mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-31 18:47:21 +08:00
refactor(lib/systemlib): convert params.c to module.yaml
Convert 1 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
Jacob Dahl
@@ -47,4 +47,5 @@ if(${PX4_PLATFORM} STREQUAL "nuttx")
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endif()
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endif()
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px4_add_library(systemlib ${SRCS})
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px4_add_library(systemlib ${SRCS})
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/system_params.yaml)
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target_compile_options(systemlib PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
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target_compile_options(systemlib PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
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@@ -1,303 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* @file system_params.c
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*
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* System wide parameters
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*/
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/**
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* Auto-start script index.
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*
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* CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.
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*
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* @reboot_required true
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* @min 0
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* @max 9999999
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* @group System
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*/
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PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
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/**
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* Automatically configure default values.
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*
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* Set to 1 to reset parameters on next system startup (setting defaults).
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* Platform-specific values are used if available.
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* RC* parameters are preserved.
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*
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* @value 0 Keep parameters
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* @value 1 Reset parameters to airframe defaults
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* @group System
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*/
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PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
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/**
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* Enable HITL/SIH mode on next boot
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*
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* While enabled the system will boot in Hardware-In-The-Loop (HITL)
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* or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks.
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* When disabled the same vehicle can be flown normally.
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*
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* Set to 'external HITL', if the system should perform as if it were a real
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* vehicle (the only difference to a real system is then only the parameter
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* value, which can be used for log analysis).
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*
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* @value -1 external HITL
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* @value 0 HITL and SIH disabled
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* @value 1 HITL enabled
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* @value 2 SIH enabled
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* @reboot_required true
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*
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* @group System
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*/
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PARAM_DEFINE_INT32(SYS_HITL, 0);
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/**
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* Parameter version
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*
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* This is used internally only: an airframe configuration might set an expected
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* parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup
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* against SYS_PARAM_VER, and if they do not match, parameters are reset and
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* reloaded from the airframe configuration.
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*
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* @min 0
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* @group System
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*/
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PARAM_DEFINE_INT32(SYS_PARAM_VER, 1);
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/**
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* Enable auto start of rate gyro thermal calibration at the next power up.
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*
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* 0 : Set to 0 to do nothing
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* 1 : Set to 1 to start a calibration at next boot
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* This parameter is reset to zero when the temperature calibration starts.
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*
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* default (0, no calibration)
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*
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* @group System
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* @min 0
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* @max 1
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*/
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PARAM_DEFINE_INT32(SYS_CAL_GYRO, 0);
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/**
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* Enable auto start of accelerometer thermal calibration at the next power up.
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*
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* 0 : Set to 0 to do nothing
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* 1 : Set to 1 to start a calibration at next boot
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* This parameter is reset to zero when the temperature calibration starts.
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*
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* default (0, no calibration)
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*
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* @group System
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* @min 0
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* @max 1
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*/
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PARAM_DEFINE_INT32(SYS_CAL_ACCEL, 0);
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/**
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* Enable auto start of barometer thermal calibration at the next power up.
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*
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* 0 : Set to 0 to do nothing
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* 1 : Set to 1 to start a calibration at next boot
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* This parameter is reset to zero when the temperature calibration starts.
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*
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* default (0, no calibration)
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*
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* @group System
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* @min 0
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* @max 1
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*/
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PARAM_DEFINE_INT32(SYS_CAL_BARO, 0);
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/**
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* Required temperature rise during thermal calibration
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*
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* A temperature increase greater than this value is required during calibration.
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* Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL.
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* If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.
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*
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* @unit celcius
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* @min 10
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* @group System
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*/
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PARAM_DEFINE_INT32(SYS_CAL_TDEL, 24);
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/**
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* Minimum starting temperature for thermal calibration
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*
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* Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.
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*
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* @unit celcius
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* @group System
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*/
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PARAM_DEFINE_INT32(SYS_CAL_TMIN, 5);
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/**
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* Maximum starting temperature for thermal calibration
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*
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* Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.
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*
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* @unit celcius
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* @group System
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*/
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PARAM_DEFINE_INT32(SYS_CAL_TMAX, 10);
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/**
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* Control if the vehicle has a GPS
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*
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* Disable this if the system has no GPS.
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* If disabled, the sensors hub will not process sensor_gps,
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* and GPS will not be available for the rest of the system.
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*
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* @boolean
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* @reboot_required true
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*
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* @group System
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*/
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PARAM_DEFINE_INT32(SYS_HAS_GPS, 1);
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/**
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* Control if and how many magnetometers are expected
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*
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* 0: System has no magnetometer, preflight checks should pass without one.
