// @Param: CAPACITY
// @DisplayName: Battery capacity
// @Description: Capacity of the battery in mAh when full
// @Units: mAh
// @Increment: 50
// @User: Standard
AP_GROUPINFO("CAPACITY", 7, AP_BattMonitor_Params, _pack_capacity, 3300),
// @Param: WATT_MAX
// @DisplayName: Maximum allowed power (Watts)
// @Description: If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
// @Units: W
// @Increment: 1
// @User: Advanced
AP_GROUPINFO_FRAME("WATT_MAX", 8, AP_BattMonitor_Params, _watt_max, 0, AP_PARAM_FRAME_PLANE),
// @Param: SERIAL_NUM
// @DisplayName: Battery serial number
// @Description: Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
// @User: Advanced
AP_GROUPINFO("SERIAL_NUM", 9, AP_BattMonitor_Params, _serial_number, AP_BATT_SERIAL_NUMBER_DEFAULT),
// @Param: LOW_TIMER
// @DisplayName: Low voltage timeout
// @Description: This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
// @Units: s
// @Increment: 1
// @Range: 0 120
// @User: Advanced
AP_GROUPINFO("LOW_TIMER", 10, AP_BattMonitor_Params, _low_voltage_timeout, 10),
// @Param: SAFE_DISARM
// @DisplayName: Motor PWM output disabled when disarmed
// @Description: Disables motor PWM output when disarmed
// @Values: 0:PWM enabled while disarmed, 1:PWM disabled while disarmed
// @User: Advanced
AP_GROUPINFO("SAFE_DISARM", 23, AP_MotorsMulticopter, _disarm_disable_pwm, 0),
// @Param: YAW_SV_ANGLE
// @DisplayName: Yaw Servo Max Lean Angle
// @Description: Yaw servo's maximum lean angle
// @Range: 5 80
// @Units: deg
// @Increment: 1
// @User: Standard
AP_GROUPINFO_FRAME("YAW_SV_ANGLE", 35, AP_MotorsMulticopter, _yaw_servo_angle_max_deg, 30, AP_PARAM_FRAME_TRICOPTER),
// @Param: SPOOL_TIME
// @DisplayName: Spool up time
// @Description: Time in seconds to spool up the motors from zero to min throttle.
// @Range: 0 2
// @Units: s
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("SPOOL_TIME", 36, AP_MotorsMulticopter, _spool_up_time, AP_MOTORS_SPOOL_UP_TIME_DEFAULT),
// @Param: BOOST_SCALE
// @DisplayName: Motor boost scale
// @Description: This is a scaling factor for vehicles with a vertical booster motor used for extra lift. It is used with electric multicopters that have an internal combusion booster motor for longer endurance. The output to the BoostThrottle servo function is set to the current motor thottle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.
// @Range: 0 5
// @Increment: 0.1
// @Units: m/s/s
// @Range: 0.25 3.0
// @User: Advanced
AP_GROUPINFO("ACCTHRESH", 3, AP_Arming, accel_error_threshold, AP_ARMING_ACCEL_ERROR_THRESHOLD),
// index 4 was VOLT_MIN, moved to AP_BattMonitor
// index 5 was VOLT2_MIN, moved to AP_BattMonitor
// @Param: RUDDER
// @DisplayName: Arming with Rudder enable/disable
// @Description: Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)
// @Values: 0:Disabled,1:ArmingOnly,2:ArmOrDisarm
// @User: Advanced
AP_GROUPINFO_FRAME("RUDDER", 6, AP_Arming, _rudder_arming, ARMING_RUDDER_DEFAULT, AP_PARAM_FRAME_PLANE |
AP_PARAM_FRAME_ROVER |
AP_PARAM_FRAME_COPTER |
AP_PARAM_FRAME_TRICOPTER |
AP_PARAM_FRAME_HELI),
// @Param: MIS_ITEMS
// @DisplayName: Required mission items
// @Description: Bitmask of mission items that are required to be planned in order to arm the aircraft
// @Bitmask: 0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint
// @User: Advanced
AP_GROUPINFO("MIS_ITEMS", 7, AP_Arming, _required_mission_items, 0),
// index 4 was VOLT_MIN, moved to AP_BattMonitor
AP_GROUPEND
};
#if HAL_WITH_IO_MCU
// @Param: DZ
// @DisplayName: RC dead-zone
// @Description: PWM dead zone in microseconds around trim or bottom
