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ardupilot/ArduSub/Parameters.cpp
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Peter Barker 118088422e ArduSub: remove conversion_table 
Converted the old battery failsafe parameters (Mar-2018) and
COMPASS_ENABLE (Apr-2019).  Sub has no 4.2, 4.3, 4.4 or 4.6 release, so
the oldest version a user can be moving from once the migration floor is
4.3 is ArduSub-4.5.0, which has already had these applied.
2026-09-01 20:49:36 +10:00

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#include "Sub.h"
#include <AP_Gripper/AP_Gripper.h>
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* ArduSub parameter definitions
*
*/
const AP_Param::Info Sub::var_info[] = {
// @Param: SURFACE_DEPTH
// @DisplayName: Depth reading at surface
// @Description: The depth the external pressure sensor will read when the vehicle is considered at the surface (in centimeters)
// @Units: cm
// @Range: -100 0
// @User: Standard
GSCALAR(surface_depth, "SURFACE_DEPTH", SURFACE_DEPTH_DEFAULT),
// @Param: FORMAT_VERSION
// @DisplayName: Eeprom format version number
// @Description: This value is incremented when changes are made to the eeprom format
// @User: Advanced
GSCALAR(format_version, "FORMAT_VERSION", 0),
// SYSID_THISMAV was here
// SYSID_MYGCS was here
// @Param: PILOT_THR_FILT
// @DisplayName: Throttle filter cutoff
// @Description: Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
// @User: Advanced
// @Units: Hz
// @Range: 0 10
// @Increment: 0.5
GSCALAR(throttle_filt, "PILOT_THR_FILT", 0),
// AP_SerialManager was here
// @Param: GCS_PID_MASK
// @DisplayName: GCS PID tuning mask
// @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
// @User: Advanced
// @Bitmask: 0:Roll,1:Pitch,2:Yaw
GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
// @Param: FS_GCS_ENABLE
// @DisplayName: Ground Station Failsafe Enable
// @Description: Controls what action to take when GCS heartbeat is lost.
// @Values: 0:Disabled,1:Warn only,2:Disarm,3:Enter depth hold mode,4:Enter surface mode
// @User: Standard
GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_DISARM),
// @Param: FS_GCS_TIMEOUT
// @DisplayName: GCS failsafe timeout
// @Description: Timeout before triggering the GCS failsafe
// @Units: s
// @Increment: 1
// @User: Standard
GSCALAR(failsafe_gcs_timeout, "FS_GCS_TIMEOUT", FS_GCS_TIMEOUT_S),
// @Param: FS_LEAK_ENABLE
// @DisplayName: Leak Failsafe Enable
// @Description: Controls what action to take if a leak is detected.
// @Values: 0:Disabled,1:Warn only,2:Enter surface mode
// @User: Standard
GSCALAR(failsafe_leak, "FS_LEAK_ENABLE", FS_LEAK_WARN_ONLY),
// @Param: FS_PRESS_ENABLE
// @DisplayName: Internal Pressure Failsafe Enable
// @Description: Controls what action to take if internal pressure exceeds FS_PRESS_MAX parameter.
// @Values: 0:Disabled,1:Warn only
// @User: Standard
GSCALAR(failsafe_pressure, "FS_PRESS_ENABLE", FS_PRESS_DISABLED),
// @Param: FS_TEMP_ENABLE
// @DisplayName: Internal Temperature Failsafe Enable
// @Description: Controls what action to take if internal temperature exceeds FS_TEMP_MAX parameter.
// @Values: 0:Disabled,1:Warn only
// @User: Standard
GSCALAR(failsafe_temperature, "FS_TEMP_ENABLE", FS_TEMP_DISABLED),
#if AP_SUB_RC_ENABLED
// @Param: FS_THR_ENABLE
// @DisplayName: Throttle Failsafe Enable
// @Description: The throttle failsafe allows you to configure a software RC failsafe activated by a setting on the throttle input channel. It also enables RC failsafe on absence of RC signals being recieved.
