Land Type
// @Description: Precision Land Type
// @Values: 0:None, 1:CompanionComputer, 2:IRLock, 3:SITL_Gazebo, 4:SITL
// @User: Advanced
AP_GROUPINFO("TYPE", 1, AC_PrecLand, _type, 0),
// @Param: YAW_ALIGN
// @DisplayName: Sensor yaw alignment
// @Description: Yaw angle from body x-axis to sensor x-axis.
// @Range: 0 360
// @Increment: 1
// @User: Advanced
// @Units: cdeg
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Plane.h"
const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable QuadPlane
// @Description: This enables QuadPlane functionality, assuming quad motors on outputs 5 to 8
// @Values: 0:Disable,1:Enable
// @User: Standard
AP_GROUPINFO_FLAGS("ENABLE", 1, QuadPlane, enable, 0, AP_PARAM_FLAG_ENABLE),
// @Group: M_
// @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
AP_SUBGROUPPTR(motors, "M_", 2, QuadPlane, AP_MotorsQuad),
// @Param: RT_RLL_P
// @DisplayName: Roll axis rate controller P gain
// @Description: Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output
// @Range: 0.08 0.30
// @Increment: 0.005
// @User: Standard
// @Param: RT_RLL_I
// @DisplayName: Roll axis rate controller I gain
// @Description: Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
// @Range: 0.01 0.5
// @Increment: 0.01
// @User: Standard
#define PSI_RANGE_DEFAULT 0.05
#endif
#ifndef PSI_RANGE_DEFAULT
#define PSI_RANGE_DEFAULT 1.0f
#endif
// table of user settable parameters
const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
// @Param: _TYPE
// @DisplayName: Airspeed type
// @Description: Type of airspeed sensor
// @Values: 0:None,1:I2C-MS4525D0,2:Analog,3:I2C-MS5525,4:I2C-MS5525 (0x76),5:I2C-MS5525 (0x77),6:I2C-SDP3X,7:I2C-DLVR,8:UAVCAN
// @User: Standard
AP_GROUPINFO_FLAGS("_TYPE", 0, AP_Airspeed, param[0].type, ARSPD_DEFAULT_TYPE, AP_PARAM_FLAG_ENABLE),
// @Param: _USE
// @DisplayName: Airspeed use
// @Description: use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller
// @Values: 0:Don't Use,1:use,2:UseWhenZeroThrottle
// @User: Standard
AP_GROUPINFO("_USE", 1, AP_Airspeed, param[0].use, 0),
// @Param: _OFFSET
// @DisplayName: Airspeed offset
// @Description: Airspeed calibration offset
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("_OFFSET", 2, AP_Airspeed, param[0].offset, 0),
#include "RC_Channel.h"
/// global array with pointers to all APM RC channels, will be used by AP_Mount
/// and AP_Camera classes / It points to RC input channels.
RC_Channel *RC_Channel::rc_ch[RC_MAX_CHANNELS];
const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Param: MIN
// @DisplayName: RC min PWM
// @Description: RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
// @Units: pwm
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO_FLAGS("MIN", 0, RC_Channel, radio_min, 1100, AP_PARAM_NO_SHIFT),
// @Param: TRIM
// @DisplayName: RC trim PWM
// @Description: RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
// @Units: pwm
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("TRIM", 1, RC_Channel, radio_trim, 1500),
// @Param: MAX
// @DisplayName: RC max PWM
// @Description: RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
// @Units: pwm
// @Range: 800 2200
#include <AP_HAL/AP_HAL.h>
#include "AC_Sprayer.h"
extern const AP_HAL::HAL& hal;
// ------------------------------
const AP_Param::GroupInfo AC_Sprayer::var_info[] = {
// @Param: ENABLE
// @DisplayName: Sprayer enable/disable
// @Description: Allows you to enable (1) or disable (0) the sprayer
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO_FLAGS("ENABLE", 0, AC_Sprayer, _enabled, 0, AP_PARAM_FLAG_ENABLE),
// @Param: PUMP_RATE
// @DisplayName: Pump speed
// @Description: Desired pump speed when traveling 1m/s expressed as a percentage
// @Units: percentage
// @Range: 0 100
// @User: Standard
AP_GROUPINFO("PUMP_RATE", 1, AC_Sprayer, _pump_pct_1ms, AC_SPRAYER_DEFAULT_PUMP_RATE),
// @Param: SPINNER
// @DisplayName: Spinner rotation speed
// @Description: Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)
// @Units: ms
// @Range: 1000 2000
// @User: Standard
AP_GROUPINFO("SPINNER", 2, AC_Sprayer, _spinner_pwm, AC_SPRAYER_DEFAULT_SPINNER_PWM),
#include <AP_Common/AP_Common.h>
#include "AP_BoardConfig.h"
#if HAL_WITH_UAVCAN
#include "AP_BoardConfig_CAN.h"
#include <AP_UAVCAN/AP_UAVCAN.h>
// table of user settable CAN bus parameters
const AP_Param::GroupInfo AP_BoardConfig_CAN::CAN_if_var_info::var_info[] = {
// @Param: DRIVER
// @DisplayName: Index of virtual driver to be used with physical CAN interface
// @Description: Enabling this option enables use of CAN buses.
