GOBJECT(button, "BTN_", AP_Button),
// @Group:
// @Path: Parameters.cpp
GOBJECT(g2, "", ParametersG2),
AP_VAREND
};
/*
2nd group of parameters
*/
const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Group: STAT
// @Path: ../libraries/AP_Stats/AP_Stats.cpp
AP_SUBGROUPINFO(stats, "STAT", 1, ParametersG2, AP_Stats),
// @Group: 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),
AP_GROUPEND
};
/*
This is a conversion table from old parameter values to new
// @Description: The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing
// @Range: 0 100
// @Units: %
// @User: Advanced
AP_GROUPINFO("FLAP_PERCNT", 13, AP_Landing, flap_percent, 0),
// @Param: TYPE
// @DisplayName: Auto-landing type
// @Description: Specifies the auto-landing type to use
// @Values: 0:Standard Glide Slope
// @User: Standard
AP_GROUPINFO("TYPE", 14, AP_Landing, type, TYPE_STANDARD_GLIDE_SLOPE),
// @Group: DS_
// @Path: AP_Landing_Deepstall.cpp
AP_SUBGROUPINFO(deepstall, "DS_", 15, AP_Landing, AP_Landing_Deepstall),
AP_GROUPEND
};
// constructor
AP_Landing::AP_Landing(AP_Mission &_mission, AP_AHRS &_ahrs, AP_SpdHgtControl *_SpdHgt_Controller, AP_Navigation *_nav_controller, AP_Vehicle::FixedWing &_aparm,
set_target_altitude_proportion_fn_t _set_target_altitude_proportion_fn,
constrain_target_altitude_location_fn_t _constrain_target_altitude_location_fn,
adjusted_altitude_cm_fn_t _adjusted_altitude_cm_fn,
adjusted_relative_altitude_cm_fn_t _adjusted_relative_altitude_cm_fn,
disarm_if_autoland_complete_fn_t _disarm_if_autoland_complete_fn,
update_flight_stage_fn_t _update_flight_stage_fn) :
mission(_mission)
,ahrs(_ahrs)
,SpdHgt_Controller(_SpdHgt_Controller)
// @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),
// @Group: ALTITUDE
// @Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(altitude, "ALTITUDE", 4, AP_OSD_Screen, AP_OSD_Setting),
// @Group: BATVOLT
// @Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(bat_volt, "BAT_VOLT", 5, AP_OSD_Screen, AP_OSD_Setting),
// @Group: RSSI
// @Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(rssi, "RSSI", 6, AP_OSD_Screen, AP_OSD_Setting),
// @Group: CURRENT
// @Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(current, "CURRENT", 7, AP_OSD_Screen, AP_OSD_Setting),
// @Group: BATUSED
// @Path: AP_OSD_Setting.cpp
// @Param: _ACC_XY_FILT
// @DisplayName: XY Acceleration filter cutoff frequency
// @Description: Lower values will slow the response of the navigation controller and reduce twitchiness
// @Units: Hz
// @Range: 0.5 5
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("_ACC_XY_FILT", 1, AC_PosControl, _accel_xy_filt_hz, POSCONTROL_ACCEL_FILTER_HZ),
// @Param: _POSZ_P
// @DisplayName: Position (vertical) controller P gain
// @Description: Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller
// @Range: 1.000 3.000
// @User: Standard
AP_SUBGROUPINFO(_p_pos_z, "_POSZ_", 2, AC_PosControl, AC_P),
// @Param: _VELZ_P
// @DisplayName: Velocity (vertical) controller P gain
// @Description: Velocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
// @Range: 1.000 8.000
// @User: Standard
AP_SUBGROUPINFO(_p_vel_z, "_VELZ_", 3, AC_PosControl, AC_P),
// @Param: _ACCZ_P
// @DisplayName: Acceleration (vertical) controller P gain
// @Description: Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output
// @Range: 0.500 1.500
// @Increment: 0.05
// @User: Standard
// @Range: 0 90
// @Units degrees per second