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* 1-N: Require the presence of N magnetometer sensors for check to pass.
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*
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* @reboot_required true
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* @group System
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*/
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PARAM_DEFINE_INT32(SYS_HAS_MAG, 1);
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/**
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* Control if the vehicle has a barometer
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*
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* Disable this if the board has no barometer, such as some of the Omnibus
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* F4 SD variants.
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* If disabled, the preflight checks will not check for the presence of a
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* barometer.
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*
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* @boolean
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* @reboot_required true
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*
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* @group System
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*/
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PARAM_DEFINE_INT32(SYS_HAS_BARO, 1);
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/**
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* Control if the vehicle has an airspeed sensor
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*
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* Set this to 0 if the board has no airspeed sensor.
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* If set to 0, the preflight checks will not check for the presence of an
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* airspeed sensor.
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*
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* @group System
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* @min 0
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* @max 1
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*/
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PARAM_DEFINE_INT32(SYS_HAS_NUM_ASPD, 0);
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/**
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* Number of distance sensors to check being available
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*
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* The preflight check will fail if fewer than this number of distance sensors with valid data is present.
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*
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* Disable the check with 0.
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*
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* @group System
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* @min 0
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* @max 4
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*/
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PARAM_DEFINE_INT32(SYS_HAS_NUM_DIST, 0);
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/**
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* Number of optical flow sensors required to be available
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*
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* The preflight check will fail if fewer than this number of optical flow sensors with valid data are present.
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*
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* @group System
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* @min 0
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* @max 1
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*/
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PARAM_DEFINE_INT32(SYS_HAS_NUM_OF, 0);
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/**
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* Enable factory calibration mode
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*
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* If enabled, future sensor calibrations will be stored to /fs/mtd_caldata.
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*
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* Note: this is only supported on boards with a separate calibration storage
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* /fs/mtd_caldata.
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*
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* @value 0 Disabled
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* @value 1 All sensors
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* @value 2 All sensors except mag
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* @group System
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*/
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PARAM_DEFINE_INT32(SYS_FAC_CAL_MODE, 0);
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/**
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* Bootloader update
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*
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* If enabled, update the bootloader on the next boot.
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*
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|
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* WARNING: do not cut the power during an update process, otherwise you will
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* have to recover using some alternative method (e.g. JTAG).
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|
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*
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* Instructions:
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* - Insert an SD card
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* - Enable this parameter
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* - Reboot the board (plug the power or send a reboot command)
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* - Wait until the board comes back up (or at least 2 minutes)
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* - If it does not come back, check the file bootlog.txt on the SD card
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|
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*
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* @boolean
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|
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* @reboot_required true
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|
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*
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* @group System
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|
||||||
*/
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|
||||||
PARAM_DEFINE_INT32(SYS_BL_UPDATE, 0);
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|
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|
|
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/**
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|
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* Enable failure injection
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|
||||||
*
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|
||||||
* If enabled allows MAVLink INJECT_FAILURE commands.
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|
||||||
*
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|
||||||
* WARNING: the failures can easily cause crashes and are to be used with caution!
|
|
||||||
*
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|
||||||
* @boolean
|
|
||||||
*
|
|
||||||
* @group System
|
|
||||||
*/
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|
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PARAM_DEFINE_INT32(SYS_FAILURE_EN, 0);
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|
||||||
@@ -0,0 +1,230 @@
|
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|
module_name: systemlib
|
||||||
|
parameters:
|
||||||
|
- group: System
|
||||||
|
definitions:
|
||||||
|
SYS_AUTOSTART:
|
||||||
|
description:
|
||||||
|
short: Auto-start script index
|
||||||
|
long: CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script
|
||||||
|
used to bootstrap the system.
|
||||||
|
type: int32
|
||||||
|
default: 0
|
||||||
|
reboot_required: true
|
||||||
|
min: 0
|
||||||
|
max: 9999999
|
||||||
|
SYS_AUTOCONFIG:
|
||||||
|
description:
|
||||||
|
short: Automatically configure default values
|
||||||
|
long: |-
|
||||||
|
Set to 1 to reset parameters on next system startup (setting defaults).
|
||||||
|
Platform-specific values are used if available.
|
||||||
|
RC* parameters are preserved.
|
||||||
|
type: enum
|
||||||
|
values:
|
||||||
|
0: Keep parameters
|
||||||
|
1: Reset parameters to airframe defaults
|
||||||
|
default: 0
|
||||||
|
SYS_HITL:
|
||||||
|
description:
|
||||||
|
short: Enable HITL/SIH mode on next boot
|
||||||
|
long: |-
|
||||||
|
While enabled the system will boot in Hardware-In-The-Loop (HITL)
|
||||||
|
or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks.
