mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Thomas Watson
94d58a3f0b
This removes the need for the pointer to the first mode, and removes the undefined behavior resulting from indexing past that first mode and hoping the others follow (though this is unlikely to pose a problem in practice). Saves a few bytes of RAM and flash as the pointer is no longer needed and code is no longer necessary to set it up. Also fixes the bounds check condition of that array to match its size so there is no longer the possibility of indexing one past it.
429 lines
11 KiB
C++
429 lines
11 KiB
C++
#pragma once
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#include <AP_Common/AP_Common.h>
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#include "RC_Channel_Rover.h"
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#include <AC_Avoidance/AC_Avoid.h>
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#include "AC_Sprayer/AC_Sprayer.h"
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#include <AP_AIS/AP_AIS.h>
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#include <AP_Beacon/AP_Beacon.h>
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#include <AP_Follow/AP_Follow.h>
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#include <AP_Proximity/AP_Proximity.h>
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#include "AP_Rally.h"
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#include <AP_SmartRTL/AP_SmartRTL.h>
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#include <AP_Stats/AP_Stats.h>
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#include "AP_Torqeedo/AP_Torqeedo.h"
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#include <AP_WindVane/AP_WindVane.h>
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#define AP_PARAM_VEHICLE_NAME rover
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// Global parameter class.
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//
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class Parameters {
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public:
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// The version of the layout as described by the parameter enum.
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//
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// When changing the parameter enum in an incompatible fashion, this
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// value should be incremented by one.
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//
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// The increment will prevent old parameters from being used incorrectly
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// by newer code.
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//
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static const uint16_t k_format_version = 16;
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enum {
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// Layout version number, always key zero.
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//
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k_param_format_version = 0,
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k_param_software_type, // unused
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k_param_can_mgr,
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// Misc
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//
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k_param_log_bitmask_old = 10, // unused
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k_param_num_resets_old, // unused
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k_param_reset_switch_chan,
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k_param_initial_mode,
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k_param_scheduler,
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k_param_relay,
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k_param_BoardConfig,
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k_param_pivot_turn_angle_old, // unused
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k_param_rc_13_old, // unused
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k_param_rc_14_old, // unused
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// IO pins
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k_param_rssi_pin = 20, // unused, replaced by rssi_ library parameters
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k_param_battery_volt_pin,
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k_param_battery_curr_pin,
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k_param_precland = 24,
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// braking
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k_param_braking_percent_old = 30, // unused
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k_param_braking_speederr_old, // unused
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// misc2
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k_param_log_bitmask = 40,
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k_param_gps,
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k_param_serial0_baud, // deprecated, can be deleted
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k_param_serial1_baud, // deprecated, can be deleted
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k_param_serial2_baud, // deprecated, can be deleted
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// 97: RSSI
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k_param_rssi = 97,
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k_param_rpm_sensor_old, // unused - moved to vehicle
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// 100: Arming parameters
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k_param_arming = 100,
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// 110: Telemetry control
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//
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k_param_gcs0_unused = 110, // unused in ArduPilot-4.7
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k_param_gcs1_unused, // unused in ArduPilot-4.7
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k_param_sysid_this_mav_old,
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k_param_sysid_my_gcs_old,
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k_param_serial0_baud_old, // unused
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k_param_serial1_baud_old, // unused
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k_param_telem_delay_old,
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k_param_skip_gyro_cal, // unused
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k_param_gcs2_unused, // unused in ArduPilot-4.7
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k_param_serial2_baud_old, // unused
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k_param_serial2_protocol, // deprecated, can be deleted
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k_param_serial_manager_old, // serial manager library
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k_param_cli_enabled_old, // unused
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k_param_gcs3_unused, // unused in ArduPilot-4.7
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k_param_gcs_pid_mask,
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k_param_gcs4_unused, // unused in ArduPilot-4.7
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k_param_gcs5_unused, // unused in ArduPilot-4.7
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k_param_gcs6_unused, // unused in ArduPilot-4.7
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//
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// 130: Sensor parameters
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//
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k_param_compass_enabled_deprecated = 130,
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k_param_steering_learn, // unused
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k_param_NavEKF, // deprecated - remove
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k_param_mission, // mission library
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k_param_NavEKF2_old, // deprecated - remove
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k_param_NavEKF2,
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k_param_g2, // 2nd block of parameters
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k_param_NavEKF3,
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// 140: battery controls
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k_param_battery_monitoring = 140, // deprecated, can be deleted
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k_param_volt_div_ratio, // deprecated, can be deleted
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k_param_curr_amp_per_volt, // deprecated, can be deleted
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k_param_input_voltage, // deprecated, can be deleted
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k_param_pack_capacity, // deprecated, can be deleted
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k_param_battery,
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//
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// 150: Navigation parameters