// @User: Advanced
AP_GROUPINFO("YAW_LIM", 12, AP_Landing_Deepstall, yaw_rate_limit, 10),
// @Param: L1_TCON
// @DisplayName: Deepstall L1 time constant
// @Description: Time constant for deepstall L1 control
// @Range: 0 1
// @Units seconds
// @User: Advanced
AP_GROUPINFO("L1_TCON", 13, AP_Landing_Deepstall, time_constant, 0.4),
// @Group: DS_
// @Path: ../PID/PID.cpp
AP_SUBGROUPINFO(ds_PID, "", 14, AP_Landing_Deepstall, PID),
// @Param: ABORTALT
// @DisplayName: Deepstall minimum abort altitude
// @Description: The minimum altitude which the aircraft must be above to abort a deepstall landing
// @Range: 0 50
// @Units meters
// @User: Advanced
AP_GROUPINFO("ABORTALT", 15, AP_Landing_Deepstall, min_abort_alt, 0.0f),
// @Param: AIL_SCL
// @DisplayName: Aileron landing gain scalaing
// @Description: A scalar to reduce or increase the aileron control
// @Range: 0 2.0
// @User: Advanced
AP_GROUPINFO("AIL_SCL", 16, AP_Landing_Deepstall, aileron_scalar, 1.0f),
// @Group:
// @Path: Parameters.cpp
GOBJECT(g2, "", ParametersG2),
AP_VAREND
};
/*
2nd group of parameters
*/
const AP_Param::GroupInfo ParametersG2::var_info[] = {
#if PROXIMITY_ENABLED == ENABLED
// @Group: PRX
// @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
AP_SUBGROUPINFO(proximity, "PRX", 2, ParametersG2, AP_Proximity),
#endif
#if GRIPPER_ENABLED == ENABLED
// @Group: GRIP_
// @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
AP_SUBGROUPINFO(gripper, "GRIP_", 3, ParametersG2, AP_Gripper),
#endif
// @Group: SERVO
// @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
AP_SUBGROUPINFO(servo_channels, "SERVO", 16, ParametersG2, SRV_Channels),
// @Group: RC
// @Path: ../libraries/RC_Channel/RC_Channels.cpp
AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels),
// @Increment: 1
// @User: Standard
AP_GROUPINFO("TAIL_SPEED", 10, AP_MotorsHeli_Single, _direct_drive_tailspeed, AP_MOTORS_HELI_SINGLE_DDVPT_SPEED_DEFAULT),
// @Param: GYR_GAIN_ACRO
// @DisplayName: External Gyro Gain for ACRO
// @Description: PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN
// @Range: 0 1000
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("GYR_GAIN_ACRO", 11, AP_MotorsHeli_Single, _ext_gyro_gain_acro, 0),
// @Group: SV1_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_swash_servo_1, "SV1_", 12, AP_MotorsHeli_Single, RC_Channel),
// @Group: SV2_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_swash_servo_2, "SV2_", 13, AP_MotorsHeli_Single, RC_Channel),
// @Group: SV3_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_swash_servo_3, "SV3_", 14, AP_MotorsHeli_Single, RC_Channel),
// @Group: SV4_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_yaw_servo, "SV4_", 15, AP_MotorsHeli_Single, RC_Channel),
// @Param: RSC_PWM_MIN
// @DisplayName: RSC PWM output miniumum
GOBJECT(button, "BTN_", AP_Button),
// @Group:
// @Path: Parameters.cpp
GOBJECT(g2, "", ParametersG2),
AP_VAREND
};
/*
2nd group of parameters
*/
const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Group: STAT
// @Path: ../libraries/AP_Stats/AP_Stats.cpp
AP_SUBGROUPINFO(stats, "STAT", 1, ParametersG2, AP_Stats),
// @Group: 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_Channel.cpp
AP_SUBGROUPINFO(servo_channels, "SERVO", 3, ParametersG2, SRV_Channels),
// @Group: RC
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(rc_channels, "RC", 4, ParametersG2, RC_Channels),