// @Values: 0:Disabled,1: Force effective control inputs to trim positions and prevent arming,2:Surface and hold on surface on failsafe
// @User: Standard
GSCALAR(failsafe_throttle, "FS_THR_ENABLE", 0),
// @Param: FS_THR_VALUE
// @DisplayName: Throttle Failsafe Value
// @Description: The PWM level in microseconds on channel 3 below which throttle failsafe triggers
// @Range: 910 1100
// @Units: PWM
// @Increment: 1
// @User: Standard
GSCALAR(failsafe_throttle_value, "FS_THR_VALUE", FS_THR_VALUE_DEFAULT),
// @Param: FLTMODE1
// @DisplayName: Flight Mode 1
// @Description: Flight mode when pwm of Flightmode channel(FLTMODE_CH) is <= 1230
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,7:Circle,9:Surface,16:PosHold,19:Manual,20:Motor Detect,21:SurfTrak
// @User: Standard
GARRAY(flight_modes, 0, "FLTMODE1", (uint8_t)FLIGHT_MODE_1),
// @Param: FLTMODE2
// @CopyFieldsFrom: FLTMODE1
// @DisplayName: Flight Mode 2
// @Description: Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1230, <= 1360
GARRAY(flight_modes, 1, "FLTMODE2", (uint8_t)FLIGHT_MODE_2),
// @Param: FLTMODE3
// @CopyFieldsFrom: FLTMODE1
// @DisplayName: Flight Mode 3
// @Description: Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1360, <= 1490
GARRAY(flight_modes, 2, "FLTMODE3", (uint8_t)FLIGHT_MODE_3),
// @Param: FLTMODE4
// @CopyFieldsFrom: FLTMODE1
// @DisplayName: Flight Mode 4
// @Description: Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1490, <= 1620
GARRAY(flight_modes, 3, "FLTMODE4", (uint8_t)FLIGHT_MODE_4),
// @Param: FLTMODE5
// @CopyFieldsFrom: FLTMODE1
// @DisplayName: Flight Mode 5
// @Description: Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1620, <= 1749
GARRAY(flight_modes, 4, "FLTMODE5", (uint8_t)FLIGHT_MODE_5),
// @Param: FLTMODE6
// @CopyFieldsFrom: FLTMODE1
// @DisplayName: Flight Mode 6
// @Description: Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >=1750
GARRAY(flight_modes, 5, "FLTMODE6", (uint8_t)FLIGHT_MODE_6),
// @Param: FLTMODE_CH
// @DisplayName: Flightmode channel
// @Description: RC Channel to use for flight mode control
// @Values: 0:Disabled,5:Channel5,6:Channel6,7:Channel7,8:Channel8,9:Channel9,10:Channel 10,11:Channel 11,12:Channel 12,13:Channel 13,14:Channel 14,15:Channel 15
// @User: Advanced
GSCALAR(flight_mode_chan, "FLTMODE_CH", 0),
// @Param: THR_ARM_POS
// @DisplayName: Throttle arming position
// @Description: Determines if throttle must be at min or within trim value to arm, if RC checks and RC_OPTION for "0" throttle are enabled.
// @User: Standard
// @Bitmask: 0:Throttle at or below min, 1: Throttle within a dead zone of RC trim value
GSCALAR(thr_arming_position, "THR_ARM_POS", 1),
#endif
// @Param: FS_PRESS_MAX
// @DisplayName: Internal Pressure Failsafe Threshold
// @Description: The maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS_PRESS_ENABLE parameter
// @Units: Pa
// @User: Standard
GSCALAR(failsafe_pressure_max, "FS_PRESS_MAX", FS_PRESS_MAX_DEFAULT),
// @Param: FS_TEMP_MAX
// @DisplayName: Internal Temperature Failsafe Threshold
// @Description: The maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS_TEMP_ENABLE parameter.
// @Units: degC
// @User: Standard
GSCALAR(failsafe_temperature_max, "FS_TEMP_MAX", FS_TEMP_MAX_DEFAULT),
// @Param: SURFACE_MAX_THR
// @DisplayName: Surface Maximum Throttle
// @Description: Maximum throttle value when the vehicle is at the surface. This value is used to scale throttle linearly from 1. (full) to min as the vehicle approaches the surface. The attenuation starts at 1 meter from surface. Only upwards throttle is limited.