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//
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k_param_crosstrack_gain = 150, // unused
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k_param_crosstrack_entry_angle, // unused
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k_param_speed_cruise,
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k_param_speed_turn_gain, // unused
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k_param_speed_turn_dist, // unused
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k_param_ch7_option, // unused
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k_param_auto_trigger_pin,
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k_param_auto_kickstart,
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k_param_turn_circle, // unused
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k_param_turn_max_g_old, // unused
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//
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// 160: Radio settings
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//
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k_param_rc_1_old = 160, // unused
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k_param_rc_2_old, // unused
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k_param_rc_3_old, // unused
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k_param_rc_4_old, // unused
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k_param_rc_5_old, // unused
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k_param_rc_6_old, // unused
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k_param_rc_7_old, // unused
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k_param_rc_8_old, // unused
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// throttle control
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k_param_throttle_min_old = 170, // unused
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k_param_throttle_max_old, // unused
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k_param_throttle_cruise,
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k_param_throttle_slewrate_old, // unused
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k_param_throttle_reduction, // unused
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k_param_pilot_steer_type,
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k_param_skid_steer_out_old, // unused
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// failsafe control
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k_param_fs_action = 180,
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k_param_fs_timeout,
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k_param_fs_throttle_enabled,
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k_param_fs_throttle_value,
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k_param_fs_gcs_enabled,
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k_param_fs_crash_check,
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k_param_fs_ekf_action,
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k_param_fs_ekf_thresh, // 187
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// obstacle control
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k_param_sonar_enabled = 190, // deprecated, can be removed
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k_param_sonar_old, // unused
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k_param_rangefinder_trigger_cm, // unused
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k_param_rangefinder_turn_angle, // unused
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k_param_rangefinder_turn_time, // unused
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k_param_sonar2_old, // unused
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k_param_rangefinder_debounce, // unused
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k_param_rangefinder, // rangefinder object
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//
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// 210: driving modes
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//
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k_param_mode_channel = 210,
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k_param_modes0,
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k_param_modes1,
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k_param_modes2,
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k_param_modes3,
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k_param_modes4,
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k_param_modes5,
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k_param_aux_channel_old,
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//
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// 220: Waypoint data
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//
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k_param_command_total = 220, // unused
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k_param_command_index, // unused
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k_param_waypoint_radius_old, // unused
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k_param_waypoint_overshoot_old, // unused
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//
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// camera control
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//
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k_param_camera,
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k_param_camera_mount,
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k_param_camera_mount2, // unused
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//
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// 230: PID Controllers
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k_param_pidNavSteer = 230,
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k_param_pidServoSteer, // unused
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k_param_pidSpeedThrottle_old, // unused
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// high RC channels
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k_param_rc_9_old = 235, // unused
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k_param_rc_10_old, // unused
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k_param_rc_11_old, // unused
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k_param_rc_12_old, // unusedS
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// other objects
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k_param_sitl = 240,
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k_param_ahrs,
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k_param_ins,
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k_param_compass,
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k_param_rcmap,
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k_param_L1_controller, // unused
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k_param_steerController_old, // unused
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k_param_barometer,
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k_param_notify,
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k_param_button,
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k_param_osd,
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k_param_optflow,
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k_param_logger = 253, // Logging Group
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// 254,255: reserved
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k_param_vehicle = 257, // vehicle common block of parameters
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k_param__gcs = 258,
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};
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AP_Int16 format_version;
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// Misc
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//
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AP_Int32 log_bitmask;
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AP_Int8 reset_switch_chan;
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AP_Int8 initial_mode;
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// navigation parameters
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//
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AP_Float speed_cruise;
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AP_Int8 ch7_option;
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AP_Int8 auto_trigger_pin;
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AP_Float auto_kickstart;
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AP_Int16 gcs_pid_mask;
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// Throttle
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//
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AP_Int8 throttle_cruise;
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AP_Enum<PilotSteerType> pilot_steer_type;
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// failsafe control
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AP_Int8 fs_action;
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AP_Float fs_timeout;
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AP_Int8 fs_throttle_enabled;