|
||||||
|
When disabled the same vehicle can be flown normally.
|
||||||
|
|
||||||
|
Set to 'external HITL', if the system should perform as if it were a real
|
||||||
|
vehicle (the only difference to a real system is then only the parameter
|
||||||
|
value, which can be used for log analysis).
|
||||||
|
type: enum
|
||||||
|
values:
|
||||||
|
-1: external HITL
|
||||||
|
0: HITL and SIH disabled
|
||||||
|
1: HITL enabled
|
||||||
|
2: SIH enabled
|
||||||
|
default: 0
|
||||||
|
reboot_required: true
|
||||||
|
SYS_PARAM_VER:
|
||||||
|
description:
|
||||||
|
short: Parameter version
|
||||||
|
long: |-
|
||||||
|
This is used internally only: an airframe configuration might set an expected
|
||||||
|
parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup
|
||||||
|
against SYS_PARAM_VER, and if they do not match, parameters are reset and
|
||||||
|
reloaded from the airframe configuration.
|
||||||
|
type: int32
|
||||||
|
default: 1
|
||||||
|
min: 0
|
||||||
|
SYS_CAL_GYRO:
|
||||||
|
description:
|
||||||
|
short: Auto start gyro thermal calibration on next boot
|
||||||
|
long: |-
|
||||||
|
Enable auto start of rate gyro thermal calibration at the next power up
|
||||||
|
|
||||||
|
0 : Set to 0 to do nothing
|
||||||
|
1 : Set to 1 to start a calibration at next boot
|
||||||
|
This parameter is reset to zero when the temperature calibration starts.
|
||||||
|
|
||||||
|
default (0, no calibration)
|
||||||
|
type: int32
|
||||||
|
default: 0
|
||||||
|
min: 0
|
||||||
|
max: 1
|
||||||
|
SYS_CAL_ACCEL:
|
||||||
|
description:
|
||||||
|
short: Auto start accel thermal calibration on next boot
|
||||||
|
long: |-
|
||||||
|
Enable auto start of accelerometer thermal calibration at the next power up
|
||||||
|
|
||||||
|
0 : Set to 0 to do nothing
|
||||||
|
1 : Set to 1 to start a calibration at next boot
|
||||||
|
This parameter is reset to zero when the temperature calibration starts.
|
||||||
|
|
||||||
|
default (0, no calibration)
|
||||||
|
type: int32
|
||||||
|
default: 0
|
||||||
|
min: 0
|
||||||
|
max: 1
|
||||||
|
SYS_CAL_BARO:
|
||||||
|
description:
|
||||||
|
short: Auto start baro thermal calibration on next boot
|
||||||
|
long: |-
|
||||||
|
Enable auto start of barometer thermal calibration at the next power up
|
||||||
|
|
||||||
|
0 : Set to 0 to do nothing
|
||||||
|
1 : Set to 1 to start a calibration at next boot
|
||||||
|
This parameter is reset to zero when the temperature calibration starts.
|
||||||
|
|
||||||
|
default (0, no calibration)
|
||||||
|
type: int32
|
||||||
|
default: 0
|
||||||
|
min: 0
|
||||||
|
max: 1
|
||||||
|
SYS_CAL_TDEL:
|
||||||
|
description:
|
||||||
|
short: Required temperature rise during thermal calibration
|
||||||
|
long: |-
|
||||||
|
A temperature increase greater than this value is required during calibration.
|
||||||
|
Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL.
|
||||||
|
If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.
|
||||||
|
type: int32
|
||||||
|
default: 24
|
||||||
|
unit: celcius
|
||||||
|
min: 10
|
||||||
|
SYS_CAL_TMIN:
|
||||||
|
description:
|
||||||
|
short: Minimum starting temperature for thermal calibration
|
||||||
|
long: Temperature calibration for each sensor will ignore data if the temperature
|
||||||
|
is lower than the value set by SYS_CAL_TMIN.
|
||||||
|
type: int32
|
||||||
|
default: 5
|
||||||
|
unit: celcius
|
||||||
|
SYS_CAL_TMAX:
|
||||||
|
description:
|
||||||
|
short: Maximum starting temperature for thermal calibration
|
||||||
|
long: Temperature calibration will not start if the temperature of any sensor
|
||||||
|
is higher than the value set by SYS_CAL_TMAX.
|
||||||
|
type: int32
|
||||||
|
default: 10
|
||||||
|
unit: celcius
|
||||||
|
SYS_HAS_GPS:
|
||||||
|
description:
|
||||||
|
short: Control if the vehicle has a GPS
|
||||||
|
long: |-
|
||||||
|
Disable this if the system has no GPS.