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("SBUS_OUT", 4, AP_BoardConfig, px4.sbus_out_rate, 0),
#endif
// @Param: SERIAL_NUM
// @DisplayName: User-defined serial number
// @Description: User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot
// @Range: -32768 32767
// @User: Standard
AP_GROUPINFO("SERIAL_NUM", 5, AP_BoardConfig, vehicleSerialNumber, 0),
#if HAL_WITH_UAVCAN
// @Group: CAN_
// @Path: ../AP_BoardConfig/canbus.cpp
AP_SUBGROUPINFO(_var_info_can, "CAN_", 6, AP_BoardConfig, AP_BoardConfig::CAN_var_info),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Param: SAFETY_MASK
// @DisplayName: Channels to which ignore the safety switch state
// @Description: A bitmask which controls what channels can move while the safety switch has not been pressed
// @Values: 0:Disabled,1:Enabled
// @Bitmask: 0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("SAFETY_MASK", 7, AP_BoardConfig, px4.ignore_safety_channels, 0),
#endif
#if HAL_HAVE_IMU_HEATER
// @Param: IMU_TARGTEMP
// IDs 8,9,10,11 RESERVED (in use on Solo)
// @Param: ANGLE_BOOST
// @DisplayName: Angle Boost
// @Description: Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
AP_GROUPINFO("ANGLE_BOOST", 12, AC_AttitudeControl, _angle_boost_enabled, 1),
// @Param: ANG_RLL_P
// @DisplayName: Roll axis angle controller P gain
// @Description: Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate
// @Range: 3.000 12.000
// @User: Standard
AP_SUBGROUPINFO(_p_angle_roll, "ANG_RLL_", 13, AC_AttitudeControl, AC_P),
// @Param: ANG_PIT_P
// @DisplayName: Pitch axis angle controller P gain
// @Description: Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate
// @Range: 3.000 12.000
// @User: Standard
AP_SUBGROUPINFO(_p_angle_pitch, "ANG_PIT_", 14, AC_AttitudeControl, AC_P),
// @Param: ANG_YAW_P
// @DisplayName: Yaw axis angle controller P gain
// @Description: Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate
// @Range: 3.000 6.000
// @User: Standard
AP_SUBGROUPINFO(_p_angle_yaw, "ANG_YAW_", 15, AC_AttitudeControl, AC_P),
// @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),
// @Group: 3_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[2], "3_", 5, AP_OSD, AP_OSD_Screen),
// @Group: 4_
// @Path: AP_OSD_Screen.cpp
AP_SUBGROUPINFO(screen[3], "4_", 6, AP_OSD, AP_OSD_Screen),
// @Param: _SW_METHOD
// @DisplayName: Screen switch method
}
return &obj_channels[chan];
}
protected:
int8_t flight_mode_channel_number() const { return 5; }
private:
};
const AP_Param::GroupInfo RC_Channels::var_info[] = {
// @Group: 1_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[0], "1_", 1, RC_Channels_Example, RC_Channel_Example),
// @Group: 2_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[1], "2_", 2, RC_Channels_Example, RC_Channel_Example),
// @Group: 3_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[2], "3_", 3, RC_Channels_Example, RC_Channel_Example),
// @Group: 4_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[3], "4_", 4, RC_Channels_Example, RC_Channel_Example),
// @Group: 5_
// @Path: RC_Channel.cpp
// @Range: 0.000 1.000
// @User: Standard
// @Param: _RATE_D
// @DisplayName: Wheel rate control D gain
// @Description: Wheel rate control D gain. Compensates for short-term change in desired rate vs actual
// @Range: 0.000 0.400
// @User: Standard
// @Param: _RATE_FILT
// @DisplayName: Wheel rate control filter frequency
// @Description: Wheel rate control input filter. Lower values reduce noise but add delay.