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AP_Int16 fs_throttle_value;
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AP_Int8 fs_gcs_enabled;
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AP_Int8 fs_crash_check;
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AP_Int8 fs_ekf_action;
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AP_Float fs_ekf_thresh;
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// driving modes
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//
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AP_Int8 mode_channel;
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AP_Int8 modes[6];
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Parameters() {}
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};
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/*
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2nd block of parameters, to avoid going past 256 top level keys
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*/
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class ParametersG2 {
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public:
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ParametersG2(void);
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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// RC input channels
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RC_Channels_Rover rc_channels;
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// control over servo output ranges
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SRV_Channels servo_channels;
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#if AP_ROVER_ADVANCED_FAILSAFE_ENABLED
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// advanced failsafe library
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AP_AdvancedFailsafe_Rover afs;
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#endif
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#if AP_BEACON_ENABLED
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AP_Beacon beacon;
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#endif
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// wheel encoders
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AP_WheelEncoder wheel_encoder;
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AP_WheelRateControl wheel_rate_control;
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// Motor library
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AP_MotorsUGV motors;
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// steering and throttle controller
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AR_AttitudeControl attitude_control;
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// turn radius of vehicle (only used in steering mode)
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AP_Float turn_radius;
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// acro mode turn rate maximum
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AP_Float acro_turn_rate;
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// Safe RTL library
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AP_SmartRTL smart_rtl;
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// default speed for rtl
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AP_Float rtl_speed;
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// frame class for vehicle
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AP_Int8 frame_class;
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#if HAL_PROXIMITY_ENABLED
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// proximity library
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AP_Proximity proximity;
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#endif
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#if MODE_DOCK_ENABLED
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// we need a pointer to the mode for the G2 table
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class ModeDock *mode_dock_ptr;
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#endif
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#if AP_AVOIDANCE_ENABLED
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// avoidance library
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AC_Avoid avoid;
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#endif
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// pitch angle at 100% throttle
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AP_Float bal_pitch_max;
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// pitch/roll angle for crash check
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AP_Int8 crash_angle;
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#if AP_FOLLOW_ENABLED
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// follow mode library
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AP_Follow follow;
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#endif
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// frame type for vehicle (used for vectored motor vehicles and custom motor configs)
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AP_Int8 frame_type;
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// loiter type
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AP_Int8 loit_type;
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AP_Float loit_radius;
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#if HAL_SPRAYER_ENABLED
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// Sprayer
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AC_Sprayer sprayer;
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#endif
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#if HAL_RALLY_ENABLED
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// Rally point library
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AP_Rally_Rover rally;
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#endif
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// Simple mode types
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AP_Int8 simple_type;
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// windvane
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AP_WindVane windvane;
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#if AP_MISSION_ENABLED
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// mission behave
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AP_Enum<ModeAuto::DoneBehaviour> mis_done_behave;
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#endif
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// balance both pitch trim
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AP_Float bal_pitch_trim;
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// stick mixing for auto modes
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AP_Int8 stick_mixing;
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// waypoint navigation
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AR_WPNav_OA wp_nav;
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// Sailboat functions
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Sailboat sailboat;
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#if AP_OAPATHPLANNER_ENABLED
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// object avoidance path planning
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AP_OAPathPlanner oa;
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#endif
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// maximum speed for vehicle
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AP_Float speed_max;
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// gain for speed of correction in loiter
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AP_Float loiter_speed_gain;
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// FS options
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AP_Int32 fs_options;
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#if HAL_TORQEEDO_ENABLED
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// torqeedo motor driver
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AP_Torqeedo torqeedo;
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#endif
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// position controller
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AR_PosControl pos_control;
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// guided options bitmask
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AP_Int32 guided_options;
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// manual mode options
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AP_Int32 manual_options;
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// manual mode steering expo
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AP_Float manual_steering_expo;
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// FS GCS timeout trigger time
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AP_Float fs_gcs_timeout;
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class ModeCircle mode_circle;
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};
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extern const AP_Param::Info var_info[];
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