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ardupilot/ArduCopter/Parameters.h
T
Andy Piper c4f79e1014 Copter: migrate ground effect detection to AP_GroundEffect 
Replaces Copter's built-in ground-effect detection with the
AP_GroundEffect library and wires its AC_PosControl and per-cycle
vehicle state.

A stored GND_EFFECT_COMP=0 is migrated to GNDEFF_ALT=-1; the enabled
default needs no migration.

With the default GNDEFF_ALT of 0.5m touchdown_expected now also
requires the vehicle to be near the ground (within 0.5m of the takeoff
height, and within 20m horizontally of the launch point when no
rangefinder is available), where the old code asserted it for any slow
descent at any height. GNDEFF_ALT=0 restores the old behaviour.
2026-09-01 20:09:07 +09:00

749 lines
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#pragma once
#define AP_PARAM_VEHICLE_NAME copter
#include <AP_Common/AP_Common.h>
#include "RC_Channel_Copter.h"
#include <AP_Proximity/AP_Proximity.h>
#include <AP_SurfaceDistance/AP_SurfaceDistance.h>
class ModeRTL;
#if MODE_FOLLOW_ENABLED
# include <AP_Follow/AP_Follow.h>
#endif
#if WEATHERVANE_ENABLED
#include <AC_AttitudeControl/AC_WeatherVane.h>
#endif
#include <AP_GroundEffect/AP_GroundEffect.h>
// Global parameter class.
//
class Parameters {
public:
// The version of the layout as described by the parameter enum.
//
// When changing the parameter enum in an incompatible fashion, this
// value should be incremented by one.
//
// The increment will prevent old parameters from being used incorrectly
// by newer code.
//
static const uint16_t k_format_version = 120;
// Parameter identities.
//
// The enumeration defined here is used to ensure that every parameter
// or parameter group has a unique ID number. This number is used by
// AP_Param to store and locate parameters in EEPROM.
//
// Note that entries without a number are assigned the next number after
// the entry preceding them. When adding new entries, ensure that they
// don't overlap.
//
// Try to group related variables together, and assign them a set
// range in the enumeration. Place these groups in numerical order
// at the end of the enumeration.
//
// WARNING: Care should be taken when editing this enumeration as the
// AP_Param load/save code depends on the values here to identify
// variables saved in EEPROM.
//
//
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type, // deprecated
k_param_ins_old, // *** Deprecated, remove with next eeprom number change
k_param_ins, // libraries/AP_InertialSensor variables
k_param_NavEKF2_old, // deprecated - remove
k_param_NavEKF2,
k_param_g2, // 2nd block of parameters
k_param_NavEKF3,
k_param_can_mgr,
k_param_osd,
// simulation
k_param_sitl = 10,
// barometer object (needed for SITL)
k_param_barometer,
// scheduler object (for debugging)
k_param_scheduler,
// relay object
k_param_relay,
// (old) EPM object
k_param_epm_unused,
// BoardConfig object
k_param_BoardConfig,
// GPS object
k_param_gps,
// Parachute object
k_param_parachute,
// Landing gear object
k_param_landinggear, // 18
// Input Management object
k_param_input_manager, // 19
// Misc
//
k_param_log_bitmask_old = 20, // Deprecated
k_param_log_last_filenumber, // *** Deprecated - remove