// @Range: 1.000 100.000
// @Units: Hz
// @User: Standard
AP_SUBGROUPINFO(_rate_pid0, "_RATE_", 3, AP_WheelRateControl, AC_PID),
// @Param: 2_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: 2_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
// @Param: 2_RATE_I
// @DisplayName: Wheel rate control I gain
// @Param: RT_RLL_IMAX
// @DisplayName: Roll axis rate controller I gain maximum
// @Description: Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: Percent*10
// @User: Standard
// @Param: RT_RLL_D
// @DisplayName: Roll axis rate controller D gain
// @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
// @Range: 0.001 0.02
// @Increment: 0.001
// @User: Standard
AP_SUBGROUPINFO(pid_rate_roll, "RT_RLL_", 3, QuadPlane, AC_PID),
// @Param: RT_PIT_P
// @DisplayName: Pitch axis rate controller P gain
// @Description: Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
// @Range: 0.08 0.30
// @Increment: 0.005
// @User: Standard
// @Param: RT_PIT_I
// @DisplayName: Pitch axis rate controller I gain
// @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
// @Range: 0.01 0.5
// @Increment: 0.01
// @User: Standard
extern const AP_HAL::HAL& hal;
SRV_Channel *SRV_Channels::channels;
bool SRV_Channels::disabled_passthrough;
bool SRV_Channels::initialised;
Bitmask SRV_Channels::function_mask{SRV_Channel::k_nr_aux_servo_functions};
SRV_Channels::srv_function SRV_Channels::functions[SRV_Channel::k_nr_aux_servo_functions];
AP_Int32* SRV_Channels::p_can_servo_bm = nullptr;
AP_Int32* SRV_Channels::p_can_esc_bm = nullptr;
const AP_Param::GroupInfo SRV_Channels::var_info[] = {
// @Group: 1_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[0], "1_", 1, SRV_Channels, SRV_Channel),
// @Group: 2_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[1], "2_", 2, SRV_Channels, SRV_Channel),
// @Group: 3_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[2], "3_", 3, SRV_Channels, SRV_Channel),
// @Group: 4_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[3], "4_", 4, SRV_Channels, SRV_Channel),
// @Group: 5_
// @Path: SRV_Channel.cpp
// @Group:
// @Path: Parameters.cpp
GOBJECT(g2, "", ParametersG2),
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.cpp
AP_SUBGROUPINFO(rc_channels, "RC", 4, ParametersG2, RC_Channels),
// @User: Standard
// @Param: RAT_RLL_D
// @DisplayName: Roll axis rate controller D gain
// @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
// @Range: 0.0 0.02
// @Increment: 0.001
// @User: Standard
// @Param: RAT_RLL_FILT
// @DisplayName: Roll axis rate conroller input frequency in Hz
// @Description: Roll axis rate conroller input frequency in Hz
// @Range: 1 100
// @Increment: 1
// @Units: Hz
AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 1, AC_AttitudeControl_Multi, AC_PID),
// @Param: RAT_PIT_P
// @DisplayName: Pitch axis rate controller P gain
// @Description: Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
// @Range: 0.08 0.30
// @Increment: 0.005
// @User: Standard
// @Param: RAT_PIT_I
// @DisplayName: Pitch axis rate controller I gain
// @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
// @Range: 0.01 0.5
// @Increment: 0.01
// @User: Standard
// parameters 30 ~ 39 reserved for tricopter
// parameters 40 ~ 49 for single copter and coax copter (these have identical parameter files)
// 40 was ROLL_SV_REV
// 41 was PITCH_SV_REV
// 42 was YAW_SV_REV
// @Param: SV_SPEED
// @DisplayName: Servo speed
// @Description: Servo update speed in hz
// @Values: 50, 125, 250
AP_GROUPINFO("SV_SPEED", 43, AP_MotorsSingle, _servo_speed, AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS),
// @Group: SV1_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_servo1, "SV1_", 44, AP_MotorsSingle, RC_Channel),