// @Range: 0.0 1.0
// @User: Standard
// @Increment: 0.01
GSCALAR(surface_max_throttle, "SURFACE_MAX_THR", 0.1f),
// @Param: FS_TERRAIN_ENAB
// @DisplayName: Terrain Failsafe Enable
// @Description: Controls what action to take if terrain information is lost during AUTO mode
// @Values: 0:Disarm, 1:Hold Position, 2:Surface
// @User: Standard
GSCALAR(failsafe_terrain, "FS_TERRAIN_ENAB", FS_TERRAIN_DISARM),
// @Param: FS_PILOT_INPUT
// @DisplayName: Pilot input failsafe action
// @Description: Controls what action to take if no pilot input has been received after the timeout period specified by the FS_PILOT_TIMEOUT parameter
// @Values: 0:Disabled, 1:Warn Only, 2:Disarm
// @User: Standard
GSCALAR(failsafe_pilot_input, "FS_PILOT_INPUT", FS_PILOT_INPUT_DISARM),
// @Param: FS_PILOT_TIMEOUT
// @DisplayName: Timeout for activation of pilot input failsafe
// @Description: Controls the maximum interval between received pilot inputs before the failsafe action is triggered
// @Units: s
// @Range: 0.1 3.0
// @User: Standard
GSCALAR(failsafe_pilot_input_timeout, "FS_PILOT_TIMEOUT", 3.0f),
// @Param: XTRACK_ANG_LIM
// @DisplayName: Crosstrack correction angle limit
// @Description: Maximum allowed angle (in degrees) between current track and desired heading during waypoint navigation
// @Range: 10 90
// @User: Standard
GSCALAR(xtrack_angle_limit,"XTRACK_ANG_LIM", 45),
// @Param: WP_YAW_BEHAVIOR
// @DisplayName: Yaw behaviour during missions
// @Description: Determines how the autopilot controls the yaw during missions and RTL
// @Values: 0:Never change yaw, 1:Face next waypoint, 2:Face next waypoint except RTL, 3:Face along GPS course, 4:Correct crosstrack error
// @User: Standard
GSCALAR(wp_yaw_behavior, "WP_YAW_BEHAVIOR", WP_YAW_BEHAVIOR_DEFAULT),
// @Param: PILOT_SPEED_UP
// @DisplayName: Pilot maximum vertical ascending speed
// @Description: The maximum vertical ascending velocity the pilot may request in cm/s
// @Units: cm/s
// @Range: 20 500
// @Increment: 10
// @User: Standard
GSCALAR(pilot_speed_up, "PILOT_SPEED_UP", PILOT_VELZ_MAX),
// @Param: PILOT_SPEED_DN
// @DisplayName: Pilot maximum vertical descending speed
// @Description: The maximum vertical descending velocity the pilot may request in cm/s
// @Units: cm/s
// @Range: 20 500
// @Increment: 10
// @User: Standard
GSCALAR(pilot_speed_dn, "PILOT_SPEED_DN", 0),
// @Param: PILOT_SPEED
// @DisplayName: Pilot maximum horizontal speed
// @Description: The maximum horizontal velocity the pilot may request in cm/s
// @Units: cm/s
// @Range: 10 500
// @Increment: 10
// @User: Standard
GSCALAR(pilot_speed, "PILOT_SPEED", PILOT_SPEED_DEFAULT),
// @Param: PILOT_ACCEL_Z
// @DisplayName: Pilot vertical acceleration
// @Description: The vertical acceleration used when pilot is controlling the altitude
// @Units: cm/s/s
// @Range: 50 500
// @Increment: 10
// @User: Standard
GSCALAR(pilot_accel_z, "PILOT_ACCEL_Z", PILOT_ACCEL_Z_DEFAULT),
// @Param: THR_DZ
// @DisplayName: Throttle deadzone
// @Description: The PWM deadzone in microseconds above and below mid throttle. Used in AltHold, Loiter, PosHold flight modes
// @User: Standard
// @Range: 0 300
// @Units: PWM
// @Increment: 1
GSCALAR(throttle_deadzone, "THR_DZ", THR_DZ_DEFAULT),
// @Param: LOG_BITMASK
// @DisplayName: Log bitmask
// @Description: 4 byte bitmap of log types to enable
// @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW
// @User: Standard
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
// @Param: FS_EKF_ACTION
// @DisplayName: EKF Failsafe Action
// @Description: Controls the action that will be taken when an EKF failsafe is invoked
// @Values: 0:Disabled, 1:Warn only, 2:Disarm
// @User: Advanced
GSCALAR(fs_ekf_action, "FS_EKF_ACTION", FS_EKF_ACTION_DEFAULT),
// @Param: FS_EKF_THRESH
// @DisplayName: EKF failsafe variance threshold
// @Description: Allows setting the maximum acceptable compass and velocity variance
// @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
// @Range: 0.6 1.0
// @User: Advanced
GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH", FS_EKF_THRESHOLD_DEFAULT),
// @Param: FS_CRASH_CHECK
// @DisplayName: Crash check enable
// @Description: This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
// @Values: 0:Disabled,1:Warn only,2:Disarm
// @User: Advanced
GSCALAR(fs_crash_check, "FS_CRASH_CHECK", FS_CRASH_DISABLED),
// @Param: JS_GAIN_DEFAULT
// @DisplayName: Default gain at boot
// @Description: Default gain at boot, must be in range [JS_GAIN_MIN , JS_GAIN_MAX]. Current gain value is accessible via NAMED_VALUE_FLOAT MAVLink message with name 'PilotGain'.