// @Values: 0:Disabled,1:First driver,2:Second driver
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO_FLAGS("DRIVER", 1, AP_BoardConfig_CAN::CAN_if_var_info, _driver_number, 0, AP_PARAM_FLAG_ENABLE),
// @Param: BITRATE
// @DisplayName: Bitrate of CAN interface
// @Description: Bit rate can be set up to from 10000 to 1000000
// @Range: 10000 1000000
// @User: Advanced
AP_GROUPINFO("BITRATE", 2, AP_BoardConfig_CAN::CAN_if_var_info, _can_bitrate, 1000000),
// @Param: DEBUG
// @DisplayName: Level of debug for CAN devices
// @Description: Enabling this option will provide debug messages
// @Values: 0:Disabled,1:Major messages,2:All messages
// @User: Advanced
AP_GROUPINFO("DEBUG", 3, AP_BoardConfig_CAN::CAN_if_var_info, _can_debug, 2),
#define FLOW_I_GATE_DEFAULT 300
#define CHECK_SCALER_DEFAULT 100
#endif // APM_BUILD_DIRECTORY
extern const AP_HAL::HAL& hal;
// Define tuning parameters
const AP_Param::GroupInfo NavEKF2::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable EKF2
// @Description: This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 0, NavEKF2, _enable, 1, AP_PARAM_FLAG_ENABLE),
// GPS measurement parameters
// @Param: GPS_TYPE
// @DisplayName: GPS mode control
// @Description: This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = use no GPS (optical flow will be used if available)
// @Values: 0:GPS 3D Vel and 2D Pos, 1:GPS 2D vel and 2D pos, 2:GPS 2D pos, 3:No GPS use optical flow
// @User: Advanced
AP_GROUPINFO("GPS_TYPE", 1, NavEKF2, _fusionModeGPS, 0),
// @Param: VELNE_M_NSE
// @DisplayName: GPS horizontal velocity measurement noise (m/s)
// @Description: This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.
// @Range: 0.05 5.0
// @Increment: 0.05
#include <AP_WheelEncoder/AP_WheelRateControl.h>
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_WheelRateControl::var_info[] = {
// @Param: _ENABLE
// @DisplayName: Wheel rate control enable/disable
// @Description: Enable or disable wheel rate control
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO_FLAGS("_ENABLE", 1, AP_WheelRateControl, _enabled, 0, AP_PARAM_FLAG_ENABLE),
// @Param: _RATE_MAX
// @DisplayName: Wheel max rotation rate
// @Description: Wheel max rotation rate
// @Units: rad/s
// @Range: 0 200
// @User: Standard
AP_GROUPINFO("_RATE_MAX", 2, AP_WheelRateControl, _rate_max, AP_WHEEL_RATE_MAX_DEFAULT),
// @Param: _RATE_FF
// @DisplayName: Wheel rate control feed forward gain
// @Description: Wheel rate control feed forward gain. Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)
// @Range: 0.100 2.000
// @User: Standard
// @Param: _RATE_P
// @DisplayName: Wheel rate control P gain
// @Description: Wheel rate control P gain. Converts rate error (in radians/sec) to output (in the range -1 to +1)
// @Range: 0.100 2.000
// @User: Standard
#include <SRV_Channel/SRV_Channel.h>
#include <GCS_MAVLink/GCS.h>
#include "AP_ICEngine.h"
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable ICEngine control
// @Description: This enables internal combusion engine control
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 0, AP_ICEngine, enable, 0, AP_PARAM_FLAG_ENABLE),
// @Param: START_CHAN
// @DisplayName: Input channel for engine start
// @Description: This is an RC input channel for requesting engine start. Engine will try to start when channel is at or above 1700. Engine will stop when channel is at or below 1300. Between 1301 and 1699 the engine will not change state unless a MAVLink command or mission item commands a state change, or the vehicle is disamed.