// @Group: SV2_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_servo2, "SV2_", 45, AP_MotorsSingle, RC_Channel),
// @Group: SV3_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_servo3, "SV3_", 46, AP_MotorsSingle, RC_Channel),
// @Group: SV4_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_servo4, "SV4_", 47, AP_MotorsSingle, RC_Channel),
AP_GROUPEND
};
// init
void AP_MotorsSingle::Init()
{
AP_GROUPINFO("_OFS", 7, AP_Follow, _offset, 0),
// @Param: _YAW_BEHAVE
// @DisplayName: Follow yaw behaviour
// @Description: Follow yaw behaviour
// @Values: 0:None,1:Face Lead Vehicle,2:Same as Lead vehicle,3:Direction of Flight
// @User: Standard
AP_GROUPINFO("_YAW_BEHAVE", 8, AP_Follow, _yaw_behave, 1),
// @Param: _POS_P
// @DisplayName: Follow position error P gain
// @Description: Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
// @Range: 0.01 1.00
// @Increment: 0.01
// @User: Standard
AP_SUBGROUPINFO(_p_pos, "_POS_", 9, AP_Follow, AC_P),
// @Param: _ALT_TYPE
// @DisplayName: Follow altitude type
// @Description: Follow altitude type
// @Values: 0:absolute, 1: relative
// @User: Standard
AP_GROUPINFO("_ALT_TYPE", 10, AP_Follow, _alt_type, AP_FOLLOW_ALTITUDE_TYPE_RELATIVE),
AP_GROUPEND
};
/*
The constructor also initialises the proximity sensor. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the proximity sensor
// @Param: _STR_RAT_FF
// @DisplayName: Steering control feed forward
// @Description: Steering control feed forward
// @Range: 0.000 3.000
// @Increment: 0.001
// @User: Standard
// @Param: _STR_RAT_FILT
// @DisplayName: Steering control filter frequency
// @Description: Steering control input filter. Lower values reduce noise but add delay.
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz
// @User: Standard
AP_SUBGROUPINFO(_steer_rate_pid, "_STR_RAT_", 1, AR_AttitudeControl, AC_PID),
// @Param: _SPEED_P
// @DisplayName: Speed control P gain
// @Description: Speed control P gain. Converts the error between the desired speed (in m/s) and actual speed to a motor output (in the range -1 to +1)
// @Range: 0.010 2.000
// @Increment: 0.01
// @User: Standard
// @Param: _SPEED_I
// @DisplayName: Speed control I gain
// @Description: Speed control I gain. Corrects long term error between the desired speed (in m/s) and actual speed
// @Range: 0.000 2.000
// @User: Standard
// @Param: _SPEED_IMAX
// @Param: _STR_RAT_FF
// @DisplayName: Steering control feed forward
// @Description: Steering control feed forward
// @Range: 0.000 3.000
// @Increment: 0.001
// @User: Standard
// @Param: _STR_RAT_FILT
// @DisplayName: Steering control filter frequency
// @Description: Steering control input filter. Lower values reduce noise but add delay.
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz
// @User: Standard
AP_SUBGROUPINFO(_steer_rate_pid, "_STR_RAT_", 1, AR_AttitudeControl, AC_PID),
// @Param: _SPEED_P
// @DisplayName: Speed control P gain
// @Description: Speed control P gain. Converts the error between the desired speed (in m/s) and actual speed to a motor output (in the range -1 to +1)
// @Range: 0.010 2.000
// @Increment: 0.01
// @User: Standard
// @Param: _SPEED_I
// @DisplayName: Speed control I gain
// @Description: Speed control I gain. Corrects long term error between the desired speed (in m/s) and actual speed
// @Range: 0.000 2.000
// @User: Standard
// @Param: _SPEED_IMAX
// @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),
// @Group: ALTITUDE
// @Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(altitude, "ALTITUDE", 4, AP_OSD_Screen, AP_OSD_Setting),
// @Group: BATVOLT