// @User: Standard
// @Range: 0.1 1.0
GSCALAR(gain_default, "JS_GAIN_DEFAULT", 0.5),
// @Param: JS_GAIN_MAX
// @DisplayName: Maximum joystick gain
// @Description: Maximum joystick gain
// @User: Standard
// @Range: 0.2 1.0
GSCALAR(maxGain, "JS_GAIN_MAX", 1.0),
// @Param: JS_GAIN_MIN
// @DisplayName: Minimum joystick gain
// @Description: Minimum joystick gain
// @User: Standard
// @Range: 0.1 0.8
GSCALAR(minGain, "JS_GAIN_MIN", 0.25),
// @Param: JS_GAIN_STEPS
// @DisplayName: Gain steps
// @Description: Controls the number of steps between minimum and maximum joystick gain when the gain is adjusted using buttons. Set to 1 to always use JS_GAIN_DEFAULT.
// @User: Standard
// @Range: 1 10
GSCALAR(numGainSettings, "JS_GAIN_STEPS", 4),
// @Param: JS_LIGHTS_STEPS
// @DisplayName: Lights brightness steps
// @Description: Number of steps in brightness between minimum and maximum brightness
// @User: Standard
// @Range: 1 10
// @Units: PWM
GSCALAR(lights_steps, "JS_LIGHTS_STEPS", 8),
// @Param: JS_THR_GAIN
// @DisplayName: Throttle gain scalar
// @Description: Scalar for gain on the throttle channel. Gets scaled with the current JS gain
// @User: Standard
// @Range: 0.5 4.0
GSCALAR(throttle_gain, "JS_THR_GAIN", 1.0f),
// @Param: FRAME_CONFIG
// @DisplayName: Frame configuration
// @Description: Set this parameter according to your vehicle/motor configuration
// @User: Standard
// @RebootRequired: True
// @Values: 0:BlueROV1, 1:Vectored, 2:Vectored_6DOF, 3:Vectored_6DOF_90, 4:SimpleROV-3, 5:SimpleROV-4, 6:SimpleROV-5, 7:Custom
GSCALAR(frame_configuration, "FRAME_CONFIG", AP_Motors6DOF::SUB_FRAME_VECTORED),
// @Group: BTN0_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_0, "BTN0_", JSButton),
// @Group: BTN1_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_1, "BTN1_", JSButton),
// @Group: BTN2_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_2, "BTN2_", JSButton),
// @Group: BTN3_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_3, "BTN3_", JSButton),
// @Group: BTN4_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_4, "BTN4_", JSButton),
// @Group: BTN5_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_5, "BTN5_", JSButton),
// @Group: BTN6_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_6, "BTN6_", JSButton),
// @Group: BTN7_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_7, "BTN7_", JSButton),
// @Group: BTN8_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_8, "BTN8_", JSButton),
// @Group: BTN9_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_9, "BTN9_", JSButton),
// @Group: BTN10_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_10, "BTN10_", JSButton),
// @Group: BTN11_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_11, "BTN11_", JSButton),
// @Group: BTN12_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_12, "BTN12_", JSButton),
// @Group: BTN13_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_13, "BTN13_", JSButton),
// @Group: BTN14_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_14, "BTN14_", JSButton),
// @Group: BTN15_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_15, "BTN15_", JSButton),
// @Group: BTN16_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_16, "BTN16_", JSButton),
// @Group: BTN17_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_17, "BTN17_", JSButton),
// @Group: BTN18_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_18, "BTN18_", JSButton),
// @Group: BTN19_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_19, "BTN19_", JSButton),