// @User: Standard
// @Values: 0:None,1:Chan1,2:Chan2,3:Chan3,4:Chan4,5:Chan5,6:Chan6,7:Chan7,8:Chan8,9:Chan9,10:Chan10,11:Chan11,12:Chan12,13:Chan13,14:Chan14,15:Chan15,16:Chan16
AP_GROUPINFO("START_CHAN", 1, AP_ICEngine, start_chan, 0),
// @Param: STARTER_TIME
// @DisplayName: Time to run starter
// @Description: This is the number of seconds to run the starter when trying to start the engine
// @User: Standard
// @Units: s
// @Range: 0.1 5
AP_GROUPINFO("STARTER_TIME", 2, AP_ICEngine, starter_time, 3),
// @User: Standard
AP_GROUPINFO("COL_DIR", 2, AP_MotorsHeli_Swash, _swash_coll_dir, COLLECTIVE_DIRECTION_NORMAL),
// @Param: LIN_SVO
// @DisplayName: Linearize swashplate servo mechanical throw
// @Description: This linearizes the swashplate servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("LIN_SVO", 3, AP_MotorsHeli_Swash, _linear_swash_servo, 0),
// @Param: H3_ENABLE
// @DisplayName: Enable generic H3 swashplate settings
// @Description: Automatically set when H3 generic swash type is selected. Do not set manually.
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
AP_GROUPINFO_FLAGS("H3_ENABLE", 4, AP_MotorsHeli_Swash, enable, 0, AP_PARAM_FLAG_ENABLE),
// @Param: H3_SV1_POS
// @DisplayName: servo 1 position
// @Description: Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg
// @Range: -180 180
// @Units: deg
// @User: Advanced
AP_GROUPINFO("H3_SV1_POS", 5, AP_MotorsHeli_Swash, _servo1_pos, -60),
// @Param: H3_SV2_POS
// @DisplayName: servo 2 position
// @Description: Azimuth position on swashplate for servo 2 with the front of the heli being 0 deg
// @Range: -180 180
// @Units: deg
// @User: Advanced
#if AVOIDANCE_DEBUGGING
#include <stdio.h>
#define debug(fmt, args ...) do {::fprintf(stderr,"%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
#else
#define debug(fmt, args ...)
#endif
// table of user settable parameters
const AP_Param::GroupInfo AP_Avoidance::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable Avoidance using ADSB
// @Description: Enable Avoidance using ADSB
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 1, AP_Avoidance, _enabled, 0, AP_PARAM_FLAG_ENABLE),
// @Param: F_ACTION
// @DisplayName: Collision Avoidance Behavior
// @Description: Specifies aircraft behaviour when a collision is imminent
// The following values should come from the mavlink COLLISION_ACTION enum
// @Values: 0:None,1:Report,2:Climb Or Descend,3:Move Horizontally,4:Move Perpendicularly in 3D,5:RTL,6:Hover
// @User: Advanced
AP_GROUPINFO("F_ACTION", 2, AP_Avoidance, _fail_action, MAV_COLLISION_ACTION_REPORT),
// @Param: W_ACTION
// @DisplayName: Collision Avoidance Behavior - Warn
// @Description: Specifies aircraft behaviour when a collision may occur
// The following values should come from the mavlink COLLISION_ACTION enum
// @Values: 0:None,1:Report
// @User: Advanced
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/Util.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_AHRS/AP_AHRS.h>
#include <utility>
#include <AP_Notify/AP_Notify.h>
const AP_Param::GroupInfo AP_OSD::var_info[] = {
// @Param: _TYPE
// @DisplayName: OSD type
// @Description: OSD type
// @Values: 0:None,1:MAX7456
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO_FLAGS("_TYPE", 1, AP_OSD, osd_type, 0, AP_PARAM_FLAG_ENABLE),
// @Param: _CHAN
// @DisplayName: Screen switch transmitter channel
// @Description: This sets the channel used to switch different OSD screens.