// with next eeprom number
// change
k_param_toy_yaw_rate, // deprecated - remove
k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change
k_param_rssi_pin, // unused, replaced by rssi_ library parameters
k_param_throttle_accel_enabled, // deprecated - remove
k_param_wp_yaw_behavior,
k_param_acro_trainer,
k_param_pilot_speed_up_cms, // deprecated - moved to G2 as PILOT_SPD_UP
k_param_circle_rate, // deprecated - remove
k_param_rangefinder_gain, // deprecated - remove
k_param_ch8_option_old, // deprecated
k_param_arming_check_old, // deprecated - remove
k_param_sprayer,
k_param_angle_max, // remove
k_param_gps_hdop_good,
k_param_battery,
k_param_fs_batt_mah, // unused - moved to AP_BattMonitor
k_param_angle_rate_max, // remove
k_param_rssi_range, // unused, replaced by rssi_ library parameters
k_param_rc_feel_rp, // deprecated
k_param_NavEKF, // deprecated - remove
k_param_mission, // mission library
k_param_rc_13_old,
k_param_rc_14_old,
k_param_rally,
k_param_poshold_brake_rate_degs,
k_param_poshold_brake_angle_max, // deprecated - remove
k_param_pilot_accel_d_cmss, // deprecated - moved to G2 as PILOT_ACC_Z
k_param_serial0_baud, // deprecated - remove
k_param_serial1_baud, // deprecated - remove
k_param_serial2_baud, // deprecated - remove
k_param_land_repositioning,
k_param_rangefinder, // rangefinder object
k_param_fs_ekf_thresh,
k_param_terrain,
k_param_acro_rp_expo, // deprecated - remove
k_param_throttle_deadzone,
k_param_optflow,
k_param_dcmcheck_thresh, // deprecated - remove
k_param_log_bitmask,
k_param_cli_enabled_old, // deprecated - remove
k_param_throttle_filt,
k_param_throttle_behavior,
k_param_pilot_takeoff_alt_cm, // deprecated - moved to G2 as PILOT_TKO_ALT_M
// 65: AP_Limits Library
k_param_limits = 65, // deprecated - remove
k_param_gpslock_limit, // deprecated - remove
k_param_geofence_limit, // deprecated - remove
k_param_altitude_limit, // deprecated - remove
k_param_fence_old, // only used for conversion
k_param_gps_glitch, // deprecated
k_param_baro_glitch, // 71 - deprecated
// AP_ADSB Library
k_param_adsb, // 72
k_param_notify, // 73
// 74: precision landing object
k_param_precland = 74,
//
// 75: Singlecopter, CoaxCopter
//
k_param_single_servo_1 = 75, // remove
k_param_single_servo_2, // remove
k_param_single_servo_3, // remove
k_param_single_servo_4, // 78 - remove
//
// 80: Heli
//
k_param_heli_servo_1 = 80, // remove
k_param_heli_servo_2, // remove
k_param_heli_servo_3, // remove
k_param_heli_servo_4, // remove
k_param_heli_pitch_ff, // remove
k_param_heli_roll_ff, // remove
k_param_heli_yaw_ff, // remove
k_param_heli_stab_col_min, // remove
k_param_heli_stab_col_max, // remove
k_param_heli_servo_rsc, // 89 = full! - remove
//
// 90: misc2
//
k_param_motors = 90,
k_param_disarm_delay,
k_param_fs_crash_check,
k_param_throw_motor_start,
k_param_rtl_alt_type,
k_param_avoid,
k_param_avoidance_adsb,
// 97: RSSI
k_param_rssi = 97,
//
// 100: Inertial Nav
//
k_param_inertial_nav = 100, // deprecated
k_param_wp_nav,
k_param_attitude_control,
k_param_pos_control,
k_param_circle_nav,
k_param_loiter_nav, // 105
k_param_custom_control,
// 110: Telemetry control
//
k_param_gcs0_unused = 110, // unused in ArduPilot-4.7
k_param_gcs1_unused, // unused in ArduPilot-4.7
