mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
470 lines
17 KiB
C++
470 lines
17 KiB
C++
#include "Blimp.h"
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* Blimp parameter definitions
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*
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*/
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#define DEFAULT_FRAME_CLASS 0
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const AP_Param::Info Blimp::var_info[] = {
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// @Param: FORMAT_VERSION
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// @DisplayName: Eeprom format version number
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// @Description: This value is incremented when changes are made to the eeprom format
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// @User: Advanced
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GSCALAR(format_version, "FORMAT_VERSION", 0),
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// SYSID_THISMAV was here
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// SYSID_MYGCS was here
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// @Param: PILOT_THR_FILT
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// @DisplayName: Throttle filter cutoff
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// @Description: Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
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// @User: Advanced
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 0.5
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GSCALAR(throttle_filt, "PILOT_THR_FILT", 0),
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// @Param: PILOT_THR_BHV
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// @DisplayName: Throttle stick behavior
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// @Description: Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick.
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// @User: Standard
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// @Bitmask: 0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection
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GSCALAR(throttle_behavior, "PILOT_THR_BHV", 0),
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// SerialManager was here
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// @Param: GCS_PID_MASK
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// @DisplayName: GCS PID tuning mask
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// @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
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// @User: Advanced
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// @Bitmask: 0:VELX,1:VELY,2:VELZ,3:VELYAW,4:POSX,5:POSY,6:POZ,7:POSYAW
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GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
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// @Param: FS_GCS_ENABLE
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// @DisplayName: Ground Station Failsafe Enable
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// @Description: Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.
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// @Values: 0:Disabled/NoAction,5:Land
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// @User: Standard
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GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_DISABLED),
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// @Param: GPS_HDOP_GOOD
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// @DisplayName: GPS Hdop Good
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// @Description: GPS Hdop value at or below this value represent a good position. Used for pre-arm checks
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// @Range: 100 900
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// @User: Advanced
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GSCALAR(gps_hdop_good, "GPS_HDOP_GOOD", GPS_HDOP_GOOD_DEFAULT),
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// @Param: FS_THR_ENABLE
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// @DisplayName: Throttle Failsafe Enable
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// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
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// @Values: 0:Disabled,3:Enabled always Land
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// @User: Standard
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GSCALAR(failsafe_throttle, "FS_THR_ENABLE", FS_THR_ENABLED_ALWAYS_RTL),
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// @Param: FS_THR_VALUE
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// @DisplayName: Throttle Failsafe Value
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// @Description: The PWM level in microseconds on channel 3 below which throttle failsafe triggers
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// @Range: 910 1100
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// @Units: PWM
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// @Increment: 1
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// @User: Standard
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GSCALAR(failsafe_throttle_value, "FS_THR_VALUE", FS_THR_VALUE_DEFAULT),
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// @Param: THR_DZ
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// @DisplayName: Throttle deadzone
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// @Description: The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes
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// @User: Standard
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// @Range: 0 300
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// @Units: PWM
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// @Increment: 1
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GSCALAR(throttle_deadzone, "THR_DZ", THR_DZ_DEFAULT),
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// @Param: FLTMODE1
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// @DisplayName: Flight Mode 1
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// @Description: Flight mode when Channel 5 pwm is <= 1230
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// @Values: 0:LAND,1:MANUAL,2:VELOCITY,3:LOITER
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// @User: Standard
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GARRAY(flight_modes, 0, "FLTMODE1", (uint8_t)FLIGHT_MODE_1),
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// @Param: FLTMODE2
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// @CopyFieldsFrom: FLTMODE1
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// @DisplayName: Flight Mode 2
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// @Description: Flight mode when Channel 5 pwm is >1230, <= 1360
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GARRAY(flight_modes, 1, "FLTMODE2", (uint8_t)FLIGHT_MODE_2),
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// @Param: FLTMODE3
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// @CopyFieldsFrom: FLTMODE1
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// @DisplayName: Flight Mode 3
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// @Description: Flight mode when Channel 5 pwm is >1360, <= 1490
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GARRAY(flight_modes, 2, "FLTMODE3", (uint8_t)FLIGHT_MODE_3),
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// @Param: FLTMODE4
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// @CopyFieldsFrom: FLTMODE1
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// @DisplayName: Flight Mode 4
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// @Description: Flight mode when Channel 5 pwm is >1490, <= 1620
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GARRAY(flight_modes, 3, "FLTMODE4", (uint8_t)FLIGHT_MODE_4),
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// @Param: FLTMODE5
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// @CopyFieldsFrom: FLTMODE1
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// @DisplayName: Flight Mode 5
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// @Description: Flight mode when Channel 5 pwm is >1620, <= 1749
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GARRAY(flight_modes, 4, "FLTMODE5", (uint8_t)FLIGHT_MODE_5),
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// @Param: FLTMODE6
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// @CopyFieldsFrom: FLTMODE1
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// @DisplayName: Flight Mode 6
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// @Description: Flight mode when Channel 5 pwm is >=1750
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GARRAY(flight_modes, 5, "FLTMODE6", (uint8_t)FLIGHT_MODE_6),
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// @Param: FLTMODE_CH
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// @DisplayName: Flightmode channel
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// @Description: RC Channel to use for flight mode control
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// @Values: 0:Disabled,5:Channel5,6:Channel6,7:Channel7,8:Channel8
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// @User: Advanced
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GSCALAR(flight_mode_chan, "FLTMODE_CH", CH_MODE_DEFAULT),
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// @Param: INITIAL_MODE
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// @DisplayName: Initial flight mode
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// @Description: This selects the mode to start in on boot.