// @Values: 0:Disable,5:Chan5,6:Chan6,7:Chan7,8:Chan8,9:Chan9,10:Chan10,11:Chan11,12:Chan12,13:Chan13,14:Chan14,15:Chan15,16:Chan16
// @User: Standard
AP_GROUPINFO("_CHAN", 2, AP_OSD, rc_channel, 0),
// @Group: 1_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[0], "1_", 3, AP_OSD, AP_OSD_Screen),
// @Group: 2_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[1], "2_", 4, AP_OSD, AP_OSD_Screen),
#define AP_ARMING_COMPASS_OFFSETS_MAX 600
#define AP_ARMING_COMPASS_MAGFIELD_MIN 185 // 0.35 * 530 milligauss
#define AP_ARMING_COMPASS_MAGFIELD_MAX 875 // 1.65 * 530 milligauss
#define AP_ARMING_BOARD_VOLTAGE_MIN 4.3f
#define AP_ARMING_BOARD_VOLTAGE_MAX 5.8f
#define AP_ARMING_ACCEL_ERROR_THRESHOLD 0.75f
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_Arming::var_info[] = {
// @Param: REQUIRE
// @DisplayName: Require Arming Motors
// @Description: Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, require rudder stick or GCS arming before arming motors and send THR_MIN PWM to throttle channel when disarmed. If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane. Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure.
// @Values: 0:Disabled,1:THR_MIN PWM when disarmed,2:0 PWM when disarmed
// @User: Advanced
AP_GROUPINFO_FLAGS("REQUIRE", 0, AP_Arming, require, 1, AP_PARAM_NO_SHIFT),
// @Param: CHECK
// @DisplayName: Arm Checks to Peform (bitmask)
// @Description: Checks prior to arming motor. This is a bitmask of checks that will be performed befor allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks.
// @Values: 0:None,1:All,2:Barometer,4:Compass,8:GPS Lock,16:INS(INertial Sensors - accels & gyros),32:Parameters(unused),64:RC Failsafe,128:Board voltage,256:Battery Level,512:Airspeed,1024:LoggingAvailable,2048:Hardware safety switch,4096:GPS configuration
// @Bitmask: 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration
// @User: Standard
AP_GROUPINFO("CHECK", 2, AP_Arming, checks_to_perform, ARMING_CHECK_ALL),
// @Param: ACCTHRESH
// @DisplayName: Accelerometer error threshold
// @Description: Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.
// @Units: m/s/s
// @Range: 0.25 3.0
// @User: Advanced
*/
#include <AP_HAL/AP_HAL.h>
#include "AP_AdvancedFailsafe.h"
#include <RC_Channel/RC_Channel.h>
#include <SRV_Channel/SRV_Channel.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
// table of user settable parameters
const AP_Param::GroupInfo AP_AdvancedFailsafe::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable Advanced Failsafe
// @Description: This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 11, AP_AdvancedFailsafe, _enable, 0, AP_PARAM_FLAG_ENABLE),
// @Param: MAN_PIN
// @DisplayName: Manual Pin
// @Description: This sets a digital output pin to set high when in manual mode
// @User: Advanced
AP_GROUPINFO("MAN_PIN", 0, AP_AdvancedFailsafe, _manual_pin, -1),
// @Param: HB_PIN
// @DisplayName: Heartbeat Pin
// @Description: This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination.