// @Group: BTN20_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_20, "BTN20_", JSButton),
// @Group: BTN21_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_21, "BTN21_", JSButton),
// @Group: BTN22_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_22, "BTN22_", JSButton),
// @Group: BTN23_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_23, "BTN23_", JSButton),
// @Group: BTN24_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_24, "BTN24_", JSButton),
// @Group: BTN25_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_25, "BTN25_", JSButton),
// @Group: BTN26_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_26, "BTN26_", JSButton),
// @Group: BTN27_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_27, "BTN27_", JSButton),
// @Group: BTN28_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_28, "BTN28_", JSButton),
// @Group: BTN29_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_29, "BTN29_", JSButton),
// @Group: BTN30_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_30, "BTN30_", JSButton),
// @Group: BTN31_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_31, "BTN31_", JSButton),
// @Param: RC_SPEED
// @DisplayName: ESC Update Speed
// @Description: This is the speed in Hertz that your ESCs will receive updates
// @Units: Hz
// @Range: 50 490
// @Increment: 1
// @User: Advanced
GSCALAR(rc_speed, "RC_SPEED", RC_SPEED_DEFAULT),
// @Param: ACRO_RP_P
// @DisplayName: Acro Roll and Pitch P gain
// @Description: Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode. Higher values mean faster rate of rotation.
// @Range: 1 10
// @User: Standard
GSCALAR(acro_rp_p, "ACRO_RP_P", ACRO_RP_P),
// @Param: ACRO_YAW_P
// @DisplayName: Acro Yaw P gain
// @Description: Converts pilot yaw input into a desired rate of rotation. Higher values mean faster rate of rotation.
// @Range: 1 10
// @User: Standard
GSCALAR(acro_yaw_p, "ACRO_YAW_P", ACRO_YAW_P),
// @Param: ACRO_BAL_ROLL
// @DisplayName: Acro Balance Roll
// @Description: rate at which roll angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.
// @Range: 0 3
// @Increment: 0.1
// @User: Advanced
GSCALAR(acro_balance_roll, "ACRO_BAL_ROLL", ACRO_BALANCE_ROLL),
// @Param: ACRO_BAL_PITCH
// @DisplayName: Acro Balance Pitch
// @Description: rate at which pitch angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.
// @Range: 0 3
// @Increment: 0.1
// @User: Advanced
GSCALAR(acro_balance_pitch, "ACRO_BAL_PITCH", ACRO_BALANCE_PITCH),
// @Param: ACRO_TRAINER
// @DisplayName: Acro Trainer
// @Description: Type of trainer used in acro mode
// @Values: 0:Disabled,1:Leveling,2:Leveling and Limited
// @User: Advanced
GSCALAR(acro_trainer, "ACRO_TRAINER", ACRO_TRAINER_LIMITED),
// @Param: ACRO_EXPO
// @DisplayName: Acro Expo
// @Description: Acro roll/pitch Expo to allow faster rotation when stick at edges
// @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
// @Range: -0.5 0.95
// @User: Advanced
GSCALAR(acro_expo, "ACRO_EXPO", ACRO_EXPO_DEFAULT),
// variables not in the g class which contain EEPROM saved variables
#if AP_CAMERA_ENABLED
// @Group: CAM
// @Path: ../libraries/AP_Camera/AP_Camera.cpp
GOBJECT(camera, "CAM", AP_Camera),
#endif
#if AP_RELAY_ENABLED
// @Group: RELAY
// @Path: ../libraries/AP_Relay/AP_Relay.cpp
GOBJECT(relay, "RELAY", AP_Relay),
#endif
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
// @Group: INS
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
GOBJECT(ins, "INS", AP_InertialSensor),
// @Group: WP_
// @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
GOBJECT(wp_nav, "WP_", AC_WPNav),