k_param_sysid_this_mav_old,
k_param_sysid_my_gcs_old,
k_param_serial1_baud_old, // deprecated
k_param_telem_delay_old, // used for conversion in ArduPilot-4.7
k_param_gcs2_unused, // unused in ArduPilot-4.7
k_param_serial2_baud_old, // deprecated
k_param_serial2_protocol, // deprecated
k_param_serial_manager_old,
k_param_ch9_option_old,
k_param_ch10_option_old,
k_param_ch11_option_old,
k_param_ch12_option_old,
k_param_takeoff_trigger_dz_old,
k_param_gcs3_unused, // unused in ArduPilot-4.7
k_param_gcs_pid_mask, // 126
k_param_gcs4_unused, // unused in ArduPilot-4.7
k_param_gcs5_unused, // unused in ArduPilot-4.7
k_param_gcs6_unused, // unused in ArduPilot-4.7
//
// 135 : reserved for Solo until features merged with master
//
k_param_rtl_speed_cms = 135, // remove
k_param_fs_batt_curr_rtl,
k_param_rtl_cone_slope, // 137
//
// 140: Sensor parameters
//
k_param_imu = 140, // deprecated - can be deleted
k_param_battery_monitoring = 141, // deprecated - can be deleted
k_param_volt_div_ratio, // deprecated - can be deleted
k_param_curr_amp_per_volt, // deprecated - can be deleted
k_param_input_voltage, // deprecated - can be deleted
k_param_pack_capacity, // deprecated - can be deleted
k_param_compass_enabled_deprecated,
k_param_compass,
k_param_rangefinder_enabled_old, // deprecated
k_param_frame_type,
k_param_optflow_enabled, // deprecated
k_param_fs_batt_voltage, // unused - moved to AP_BattMonitor
k_param_ch7_option_old,
k_param_auto_slew_rate, // deprecated - can be deleted
k_param_rangefinder_type_old, // deprecated
k_param_super_simple = 155,
k_param_axis_enabled = 157, // deprecated - remove with next eeprom number change
k_param_copter_leds_mode, // deprecated - remove with next eeprom number change
k_param_ahrs, // AHRS group // 159
//
// 160: Navigation parameters
//
k_param_rtl_altitude_cm = 160, // remove
k_param_crosstrack_gain, // deprecated - remove with next eeprom number change
k_param_rtl_loiter_time,
k_param_rtl_alt_final_cm, // remove
k_param_tilt_comp, // 164 deprecated - remove with next eeprom number change
//
// Camera and mount parameters
//
k_param_camera = 165,
k_param_camera_mount,
k_param_camera_mount2, // deprecated
//
// Battery monitoring parameters
//
k_param_battery_volt_pin = 168, // deprecated - can be deleted
k_param_battery_curr_pin, // 169 deprecated - can be deleted
//
// 170: Radio settings
//
k_param_rc_1_old = 170,
k_param_rc_2_old,
k_param_rc_3_old,
k_param_rc_4_old,
k_param_rc_5_old,
k_param_rc_6_old,
k_param_rc_7_old,
k_param_rc_8_old,
k_param_rc_10_old,
k_param_rc_11_old,
k_param_throttle_min, // remove
k_param_throttle_max, // remove
k_param_failsafe_throttle,
k_param_throttle_fs_action, // remove
k_param_failsafe_throttle_value,
k_param_throttle_trim, // remove
k_param_esc_calibrate,
k_param_rc_tuning_param,
k_param_rc_tuning_param_high_old, // unused
k_param_rc_tuning_param_low_old, // unused
k_param_rc_speed = 192,
k_param_failsafe_battery_enabled, // unused - moved to AP_BattMonitor
k_param_throttle_mid, // remove
k_param_failsafe_gps_enabled, // remove
k_param_rc_9_old,
k_param_rc_12_old,
k_param_failsafe_gcs,
k_param_rcmap, // 199
//
// 200: flight modes
//
k_param_flight_modes0 = 200,
k_param_flight_modes1,
k_param_flight_modes2,