// @Units: PWM
// @Range: 0 200
// @User: Advanced
AP_GROUPINFO("DZ", 5, RC_Channel, dead_zone, 0),
// @Param: OPTION
// @DisplayName: RC input option
// @Description: Function assigned to this RC channel
// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3
// @Values{Rover}: 0:Do Nothing, 4:RTL, 7:Save WP, 9:Camera Trigger, 16:Auto, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 41:ArmDisarm, 42:SmartRTL, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow
// @User: Standard
AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER),
AP_GROUPEND
};
// constructor
RC_Channel::RC_Channel(void)
{
AP_Param::setup_object_defaults(this, var_info);
}
void
RC_Channel::set_range(uint16_t high)
{
type_in = RC_CHANNEL_TYPE_RANGE;
AP_SUBGROUPINFO(obj_channels[13], "14_", 14, SRV_Channels, SRV_Channel),
// @Group: 15_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[14], "15_", 15, SRV_Channels, SRV_Channel),
// @Group: 16_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[15], "16_", 16, SRV_Channels, SRV_Channel),
// @Param: _AUTO_TRIM
// @DisplayName: Automatic servo trim
// @Description: This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights.
// @Values: 0:Disable,1:Enable
// @User: Advanced
AP_GROUPINFO_FRAME("_AUTO_TRIM", 17, SRV_Channels, auto_trim, 0, AP_PARAM_FRAME_PLANE),
// @Param: _CANSRV_BM
// @DisplayName: RC Out channels to be transmitted as servo over CAN bus
// @Description: Bitmask with one set for channel to be transmitted as a servo command over CAN bus
// @Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15
// @User: Standard
AP_GROUPINFO("_CANSRV_BM", 18, SRV_Channels, can_servo_bm, 0),
// @Param: _CANESC_BM
// @DisplayName: RC Out channels to be transmitted as ESC over CAN bus
// @Description: Bitmask with one set for channel to be transmitted as a ESC command over CAN bus
// @Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16
// @User: Standard
AP_GROUPINFO("_CANESC_BM", 19, SRV_Channels, can_esc_bm, 0),
// @Values: 0:FirstBaro,1:2ndBaro,2:3rdBaro
// @User: Advanced
AP_GROUPINFO("PRIMARY", 6, AP_Baro, _primary_baro, 0),
// @Param: EXT_BUS
// @DisplayName: External baro bus
// @Description: This selects the bus number for looking for an I2C barometer
// @Values: -1:Disabled,0:Bus0,1:Bus1
// @User: Advanced
AP_GROUPINFO("EXT_BUS", 7, AP_Baro, _ext_bus, -1),
// @Param: SPEC_GRAV
// @DisplayName: Specific Gravity (For water depth measurement)
// @Description: This sets the specific gravity of the fluid when flying an underwater ROV.
// @Values: 1.0:Freshwater,1.024:Saltwater
AP_GROUPINFO_FRAME("SPEC_GRAV", 8, AP_Baro, _specific_gravity, 1.0, AP_PARAM_FRAME_SUB),
#if BARO_MAX_INSTANCES > 1
// @Param: ABS_PRESS2
// @DisplayName: Absolute Pressure
// @Description: calibrated ground pressure in Pascals
// @Units: Pa
// @Increment: 1
// @ReadOnly: True
// @Volatile: True
// @User: Advanced
AP_GROUPINFO("ABS_PRESS2", 9, AP_Baro, sensors[1].ground_pressure, 0),
// Slot 10 used to be TEMP2
#endif
// @Param: TOTAL
// @DisplayName: Fence polygon point total
// @Description: Number of polygon points saved in eeprom (do not update manually)
// @Range: 1 20
// @User: Standard
AP_GROUPINFO("TOTAL", 6, AC_Fence, _total, 0),
// @Param: ALT_MIN
// @DisplayName: Fence Minimum Altitude
// @Description: Minimum altitude allowed before geofence triggers
// @Units: Meters
// @Range: -100 100
// @Increment: 1
// @User: Standard
AP_GROUPINFO_FRAME("ALT_MIN", 7, AC_Fence, _alt_min, AC_FENCE_ALT_MIN_DEFAULT, AP_PARAM_FRAME_SUB),
AP_GROUPEND
};
/// Default constructor.