|
||||||
|
If disabled, the sensors hub will not process sensor_gps,
|
||||||
|
and GPS will not be available for the rest of the system.
|
||||||
|
type: boolean
|
||||||
|
default: 1
|
||||||
|
reboot_required: true
|
||||||
|
SYS_HAS_MAG:
|
||||||
|
description:
|
||||||
|
short: Control if and how many magnetometers are expected
|
||||||
|
long: |-
|
||||||
|
0: System has no magnetometer, preflight checks should pass without one.
|
||||||
|
1-N: Require the presence of N magnetometer sensors for check to pass.
|
||||||
|
type: int32
|
||||||
|
default: 1
|
||||||
|
reboot_required: true
|
||||||
|
SYS_HAS_BARO:
|
||||||
|
description:
|
||||||
|
short: Control if the vehicle has a barometer
|
||||||
|
long: |-
|
||||||
|
Disable this if the board has no barometer, such as some of the Omnibus
|
||||||
|
F4 SD variants.
|
||||||
|
If disabled, the preflight checks will not check for the presence of a
|
||||||
|
barometer.
|
||||||
|
type: boolean
|
||||||
|
default: 1
|
||||||
|
reboot_required: true
|
||||||
|
SYS_HAS_NUM_ASPD:
|
||||||
|
description:
|
||||||
|
short: Control if the vehicle has an airspeed sensor
|
||||||
|
long: |-
|
||||||
|
Set this to 0 if the board has no airspeed sensor.
|
||||||
|
If set to 0, the preflight checks will not check for the presence of an
|
||||||
|
airspeed sensor.
|
||||||
|
type: int32
|
||||||
|
default: 0
|
||||||
|
min: 0
|
||||||
|
max: 1
|
||||||
|
SYS_HAS_NUM_DIST:
|
||||||
|
description:
|
||||||
|
short: Number of distance sensors to check being available
|
||||||
|
long: |-
|
||||||
|
The preflight check will fail if fewer than this number of distance sensors with valid data is present.
|
||||||
|
|
||||||
|
Disable the check with 0.
|
||||||
|
type: int32
|
||||||
|
default: 0
|
||||||
|
min: 0
|
||||||
|
max: 4
|
||||||
|
SYS_HAS_NUM_OF:
|
||||||
|
description:
|
||||||
|
short: Number of optical flow sensors required to be available
|
||||||
|
long: The preflight check will fail if fewer than this number of optical flow
|
||||||
|
sensors with valid data are present.
|
||||||
|
type: int32
|
||||||
|
default: 0
|
||||||
|
min: 0
|
||||||
|
max: 1
|
||||||
|
SYS_FAC_CAL_MODE:
|
||||||
|
description:
|
||||||
|
short: Enable factory calibration mode
|
||||||
|
long: |-
|
||||||
|
If enabled, future sensor calibrations will be stored to /fs/mtd_caldata.
|
||||||
|
|
||||||
|
Note: this is only supported on boards with a separate calibration storage
|
||||||
|
/fs/mtd_caldata.
|
||||||
|
type: enum
|
||||||
|
values:
|
||||||
|
0: Disabled
|
||||||
|
1: All sensors
|
||||||
|
2: All sensors except mag
|
||||||
|
default: 0
|
||||||
|
SYS_BL_UPDATE:
|
||||||
|
description:
|
||||||
|
short: Bootloader update
|
||||||
|
long: |-
|
||||||
|
If enabled, update the bootloader on the next boot.
|
||||||
|
|
||||||
|
WARNING: do not cut the power during an update process, otherwise you will
|
||||||
|
have to recover using some alternative method (e.g. JTAG).
|
||||||
|
|
||||||
|
Instructions:
|
||||||
|
- Insert an SD card
|
||||||
|
- Enable this parameter
|
||||||
|
- Reboot the board (plug the power or send a reboot command)
|
||||||
|
- Wait until the board comes back up (or at least 2 minutes)
|
||||||
|
- If it does not come back, check the file bootlog.txt on the SD card
|
||||||
|
type: boolean
|
||||||
|
default: 0
|
||||||
|
reboot_required: true
|
||||||
|
SYS_FAILURE_EN:
|
||||||
|
description:
|
||||||
|
short: Enable failure injection
|
||||||
|
long: |-
|
||||||
|
If enabled allows MAVLink INJECT_FAILURE commands.
|
||||||
|
|
||||||
|
WARNING: the failures can easily cause crashes and are to be used with caution!
|
||||||
|
type: boolean
|
||||||
|
default: 0
|
||||||
Reference in New Issue
Block a user