k_param_flight_modes3,
k_param_flight_modes4,
k_param_flight_modes5,
k_param_simple_modes,
k_param_flight_mode_chan,
k_param_initial_mode,
//
// 210: Waypoint data
//
k_param_waypoint_mode = 210, // remove
k_param_command_total, // remove
k_param_command_index, // remove
k_param_command_nav_index, // remove
k_param_waypoint_radius, // remove
k_param_circle_radius, // remove
k_param_waypoint_speed_max, // remove
k_param_land_speed_cms, // remove
k_param_auto_velocity_z_min, // remove
k_param_auto_velocity_z_max, // remove - 219
k_param_land_speed_high_cms, // remove
//
// 220: PI/D Controllers
//
k_param_acro_rp_p = 221, // remove
k_param_axis_lock_p, // remove
k_param_pid_rate_roll, // remove
k_param_pid_rate_pitch, // remove
k_param_pid_rate_yaw, // remove
k_param_p_stabilize_roll, // remove
k_param_p_stabilize_pitch, // remove
k_param_p_stabilize_yaw, // remove
k_param_p_pos_xy, // remove
k_param_p_loiter_lon, // remove
k_param_pid_loiter_rate_lat, // remove
k_param_pid_loiter_rate_lon, // remove
k_param_pid_nav_lat, // remove
k_param_pid_nav_lon, // remove
k_param_p_alt_hold, // remove
k_param_p_vel_z, // remove
k_param_pid_optflow_roll, // remove
k_param_pid_optflow_pitch, // remove
k_param_acro_balance_roll_old, // remove
k_param_acro_balance_pitch_old, // remove
k_param_pid_accel_z, // remove
k_param_acro_balance_roll,
k_param_acro_balance_pitch,
k_param_acro_yaw_p, // remove
k_param_autotune_axis_bitmask, // remove
k_param_autotune_aggressiveness, // remove
k_param_pi_vel_xy, // remove
k_param_fs_ekf_action,
k_param_rtl_climb_min_cm, // remove
k_param_rpm_sensor_old, // remove
k_param_autotune_min_d, // remove
k_param_arming, // 252 - AP_Arming
k_param_logger = 253, // 253 - Logging Group
// 254,255: reserved
k_param_vehicle = 257, // vehicle common block of parameters
k_param_throw_altitude_min,
k_param_throw_altitude_max,
k_param__gcs,
k_param_throw_altitude_descend,
k_param_throw_altitude_ascend,
// the k_param_* space is 9-bits in size
// 511: reserved
};
AP_Int16 format_version;
AP_Float throttle_filt;
AP_Int16 throttle_behavior;
#if MODE_RTL_ENABLED
AP_Float rtl_cone_slope;
AP_Int32 rtl_loiter_time;
AP_Enum<ModeRTL::RTLAltType> rtl_alt_type;
#endif
// GCS failsafe definitions (FS_GCS_ENABLE parameter)
enum class FS_GCS_Action {
DISABLED = 0,
ALWAYS_RTL = 1,
CONTINUE_MISSION = 2, // Removed in 4.0+, now use fs_options
ALWAYS_SMARTRTL_OR_RTL = 3,
ALWAYS_SMARTRTL_OR_LAND = 4,
ALWAYS_LAND = 5,
AUTO_RTL_OR_RTL = 6,
BRAKE_OR_LAND = 7,
};
AP_Enum<FS_GCS_Action> failsafe_gcs; // ground station failsafe behavior
AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position
AP_Int8 super_simple;
// Yaw behaviours during missions (WP_YAW_BEHAVIOR parameter)
enum class WPYawBehavior {
NONE = 0,
LOOK_AT_NEXT_WP = 1,
LOOK_AT_NEXT_WP_EXCEPT_RTL = 2,
LOOK_AHEAD = 3,
};
AP_Enum<WPYawBehavior> wp_yaw_behavior; // controls how the autopilot controls yaw during missions
#if MODE_POSHOLD_ENABLED
AP_Int16 poshold_brake_rate_degs; // PosHold flight mode's rotation rate during braking in deg/sec
#endif
// Throttle failsafe definitions (FS_THR_ENABLE parameter)
enum class FS_THR_Action {
DISABLED = 0,
ALWAYS_RTL = 1,
CONTINUE_MISSION = 2, // Removed in 4.0+, now use fs_options
ALWAYS_LAND = 3,