AC_Fence::AC_Fence(const AP_AHRS& ahrs, const AP_InertialNav& inav) :
_ahrs(ahrs),
_inav(inav),
_alt_max_backup(0),
_circle_radius_backup(0),
_alt_max_breach_distance(0),
_circle_breach_distance(0),
_home_distance(0),
_breached_fences(AC_FENCE_TYPE_NONE),
_breach_time(0),
// @Param: ACTION
// @DisplayName: Fence Action
// @Description: What action should be taken when fence is breached
// @Values: 0:Report Only,1:RTL or Land, 2:Always land
// @User: Standard
AP_GROUPINFO("ACTION", 2, AC_Fence, _action, AC_FENCE_ACTION_RTL_AND_LAND),
// @Param: ALT_MAX
// @DisplayName: Fence Maximum Altitude
// @Description: Maximum altitude allowed before geofence triggers
// @Units: m
// @Range: 10 1000
// @Increment: 1
// @User: Standard
AP_GROUPINFO_FRAME("ALT_MAX", 3, AC_Fence, _alt_max, AC_FENCE_ALT_MAX_DEFAULT, AP_PARAM_FRAME_COPTER | AP_PARAM_FRAME_SUB | AP_PARAM_FRAME_TRICOPTER | AP_PARAM_FRAME_HELI),
// @Param: RADIUS
// @DisplayName: Circular Fence Radius
// @Description: Circle fence radius which when breached will cause an RTL
// @Units: m
// @Range: 30 10000
// @User: Standard
AP_GROUPINFO("RADIUS", 4, AC_Fence, _circle_radius, AC_FENCE_CIRCLE_RADIUS_DEFAULT),
// @Param: MARGIN
// @DisplayName: Fence Margin
// @Description: Distance that autopilot's should maintain from the fence to avoid a breach
// @Units: m
// @Range: 1 10
// @User: Standard
// @Param: XTRACK_I
// @DisplayName: L1 control crosstrack integrator gain
// @Description: Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation.
// @Range: 0 0.1
// @Increment: 0.01
// @User: Advanced
AP_GROUPINFO("XTRACK_I", 2, AP_L1_Control, _L1_xtrack_i_gain, 0.02),
// @Param: LIM_BANK
// @DisplayName: Loiter Radius Bank Angle Limit
// @Description: The sealevel bank angle limit for a continous loiter. (Used to calculate airframe loading limits at higher altitudes). Setting to 0, will instead just scale the loiter radius directly
// @Units: deg
// @Range: 0 89
// @User: Advanced
AP_GROUPINFO_FRAME("LIM_BANK", 3, AP_L1_Control, _loiter_bank_limit, 0.0f, AP_PARAM_FRAME_PLANE),
AP_GROUPEND
};
//Bank angle command based on angle between aircraft velocity vector and reference vector to path.
//S. Park, J. Deyst, and J. P. How, "A New Nonlinear Guidance Logic for Trajectory Tracking,"
//Proceedings of the AIAA Guidance, Navigation and Control
//Conference, Aug 2004. AIAA-2004-4900.
//Modified to use PD control for circle tracking to enable loiter radius less than L1 length
//Modified to enable period and damping of guidance loop to be set explicitly
//Modified to provide explicit control over capture angle
/*
Wrap AHRS yaw if in reverse - radians
