mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-02 03:49:12 +08:00
refactor(mavlink): 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
@@ -126,6 +126,7 @@ px4_add_module(
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tune_publisher.cpp
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tune_publisher.cpp
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MODULE_CONFIG
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MODULE_CONFIG
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module.yaml
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module.yaml
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mavlink_params.yaml
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DEPENDS
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DEPENDS
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adsb
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adsb
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airspeed
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airspeed
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@@ -1,165 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2016 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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* MAVLink system ID
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* @group MAVLink
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* @min 1
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* @max 250
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* @reboot_required true
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*/
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PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
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/**
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* MAVLink component ID
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* @group MAVLink
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* @min 1
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* @max 250
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* @reboot_required true
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*/
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PARAM_DEFINE_INT32(MAV_COMP_ID, 1);
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/**
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* MAVLink protocol signing
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* @group MAVLink
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* @value 0 Message signing disabled
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* @value 1 Signing enabled except on USB
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* @value 2 Signing always enabled
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*/
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PARAM_DEFINE_INT32(MAV_SIGN_CFG, 0);
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/**
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* MAVLink protocol version
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* @group MAVLink
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* @value 1 Version 1 with auto-upgrade to v2 if detected
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* @value 2 Version 2
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*/
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PARAM_DEFINE_INT32(MAV_PROTO_VER, 2);
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/**
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* MAVLink SiK Radio ID
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*
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* When non-zero the MAVLink app will attempt to configure the
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* SiK radio to this ID and re-set the parameter to 0. If the value
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* is negative it will reset the complete radio config to
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* factory defaults. Only applies if this mavlink instance is going through a SiK radio
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*
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* @group MAVLink
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* @min -1
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* @max 240
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*/
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PARAM_DEFINE_INT32(MAV_SIK_RADIO_ID, 0);
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/**
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* MAVLink airframe type
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*
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* @min 0
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* @max 22
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* @value 0 Generic micro air vehicle
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* @value 1 Fixed wing aircraft
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* @value 2 Quadrotor
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* @value 3 Coaxial helicopter
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* @value 4 Normal helicopter with tail rotor
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* @value 7 Airship, controlled
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* @value 8 Free balloon, uncontrolled
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* @value 10 Ground rover
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* @value 11 Surface vessel, boat, ship
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* @value 12 Submarine
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* @value 13 Hexarotor
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* @value 14 Octorotor
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* @value 15 Tricopter
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* @value 19 VTOL Two-rotor Tailsitter
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* @value 20 VTOL Quad-rotor Tailsitter
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* @value 21 VTOL Tiltrotor
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* @value 22 VTOL Standard (separate fixed rotors for hover and cruise flight)
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* @value 23 VTOL Tailsitter
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* @group MAVLink
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*/
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PARAM_DEFINE_INT32(MAV_TYPE, 0);
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/**
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* Use/Accept HIL GPS message even if not in HIL mode
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*
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* If set to 1 incoming HIL GPS messages are parsed.
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*
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* @boolean
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* @group MAVLink
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*/
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PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
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/**
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* Forward external setpoint messages
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*
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* If set to 1 incoming external setpoint messages will be directly forwarded
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* to the controllers if in offboard control mode
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*
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* @boolean
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* @group MAVLink
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*/
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PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);
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/**
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* Parameter hash check.
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*
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* Disabling the parameter hash check functionality will make the mavlink instance
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* stream parameters continuously.
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*
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* @boolean
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* @group MAVLink
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*/
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PARAM_DEFINE_INT32(MAV_HASH_CHK_EN, 1);
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/**
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* Heartbeat message forwarding.
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*
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* The mavlink heartbeat message will not be forwarded if this parameter is set to 'disabled'.
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* The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.
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*
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* @boolean
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* @group MAVLink
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*/
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PARAM_DEFINE_INT32(MAV_HB_FORW_EN, 1);
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/**
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* Timeout in seconds for the RADIO_STATUS reports coming in
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*
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* If the connected radio stops reporting RADIO_STATUS for a certain time,
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* a warning is triggered and, if MAV_X_RADIO_CTL is enabled, the software-flow
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* control is reset.
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*
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* @group MAVLink
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* @unit s
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* @min 1
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* @max 250
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*/
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PARAM_DEFINE_INT32(MAV_RADIO_TOUT, 5);
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@@ -0,0 +1,117 @@
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module_name: mavlink
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parameters:
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- group: MAVLink
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definitions:
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MAV_SYS_ID:
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description:
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short: MAVLink system ID
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type: int32
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default: 1
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min: 1
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max: 250
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reboot_required: true
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MAV_COMP_ID:
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description:
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short: MAVLink component ID
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type: int32
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default: 1
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min: 1
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max: 250
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reboot_required: true
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MAV_SIGN_CFG:
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description:
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short: MAVLink protocol signing
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type: enum
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values:
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0: Message signing disabled
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1: Signing enabled except on USB
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2: Signing always enabled
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default: 0
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MAV_PROTO_VER:
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description:
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short: MAVLink protocol version
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type: enum
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values:
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1: Version 1 with auto-upgrade to v2 if detected
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2: Version 2
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default: 2
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MAV_SIK_RADIO_ID:
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description:
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short: MAVLink SiK Radio ID
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long: |-
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When non-zero the MAVLink app will attempt to configure the
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SiK radio to this ID and re-set the parameter to 0. If the value
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is negative it will reset the complete radio config to
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factory defaults. Only applies if this mavlink instance is going through a SiK radio
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type: int32
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default: 0
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min: -1
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max: 240
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MAV_TYPE:
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description:
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short: MAVLink airframe type
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type: enum
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values:
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0: Generic micro air vehicle
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1: Fixed wing aircraft
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2: Quadrotor
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3: Coaxial helicopter
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4: Normal helicopter with tail rotor
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7: Airship, controlled
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8: Free balloon, uncontrolled
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10: Ground rover
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11: Surface vessel, boat, ship
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12: Submarine
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13: Hexarotor
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14: Octorotor
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15: Tricopter
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19: VTOL Two-rotor Tailsitter
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20: VTOL Quad-rotor Tailsitter
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21: VTOL Tiltrotor
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22: VTOL Standard (separate fixed rotors for hover and cruise flight)
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23: VTOL Tailsitter
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default: 0
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min: 0
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max: 22
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MAV_USEHILGPS:
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description:
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short: Use/Accept HIL GPS message even if not in HIL mode
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long: If set to 1 incoming HIL GPS messages are parsed.
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type: boolean
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default: 0
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MAV_FWDEXTSP:
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description:
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short: Forward external setpoint messages
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long: |-
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If set to 1 incoming external setpoint messages will be directly forwarded
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to the controllers if in offboard control mode
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type: boolean
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default: 1
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MAV_HASH_CHK_EN:
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description:
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short: Parameter hash check
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long: |-
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Disabling the parameter hash check functionality will make the mavlink instance
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stream parameters continuously.
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type: boolean
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default: 1
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MAV_HB_FORW_EN:
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description:
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short: Heartbeat message forwarding
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long: |-
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The mavlink heartbeat message will not be forwarded if this parameter is set to 'disabled'.
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The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.
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type: boolean
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default: 1
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MAV_RADIO_TOUT:
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description:
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short: Timeout in seconds for the RADIO_STATUS reports coming in
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long: |-
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If the connected radio stops reporting RADIO_STATUS for a certain time,
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a warning is triggered and, if MAV_X_RADIO_CTL is enabled, the software-flow
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control is reset.
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type: int32
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default: 5
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unit: s
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min: 1
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max: 250
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