// @User: Advanced
AP_GROUPINFO("HB_PIN", 1, AP_AdvancedFailsafe, _heartbeat_pin, -1),
// @Param: WP_COMMS
// @DisplayName: Comms Waypoint
ntchsig = sample;
T output = (ntchsig*b0 + ntchsig1*b1 + ntchsig2*b2 - signal1*a1 - signal2*a2) * a0_inv;
signal2 = signal1;
signal1 = output;
return output;
}
// table of user settable parameters
const AP_Param::GroupInfo NotchFilterVector3fParam::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable
// @Description: Enable notch filter
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 1, NotchFilterVector3fParam, enable, 0, AP_PARAM_FLAG_ENABLE),
// @Param: FREQ
// @DisplayName: Frequency
// @Description: Notch center frequency in Hz
// @Range: 10 200
// @Units: Hz
// @User: Advanced
AP_GROUPINFO("FREQ", 2, NotchFilterVector3fParam, center_freq_hz, 80),
// @Param: BW
// @DisplayName: Bandwidth
// @Description: Notch bandwidth in Hz
// @Range: 5 50
// @Units: Hz
// @User: Advanced
#include <SRV_Channel/SRV_Channel.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_Parachute::var_info[] = {
// @Param: ENABLED
// @DisplayName: Parachute release enabled or disabled
// @Description: Parachute release enabled or disabled
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO_FLAGS("ENABLED", 0, AP_Parachute, _enabled, 0, AP_PARAM_FLAG_ENABLE),
// @Param: TYPE
// @DisplayName: Parachute release mechanism type (relay or servo)
// @Description: Parachute release mechanism type (relay or servo)
// @Values: 0:First Relay,1:Second Relay,2:Third Relay,3:Fourth Relay,10:Servo
// @User: Standard
AP_GROUPINFO("TYPE", 1, AP_Parachute, _release_type, AP_PARACHUTE_TRIGGER_TYPE_RELAY_0),
// @Param: SERVO_ON
// @DisplayName: Parachute Servo ON PWM value
// @Description: Parachute Servo PWM value in microseconds when parachute is released
// @Range: 1000 2000
// @Units: PWM
// @Increment: 1
// @User: Standard
#include "AP_BattMonitor_Analog.h"
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
#define DEFAULT_LOW_BATTERY_VOLTAGE 10.5f
#else
#define DEFAULT_LOW_BATTERY_VOLTAGE 0.0f
#endif // APM_BUILD_TYPE(APM_BUILD_ArduCopter)
const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
// @Param: MONITOR
// @DisplayName: Battery monitoring
// @Description: Controls enabling monitoring of the battery's voltage and current
// @Values: 0:Disabled,3:Analog Voltage Only,4:Analog Voltage and Current,5:Solo,6:Bebop,7:SMBus-Maxell,8:UAVCAN-BatteryInfo
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO_FLAGS("MONITOR", 1, AP_BattMonitor_Params, _type, BattMonitor_TYPE_NONE, AP_PARAM_FLAG_ENABLE),
// @Param: VOLT_PIN
// @DisplayName: Battery Voltage sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards it should be set to 2, Pixhawk2 Power2 is 13.
// @Values: -1:Disabled, 0:A0, 1:A1, 2:Pixhawk/Pixracer/Navio2/Pixhawk2_PM1, 13:Pixhawk2_PM2, 100:PX4-v1
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("VOLT_PIN", 2, AP_BattMonitor_Params, _volt_pin, AP_BATT_VOLT_PIN),
// @Param: CURR_PIN
// @DisplayName: Battery Current sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14.
// @Values: -1:Disabled, 1:A1, 2:A2, 3:Pixhawk/Pixracer/Navio2/Pixhawk2_PM1, 14:Pixhawk2_PM2, 101:PX4-v1
// @User: Standard
// @RebootRequired: True
#define FLOW_NOISE_DEFAULT 0.25f
#define FLOW_GATE_DEFAULT 3
#endif // APM_BUILD_DIRECTORY
extern const AP_HAL::HAL& hal;
// Define tuning parameters
const AP_Param::GroupInfo NavEKF::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable EKF1
// @Description: This enables EKF1 to be disabled when using alternative algorithms. When disabling it, the alternate EKF2 estimator must be enabled by setting EK2_ENABLED = 1 and flight control algorithms must be set to use the alternative estimator by setting AHRS_EKF_TYPE = 2.
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 34, NavEKF, _enable, 0, AP_PARAM_FLAG_ENABLE),
// @Param: VELNE_NOISE
// @DisplayName: GPS horizontal velocity measurement noise scaler
// @Description: This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed acuracy of 1 is assumed. Increasing it reduces the weighting on these measurements.