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// @CopyValuesFrom: FLTMODE1
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// @User: Advanced
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GSCALAR(initial_mode, "INITIAL_MODE", (uint8_t)Mode::Number::MANUAL),
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// @Param: LOG_BITMASK
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// @DisplayName: Log bitmask
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// @Description: Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all basic log types by setting this to 65535.
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// @Bitmask: 0:Fast Attitude,1:Medium Attitude,2:GPS,3:System Performance,4:Control Tuning,6:RC Input,7:IMU,9:Battery Monitor,10:RC Output,12:PID,13:Compass
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// @User: Standard
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GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
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// @Group: ARMING_
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// @Path: ../libraries/AP_Arming/AP_Arming.cpp
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GOBJECT(arming, "ARMING_", AP_Arming_Blimp),
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// @Param: DISARM_DELAY
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// @DisplayName: Disarm delay
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// @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm.
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// @Units: s
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// @Range: 0 127
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// @User: Advanced
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GSCALAR(disarm_delay, "DISARM_DELAY", AUTO_DISARMING_DELAY),
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// @Param: FS_EKF_ACTION
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// @DisplayName: EKF Failsafe Action
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// @Description: Controls the action that will be taken when an EKF failsafe is invoked
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// @Values: 1:Land, 3:Land even in MANUAL
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// @User: Advanced
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GSCALAR(fs_ekf_action, "FS_EKF_ACTION", FS_EKF_ACTION_DEFAULT),
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// @Param: FS_EKF_THRESH
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// @DisplayName: EKF failsafe variance threshold
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// @Description: Allows setting the maximum acceptable compass and velocity variance
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// @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
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// @Range: 0.6 1.0
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// @User: Advanced
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GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH", FS_EKF_THRESHOLD_DEFAULT),
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// @Param: FS_CRASH_CHECK
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// @DisplayName: Crash check enable
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// @Description: This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
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// @Values: 0:Disabled, 1:Enabled
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// @User: Advanced
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GSCALAR(fs_crash_check, "FS_CRASH_CHECK", 1),
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// @Param: MAX_MAN_THR
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// @DisplayName: Max Throttle in Manual Mode
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// @Description: Sets the maximum commanded throttle in manual mode. Note that this will be on top of FINS_THR_MAX.