ALWAYS_SMARTRTL_OR_RTL = 4,
ALWAYS_SMARTRTL_OR_LAND = 5,
AUTO_RTL_OR_RTL = 6,
BRAKE_OR_LAND = 7,
};
// Throttle
//
AP_Enum<FS_THR_Action> failsafe_throttle;
AP_Int16 failsafe_throttle_value;
AP_Int16 throttle_deadzone;
// Flight modes
//
AP_Int8 flight_modes[6];
AP_Int8 simple_modes;
AP_Int8 flight_mode_chan;
AP_Int8 initial_mode;
// Misc
//
AP_Int32 log_bitmask;
AP_Int8 esc_calibrate;
#if AP_RC_TRANSMITTER_TUNING_ENABLED
AP_Int8 rc_tuning_param;
#endif // AP_RC_TRANSMITTER_TUNING_ENABLED
AP_Int8 frame_type;
AP_Int8 disarm_delay;
AP_Int8 land_repositioning;
// EKF failsafe definitions (FS_EKF_ACTION parameter)
enum class FS_EKF_Action {
REPORT_ONLY = 0,
LAND = 1,
ALTHOLD = 2,
LAND_EVEN_STABILIZE = 3,
};
AP_Enum<FS_EKF_Action> fs_ekf_action;
AP_Int8 fs_crash_check;
AP_Float fs_ekf_thresh;
AP_Int16 gcs_pid_mask;
#if MODE_THROW_ENABLED
AP_Enum<ModeThrow::PreThrowMotorState> throw_motor_start;
AP_Int16 throw_altitude_min; // minimum altitude in m above which a throw can be detected
AP_Int16 throw_altitude_max; // maximum altitude in m below which a throw can be detected
AP_Float throw_altitude_descend; // target altitude (meters) to descend during a drop, (must be positive)
AP_Float throw_altitude_ascend; // target altitude (meters) to ascend during a throw upwards, (must be positive)
#endif
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
#if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED
// Acro parameters
AP_Float acro_balance_roll;
AP_Float acro_balance_pitch;
#endif
#if MODE_ACRO_ENABLED
// Acro parameters
AP_Int8 acro_trainer;
#endif
// Note: keep initializers here in the same order as they are declared
// above.
Parameters()
{
}
};
/*
2nd block of parameters, to avoid going past 256 top level keys
*/
class ParametersG2 {
public:
ParametersG2(void);
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
static const struct AP_Param::GroupInfo var_info2[];
// altitude at which nav control can start in takeoff
AP_Float wp_navalt_min_m;
// unused_integer simply exists so that the constructor for
// ParametersG2 can be created with a relatively easy syntax in
// the face of many #ifs:
uint8_t unused_integer;
// button checking
#if HAL_BUTTON_ENABLED
AP_Button *button_ptr;
#endif
#if MODE_THROW_ENABLED
// Throw mode parameters
AP_Int8 throw_nextmode;
AP_Enum<ModeThrow::ThrowType> throw_type;
#endif
#if AP_GROUNDEFFECT_ENABLED
// ground effect detector
AP_GroundEffect ground_effect;
#endif
#if AP_TEMPCALIBRATION_ENABLED
// temperature calibration handling
AP_TempCalibration temp_calibration;
#endif
#if HAL_PROXIMITY_ENABLED
// proximity (aka object avoidance) library
AP_Proximity proximity;
#endif
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// advanced failsafe library
AP_AdvancedFailsafe_Copter afs;
#endif
// developer options
AP_Int32 dev_options;
#if MODE_ACRO_ENABLED
AP_Float acro_thr_mid;
#endif
// frame class
AP_Int8 frame_class;
// RC input channels
RC_Channels_Copter rc_channels;
// control over servo output ranges
SRV_Channels servo_channels;
#if MODE_SMARTRTL_ENABLED
// Safe RTL library
AP_SmartRTL smart_rtl;
#endif
// wheel encoder and winch
#if AP_WINCH_ENABLED
AP_Winch winch;
#endif
// Pilot vertical velocity and acceleration