// @Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(bat_volt, "BAT_VOLT", 5, AP_OSD_Screen, AP_OSD_Setting),
// @Group: RSSI
// @Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(rssi, "RSSI", 6, AP_OSD_Screen, AP_OSD_Setting),
// @Group: CURRENT
// @Path: AP_OSD_Setting.cpp
AP_SUBGROUPINFO(current, "CURRENT", 7, AP_OSD_Screen, AP_OSD_Setting),
// @Group: BATUSED
// @Path: AP_OSD_Setting.cpp
GOBJECT(button, "BTN_", AP_Button),
// @Group:
// @Path: Parameters.cpp
GOBJECT(g2, "", ParametersG2),
AP_VAREND
};
/*
2nd group of parameters
*/
const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Group: STAT
// @Path: ../libraries/AP_Stats/AP_Stats.cpp
AP_SUBGROUPINFO(stats, "STAT", 1, ParametersG2, AP_Stats),
// @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.cpp
AP_SUBGROUPINFO(rc_channels, "RC", 4, ParametersG2, RC_Channels),
// @User: Standard
// @Param: RAT_RLL_FF
// @DisplayName: Roll axis rate controller feed forward
// @Description: Roll axis rate controller feed forward
// @Range: 0 0.5
// @Increment: 0.001
// @User: Standard
// @Param: RAT_RLL_FILT
// @DisplayName: Roll axis rate controller input frequency in Hz
// @Description: Roll axis rate controller input frequency in Hz
// @Units: Hz
// @Range: 1 20
// @Increment: 1
AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 2, AC_AttitudeControl_Heli, AC_HELI_PID),
// @Param: RAT_PIT_P
// @DisplayName: Pitch axis rate controller P gain
// @Description: Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
// @Range: 0.08 0.35
// @Increment: 0.005
// @User: Standard
// @Param: RAT_PIT_I
// @DisplayName: Pitch axis rate controller I gain
// @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
// @Range: 0.01 0.6
// @Increment: 0.01
// @User: Standard
#include <AP_Notify/AP_Notify.h>
extern const AP_HAL::HAL& hal;
AP_BattMonitor *AP_BattMonitor::_singleton;
const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// 0 - 18, 20- 22 used by old parameter indexes
// @Group: _
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO_FLAGS(_params[0], "_", 23, AP_BattMonitor, AP_BattMonitor_Params, AP_PARAM_FLAG_IGNORE_ENABLE),
// @Group: 2_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[1], "2_", 24, AP_BattMonitor, AP_BattMonitor_Params),
// @Group: 3_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[2], "3_", 25, AP_BattMonitor, AP_BattMonitor_Params),
// @Group: 4_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[3], "4_", 26, AP_BattMonitor, AP_BattMonitor_Params),
// @Group: 5_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[4], "5_", 27, AP_BattMonitor, AP_BattMonitor_Params),
// @Group: 6_
// @Path: AP_BattMonitor_Params.cpp
// @Param: _XY_IMAX
// @DisplayName: FlowHold Integrator Max
// @Description: FlowHold (horizontal) integrator maximum
// @Range: 0 4500
// @Increment: 10
// @Units: cdeg
// @User: Advanced
// @Param: _XY_FILT_HZ
// @DisplayName: FlowHold filter on input to control
// @Description: FlowHold (horizontal) filter on input to control
// @Range: 0 100
// @Units: Hz
// @User: Advanced
AP_SUBGROUPINFO(flow_pi_xy, "_XY_", 1, Copter::ModeFlowHold, AC_PI_2D),
// @Param: _FLOW_MAX
// @DisplayName: FlowHold Flow Rate Max
// @Description: Controls maximum apparent flow rate in flowhold
// @Range: 0.1 2.5
// @User: Standard
AP_GROUPINFO("_FLOW_MAX", 2, Copter::ModeFlowHold, flow_max, 0.6),
// @Param: _FILT_HZ
// @DisplayName: FlowHold Filter Frequency
// @Description: Filter frequency for flow data
// @Range: 1 100
// @Units: Hz
// @User: Standard
AP_GROUPINFO("_FILT_HZ", 3, Copter::ModeFlowHold, flow_filter_hz, 5),
// @Group: OSD
// @Path: ../libraries/AP_OSD/AP_OSD.cpp
GOBJECT(osd, "OSD", AP_OSD),
#endif
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),