// @Range: 0.05 5.0
// @Increment: 0.05
// @User: Advanced
AP_GROUPINFO("VELNE_NOISE", 0, NavEKF, _gpsHorizVelNoise, VELNE_NOISE_DEFAULT),
// @Param: VELD_NOISE
// @DisplayName: GPS vertical velocity measurement noise scaler
// @Description: This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed acuracy of 1 is assumed. Increasing it reduces the weighting on this measurement.
// @Range: 0.05 5.0
// @Increment: 0.05
// @User: Advanced
#include <AP_HAL/AP_HAL.h>
#include "APM_OBC.h"
#include <RC_Channel/RC_Channel.h>
#include <RC_Channel/RC_Channel_aux.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
// table of user settable parameters
const AP_Param::GroupInfo APM_OBC::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable Advanced Failsafe
// @Description: This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 11, APM_OBC, _enable, 0, AP_PARAM_FLAG_ENABLE),
// @Param: MAN_PIN
// @DisplayName: Manual Pin
// @Description: This sets a digital output pin to set high when in manual mode
// @User: Advanced
AP_GROUPINFO("MAN_PIN", 0, APM_OBC, _manual_pin, -1),
// @Param: HB_PIN
// @DisplayName: Heartbeat Pin
// @Description: This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination.
// @User: Advanced
AP_GROUPINFO("HB_PIN", 1, APM_OBC, _heartbeat_pin, -1),
// @Param: WP_COMMS
// @DisplayName: Comms Waypoint
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Plane.h"
const AP_Param::GroupInfo Tuning::var_info[] = {
// @Param: CHAN
// @DisplayName: Transmitter tuning channel
// @Description: This sets the channel for transmitter tuning
// @Values: 0:Disable,1:Chan1,2:Chan3,3:Chan3,4:Chan4,5:Chan5,6:Chan6,7:Chan7,8:Chan8,9:Chan9,10:Chan10,11:Chan11,12:Chan12,13:Chan13,14:Chan14,15:Chan15,16:Chan16
// @User: Standard
AP_GROUPINFO_FLAGS("CHAN", 1, Tuning, channel, 0, AP_PARAM_FLAG_ENABLE),
// @Param: PARM
// @DisplayName: Transmitter tuning parameter
// @Description: This sets which parameter or combination of parameters will be tuned
// @Values: 0:None,1:QuadRateRollPitch_PI,2:QuadRateRollPitch_P,3:QuadRateRollPitch_I,4:QuadRateRollPitch_D,5:QuadRATE_ROLL_PI,6:QuadRateRoll_P,7:QuadRateRoll_I,8:QuadRateRoll_D,9:QuadRatePitch_PI,10:QuadRatePitch_P,11:QuadRatePitch_I,12:QuadRatePitch_D,13:QuadRateYaw_PI,14:QuadRateYaw_P,15:QuadRateYaw_I,16:QuadRateYaw_D,17:QuadAngleRoll_P,18:QuadAnglePitch_P,19:QuadAngleYaw_P,20:QuadPXY_P,21:QuadPZ_P,22:QuadVXY_P,23:QuadVXY_I,24:QuadVZ_P,25:QuadAZ_P,26:QuadAZ_I,27:QuadAZ_D,28:Roll_P,29:Roll_I,30:Roll_D,31:Roll_FF,32:Pitch_P,33:Pitch_I,34:Pitch_D,35:Pitch_FF
// @User: Standard
AP_GROUPINFO("PARM", 2, Tuning, parm, 0),
// @Param: MIN
// @DisplayName: Transmitter tuning minimum value
// @Description: This sets the minimum value
// @User: Standard
AP_GROUPINFO("MIN", 3, Tuning, minimum, 0),
// @Param: MAX
// @DisplayName: Transmitter tuning maximum value
// @Description: This sets the maximum value
// @User: Standard
AP_GROUPINFO("MAX", 4, Tuning, maximum, 0),
#define PSI_RANGE_DEFAULT 0.05
#endif
#ifndef PSI_RANGE_DEFAULT
#define PSI_RANGE_DEFAULT 1.0f
#endif
// table of user settable parameters
const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
// @Param: TYPE
// @DisplayName: Airspeed type
// @Description: Type of airspeed sensor
// @Values: 0:None,1:I2C-MS4525D0,2:Analog,3:I2C-MS5525
// @User: Standard