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// @Range: 0.1 1
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// @User: Standard
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GSCALAR(max_man_thr, "MAX_MAN_THR", 1),
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// @Param: WP_ACCEL
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// @DisplayName: Waypoint Acceleration
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// @Description: Sets the maximum acceleration for waypoint navigation
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// @Units: m/s/s
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// @Range: 0.1 1
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// @User: Standard
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GSCALAR(wp_accel, "WP_ACCEL", 0.4),
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// @Param: WP_VEL
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// @DisplayName: Waypoint Velocity
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// @Description: Sets the maximum velocity for waypoint navigation
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// @Units: m/s
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// @Range: 0.1 1
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// @User: Standard
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GSCALAR(wp_vel, "WP_VEL", 0.4),
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// @Param: WP_RADIUS
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// @DisplayName: Waypoint Radius
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// @Description: Sets the waypoint acceptance radius for waypoint navigation
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// @Units: m
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// @Range: 0.1 10
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// @User: Standard
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GSCALAR(wp_radius, "WP_RADIUS", 1.0),
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// @Param: WP_YAW_MIN_VEL
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// @DisplayName: Waypoint Yaw Minimum Velocity
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// @Description: Sets the minimum horizontal speed for waypoint navigation
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// @Units: m/s
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// @Range: 0.1 1
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// @User: Standard
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GSCALAR(wp_yaw_min_vel, "WP_YAW_MIN_VEL", 0.1),
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// @Param: WP_YAW_SPD
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// @DisplayName: Waypoint Yaw speed
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// @Description: Sets the yaw speed for yawing to direction of travel during waypoint navigation
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// @Units: rad/s
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// @Range: 0.1 1
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// @User: Standard
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GSCALAR(wp_yaw_spd, "WP_YAW_SPD", 0.5),
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// @Param: SIMPLE_MODE
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// @DisplayName: Simple mode
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// @Description: Simple mode for Position control - "forward" moves blimp in +ve X direction world-frame
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// @Values: 0:Disabled, 1:Enabled
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// @User: Standard
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GSCALAR(simple_mode, "SIMPLE_MODE", 0),
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// variables not in the g class which contain EEPROM saved variables
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// @Group: COMPASS_
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// @Path: ../libraries/AP_Compass/AP_Compass.cpp
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GOBJECT(compass, "COMPASS_", Compass),
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// @Group: INS
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// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
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GOBJECT(ins, "INS", AP_InertialSensor),
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// SR0 through SR6 was here
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// @Group: AHRS_
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// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
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GOBJECT(ahrs, "AHRS_", AP_AHRS),
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// @Group: BATT
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// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
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GOBJECT(battery, "BATT", AP_BattMonitor),
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// @Group: BRD_
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// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
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GOBJECT(BoardConfig, "BRD_", AP_BoardConfig),
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS
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// @Group: CAN_
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// @Path: ../libraries/AP_CANManager/AP_CANManager.cpp
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GOBJECT(can_mgr, "CAN_", AP_CANManager),
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#endif
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#if AP_SIM_ENABLED
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GOBJECT(sitl, "SIM_", SITL::SIM),
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#endif
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// @Group: BARO
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// @Path: ../libraries/AP_Baro/AP_Baro.cpp
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GOBJECT(barometer, "BARO", AP_Baro),
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// GPS driver
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// @Group: GPS
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// @Path: ../libraries/AP_GPS/AP_GPS.cpp
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GOBJECT(gps, "GPS", AP_GPS),
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// @Group: SCHED_
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// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
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GOBJECT(scheduler, "SCHED_", AP_Scheduler),
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// @Group: RCMAP_
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// @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
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GOBJECT(rcmap, "RCMAP_", RCMapper),
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#if HAL_NAVEKF2_AVAILABLE
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// @Group: EK2_
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// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
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GOBJECTN(ahrs.ekf2.EKF2, NavEKF2, "EK2_", NavEKF2),
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#endif
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#if HAL_NAVEKF3_AVAILABLE
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// @Group: EK3_
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// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
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GOBJECTN(ahrs.ekf3.EKF3, NavEKF3, "EK3_", NavEKF3),
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#endif
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#if AP_RSSI_ENABLED
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// @Group: RSSI_
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// @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
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GOBJECT(rssi, "RSSI_", AP_RSSI),
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#endif
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// @Group: NTF_
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// @Path: ../libraries/AP_Notify/AP_Notify.cpp
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GOBJECT(notify, "NTF_", AP_Notify),
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// @Group:
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// @Path: Parameters.cpp
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GOBJECT(g2, "", ParametersG2),
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// @Group: FINS_
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// @Path: Fins.cpp
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GOBJECTPTR(motors, "FINS_", Fins),
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// @Group: LOIT_
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// @Path: Loiter.cpp
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GOBJECTPTR(loiter, "LOIT_", Loiter),
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GOBJECTN(mode_auto.mission, mission, "MIS_", AP_Mission),
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// @Group:
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// @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
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PARAM_VEHICLE_INFO,
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#if HAL_GCS_ENABLED
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// @Group: MAV
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// @Path: ../libraries/GCS_MAVLink/GCS.cpp
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GOBJECT(_gcs, "MAV", GCS),
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#endif
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AP_VAREND
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};
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/*
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2nd group of parameters
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*/
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const AP_Param::GroupInfo ParametersG2::var_info[] = {
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// @Param: DEV_OPTIONS
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// @DisplayName: Development options
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// @Description: Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning
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// @Bitmask: 0:Unknown
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// @User: Advanced
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AP_GROUPINFO("DEV_OPTIONS", 7, ParametersG2, dev_options, 0),
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// 11 was SYSID_ENFORCE
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// 12 was AP_Stats
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// @Param: FRAME_CLASS
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// @DisplayName: Frame class
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// @Description: Controls frame for blimp.