AP_Float pilot_accel_d_mss; // vertical acceleration the pilot may request
AP_Float pilot_speed_up_ms; // maximum vertical ascending velocity the pilot may request
AP_Float pilot_speed_dn_ms; // maximum vertical descending velocity the pilot may request
AP_Float pilot_takeoff_alt_m; // altitude vehicle will takeoff to after pilot triggers takeoff with throttle stick
#if TOY_MODE_ENABLED
ToyMode toy_mode;
#endif
#if MODE_FLOWHOLD_ENABLED
// we need a pointer to the mode for the G2 table
void *mode_flowhold_ptr;
#endif
#if MODE_FOLLOW_ENABLED
// follow
AP_Follow follow;
#endif
#if USER_PARAMS_ENABLED
// User custom parameters
UserParameters user_parameters;
#endif
#if AUTOTUNE_ENABLED
// we need a pointer to autotune for the G2 table
void *autotune_ptr;
#endif
#if AP_RC_TRANSMITTER_TUNING_ENABLED
AP_Float rc_tuning_min;
AP_Float rc_tuning_max;
#endif // AP_RC_TRANSMITTER_TUNING_ENABLED
#if AP_OAPATHPLANNER_ENABLED
// object avoidance path planning
AP_OAPathPlanner oa;
#endif
#if MODE_SYSTEMID_ENABLED
// we need a pointer to the mode for the G2 table
void *mode_systemid_ptr;
#endif
// vibration failsafe enable/disable
AP_Int8 fs_vibe_enabled;
// Failsafe options bitmask #36
AP_Int32 fs_options;
#if MODE_AUTOROTATE_ENABLED
// Autonmous autorotation
AC_Autorotation arot;
#endif
#if MODE_ZIGZAG_ENABLED
// we need a pointer to the mode for the G2 table
void *mode_zigzag_ptr;
#endif
// command model parameters
#if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED
AC_CommandModel command_model_acro_rp;
#endif
#if MODE_ACRO_ENABLED || MODE_DRIFT_ENABLED
AC_CommandModel command_model_acro_y;
#endif
AC_CommandModel command_model_pilot_y;
#if MODE_ACRO_ENABLED
AP_Int8 acro_options;
#endif
#if MODE_AUTO_ENABLED
AP_Int32 auto_options;
#endif
#if MODE_GUIDED_ENABLED
AP_Int32 guided_options;
#endif
AP_Float fs_gcs_timeout;
#if MODE_RTL_ENABLED
AP_Int32 rtl_options;
#endif
AP_Int32 flight_options;
#if AP_RANGEFINDER_ENABLED
AP_Float rangefinder_filt;
#endif
#if MODE_GUIDED_ENABLED
AP_Float guided_timeout;
#endif
AP_Int8 surftrak_mode;
AP_Int8 failsafe_dr_enable;
AP_Int16 failsafe_dr_timeout;
AP_Float surftrak_tc;
AP_SurfaceDistance::SurfDistParameters surf_dist_parameters;
// ramp time of throttle during take-off
AP_Float takeoff_throttle_slew_time;
AP_Float takeoff_throttle_max;
#if HAL_WITH_ESC_TELEM && FRAME_CONFIG != HELI_FRAME
AP_Int16 takeoff_rpm_min;
AP_Int16 takeoff_rpm_max;
#endif
// EKF variance filter cutoff
AP_Float fs_ekf_filt_hz;
#if WEATHERVANE_ENABLED
AC_WeatherVane weathervane;
#endif
#if AC_PAYLOAD_PLACE_ENABLED
// payload place parameters
AP_Float pldp_thrust_placed_fraction;
AP_Float pldp_range_finder_maximum_m;
AP_Float pldp_delay_s;
AP_Float pldp_descent_speed_ms;
#endif // AC_PAYLOAD_PLACE_ENABLED
AP_Int8 att_enable;
AP_Int8 att_decimation;
#if AP_RC_TRANSMITTER_TUNING_ENABLED
// second transmitter channel for tuning:
AP_Int8 rc_tuning2_param;
AP_Float rc_tuning2_min;
AP_Float rc_tuning2_max;
#endif // AP_RC_TRANSMITTER_TUNING_ENABLED
#if MODE_RTL_ENABLED
void *mode_rtl_ptr;
#endif
void *mode_land_ptr;
#if MODE_POSHOLD_ENABLED
void *mode_poshold_ptr;
#endif
#if MODE_FLIP_ENABLED
void *mode_flip_ptr;
#endif
};
extern const AP_Param::Info var_info[];
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