AP_GROUPINFO_FLAGS("TYPE", 0, AP_Airspeed, _type, ARSPD_DEFAULT_TYPE, AP_PARAM_FLAG_ENABLE),
// @Param: USE
// @DisplayName: Airspeed use
// @Description: use airspeed for flight control
// @Values: 1:Use,0:Don't Use
// @User: Standard
AP_GROUPINFO("USE", 1, AP_Airspeed, _use, 0),
// @Param: OFFSET
// @DisplayName: Airspeed offset
// @Description: Airspeed calibration offset
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("OFFSET", 2, AP_Airspeed, _offset, 0),
#define AP_FOLLOW_OFFSET_TYPE_NED 0 // offsets are in north-east-down frame
#define AP_FOLLOW_OFFSET_TYPE_RELATIVE 1 // offsets are relative to lead vehicle's heading
#define AP_FOLLOW_ALTITUDE_TYPE_RELATIVE 1 // relative altitude is used by default
#define AP_FOLLOW_POS_P_DEFAULT 0.1f // position error gain default
// table of user settable parameters
const AP_Param::GroupInfo AP_Follow::var_info[] = {
// @Param: _ENABLE
// @DisplayName: Follow enable/disable
// @Description: Enabled/disable following a target
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO_FLAGS("_ENABLE", 1, AP_Follow, _enabled, 0, AP_PARAM_FLAG_ENABLE),
// 2 is reserved for TYPE parameter
// @Param: _SYSID
// @DisplayName: Follow target's mavlink system id
// @Description: Follow target's mavlink system id
// @Range: 0 255
// @User: Standard
AP_GROUPINFO("_SYSID", 3, AP_Follow, _sysid, 0),
// 4 is reserved for MARGIN parameter
// @Param: _DIST_MAX
// @DisplayName: Follow distance maximum
// @Description: Follow distance maximum. targets further than this will be ignored
#include <AP_RSSI/AP_RSSI.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_Stats/AP_Stats.h>
#include <AP_Common/Location.h>
#include <ctype.h>
#include <GCS_MAVLink/GCS.h>
const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable screen
// @Description: Enable this screen
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO_FLAGS("ENABLE", 1, AP_OSD_Screen, enabled, 0, AP_PARAM_FLAG_ENABLE),
// @Param: CHAN_MIN
// @DisplayName: Transmitter switch screen minimum pwm
// @Description: This sets the PWM lower limit for this screen
// @Range: 900 2100
// @User: Standard
AP_GROUPINFO("CHAN_MIN", 2, AP_OSD_Screen, channel_min, 900),
// @Param: CHAN_MAX
// @DisplayName: Transmitter switch screen maximum pwm
// @Description: This sets the PWM upper limit for this screen
// @Range: 900 2100
// @User: Standard
AP_GROUPINFO("CHAN_MAX", 3, AP_OSD_Screen, channel_max, 2100),
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WheelEncoder.h"
#include "WheelEncoder_Quadrature.h"
extern const AP_HAL::HAL& hal;
// table of user settable parameters
const AP_Param::GroupInfo AP_WheelEncoder::var_info[] = {
// @Param: _TYPE
// @DisplayName: WheelEncoder type
// @Description: What type of WheelEncoder is connected
// @Values: 0:None,1:Quadrature
// @User: Standard
AP_GROUPINFO_FLAGS("_TYPE", 0, AP_WheelEncoder, _type[0], 0, AP_PARAM_FLAG_ENABLE),
// @Param: _CPR
// @DisplayName: WheelEncoder counts per revolution
// @Description: WheelEncoder counts per full revolution of the wheel
// @Increment: 1
// @User: Standard
AP_GROUPINFO("_CPR", 1, AP_WheelEncoder, _counts_per_revolution[0], WHEELENCODER_CPR_DEFAULT),
// @Param: _RADIUS
// @DisplayName: Wheel radius
// @Description: Wheel radius
// @Units: m
// @Increment: 0.001
// @User: Standard
AP_GROUPINFO("_RADIUS", 2, AP_WheelEncoder, _wheel_radius[0], WHEELENCODER_RADIUS_DEFAULT),