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// @Values: 0:Finnedblimp
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("FRAME_CLASS", 15, ParametersG2, frame_class, DEFAULT_FRAME_CLASS),
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// @Group: SERVO
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// @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
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AP_SUBGROUPINFO(servo_channels, "SERVO", 16, ParametersG2, SRV_Channels),
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// @Group: RC
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// @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
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AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels_Blimp),
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// @Param: PILOT_SPEED_DN
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// @DisplayName: Pilot maximum vertical speed descending
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// @Description: The maximum vertical descending velocity the pilot may request in cm/s
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// @Units: cm/s
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// @Range: 50 500
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// @Increment: 10
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// @User: Standard
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AP_GROUPINFO("PILOT_SPEED_DN", 24, ParametersG2, pilot_speed_dn, 0),
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// 30 was AP_Scripting
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// @Param: FS_VIBE_ENABLE
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// @DisplayName: Vibration Failsafe enable
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// @Description: This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations
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// @Values: 0:Disabled, 1:Enabled
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// @User: Standard
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AP_GROUPINFO("FS_VIBE_ENABLE", 35, ParametersG2, fs_vibe_enabled, 1),
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// @Param: FS_OPTIONS
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// @DisplayName: Failsafe options bitmask
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// @Description: Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options.
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// @Bitmask: 4:Continue if in pilot controlled modes on GCS failsafe
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// @User: Advanced
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AP_GROUPINFO("FS_OPTIONS", 36, ParametersG2, fs_options, (float)Blimp::FailsafeOption::GCS_CONTINUE_IF_PILOT_CONTROL),
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// @Param: FS_GCS_TIMEOUT
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// @DisplayName: GCS failsafe timeout
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// @Description: Timeout before triggering the GCS failsafe
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// @Units: s
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// @Range: 2 120
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("FS_GCS_TIMEOUT", 42, ParametersG2, fs_gcs_timeout, 5),
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AP_GROUPEND
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};
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/*
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constructor for g2 object
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*/
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ParametersG2::ParametersG2(void)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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void Blimp::load_parameters(void)
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{
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AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
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static const AP_Param::G2ObjectConversion g2_conversions[] {
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#if AP_STATS_ENABLED
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// PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
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{ &stats, stats.var_info, 12 },
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#endif
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#if AP_SCRIPTING_ENABLED
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// PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
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{ &scripting, scripting.var_info, 30 },
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#endif
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};
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AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));
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// PARAMETER_CONVERSION - Added: Feb-2024
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#if HAL_LOGGING_ENABLED
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AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
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#endif
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static const AP_Param::TopLevelObjectConversion toplevel_conversions[] {
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#if AP_SERIALMANAGER_ENABLED
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// PARAMETER_CONVERSION - Added: Feb-2024
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{ &serial_manager, serial_manager.var_info, Parameters::k_param_serial_manager_old },
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#endif
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};
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AP_Param::convert_toplevel_objects(toplevel_conversions, ARRAY_SIZE(toplevel_conversions));
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// setup AP_Param frame type flags
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AP_Param::set_frame_type_flags(AP_PARAM_FRAME_BLIMP);
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#if HAL_GCS_ENABLED
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// Move parameters into new MAV_ parameter namespace
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// PARAMETER_CONVERSION - Added: Mar-2025 for ArduPilot-4.7
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{
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static const AP_Param::ConversionInfo gcs_conversion_info[] {
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{ Parameters::k_param_sysid_this_mav_old, 0, AP_PARAM_INT16, "MAV_SYSID" },
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{ Parameters::k_param_sysid_my_gcs_old, 0, AP_PARAM_INT16, "MAV_GCS_SYSID" },
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{ Parameters::k_param_g2, 11, AP_PARAM_INT8, "MAV_OPTIONS" },
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{ Parameters::k_param_telem_delay_old, 0, AP_PARAM_INT8, "MAV_TELEM_DELAY" },
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};
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AP_Param::convert_old_parameters(&gcs_conversion_info[0], ARRAY_SIZE(gcs_conversion_info));
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}
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#endif // HAL_GCS_ENABLED
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}
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