// @Group: LOIT_
// @Path: ../libraries/AC_WPNav/AC_Loiter.cpp
GOBJECT(loiter_nav, "LOIT_", AC_Loiter),
#if CIRCLE_NAV_ENABLED
// @Group: CIRCLE_
// @Path: ../libraries/AC_WPNav/AC_Circle.cpp
GOBJECT(circle_nav, "CIRCLE_", AC_Circle),
#endif
// @Group: ATC_
// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
GOBJECT(attitude_control, "ATC_", AC_AttitudeControl_Sub),
// @Group: PSC
// @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
GOBJECT(pos_control, "PSC", AC_PosControl),
// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
GOBJECT(ahrs, "AHRS_", AP_AHRS),
#if HAL_MOUNT_ENABLED
// @Group: MNT
// @Path: ../libraries/AP_Mount/AP_Mount.cpp
GOBJECT(camera_mount, "MNT", AP_Mount),
#endif
// @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
GOBJECT(battery, "BATT", AP_BattMonitor),
// @Group: ARMING_
// @Path: AP_Arming_Sub.cpp,../libraries/AP_Arming/AP_Arming.cpp
GOBJECT(arming, "ARMING_", AP_Arming_Sub),
// @Group: BRD_
// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
GOBJECT(BoardConfig, "BRD_", AP_BoardConfig),
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
// @Group: CAN_
// @Path: ../libraries/AP_CANManager/AP_CANManager.cpp
GOBJECT(can_mgr, "CAN_", AP_CANManager),
#endif
#if AP_SIM_ENABLED
// @Group: SIM_
// @Path: ../libraries/SITL/SITL.cpp
GOBJECT(sitl, "SIM_", SITL::SIM),
#endif
// @Group: BARO
// @Path: ../libraries/AP_Baro/AP_Baro.cpp
GOBJECT(barometer, "BARO", AP_Baro),
// GPS driver
// @Group: GPS
// @Path: ../libraries/AP_GPS/AP_GPS.cpp
GOBJECT(gps, "GPS", AP_GPS),
// Leak detector
// @Group: LEAK
// @Path: ../libraries/AP_LeakDetector/AP_LeakDetector.cpp
GOBJECT(leak_detector, "LEAK", AP_LeakDetector),
// @Group: SCHED_
// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
GOBJECT(scheduler, "SCHED_", AP_Scheduler),
#if AVOIDANCE_ENABLED
// @Group: AVOID_
// @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
GOBJECT(avoid, "AVOID_", AC_Avoid),
#endif
#if HAL_RALLY_ENABLED
// @Group: RALLY_
// @Path: ../libraries/AP_Rally/AP_Rally.cpp
GOBJECT(rally, "RALLY_", AP_Rally),
#endif
// @Group: MOT_
// @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp,../libraries/AP_Motors/AP_MotorsMulticopter.cpp
GOBJECT(motors, "MOT_", AP_Motors6DOF),
#if RCMAP_ENABLED
// @Group: RCMAP_
// @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
GOBJECT(rcmap, "RCMAP_", RCMapper),
#endif
#if HAL_NAVEKF2_AVAILABLE
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(ahrs.ekf2.EKF2, NavEKF2, "EK2_", NavEKF2),
#endif
#if HAL_NAVEKF3_AVAILABLE
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(ahrs.ekf3.EKF3, NavEKF3, "EK3_", NavEKF3),
#endif
// @Group: MIS_
// @Path: ../libraries/AP_Mission/AP_Mission.cpp
GOBJECT(mission, "MIS_", AP_Mission),
#if AP_RANGEFINDER_ENABLED
// @Group: RNGFND
// @Path: ../libraries/AP_RangeFinder/AP_RangeFinder.cpp
GOBJECT(rangefinder, "RNGFND", RangeFinder),
// @Param: RNGFND_SQ_MIN
// @DisplayName: Rangefinder signal quality minimum
// @Description: Minimum signal quality for good rangefinder readings
// @Range: 0 100
// @User: Advanced
GSCALAR(rangefinder_signal_min, "RNGFND_SQ_MIN", RANGEFINDER_SIGNAL_MIN_DEFAULT),
// @Param: SURFTRAK_DEPTH
// @DisplayName: SURFTRAK minimum depth
// @Description: Minimum depth to engage SURFTRAK mode
// @Units: cm
// @User: Standard
GSCALAR(surftrak_depth, "SURFTRAK_DEPTH", SURFTRAK_DEPTH_DEFAULT),
#endif
#if AP_TERRAIN_AVAILABLE
// @Group: TERRAIN_
// @Path: ../libraries/AP_Terrain/AP_Terrain.cpp
GOBJECT(terrain, "TERRAIN_", AP_Terrain),
#endif
#if AP_OPTICALFLOW_ENABLED
// @Group: FLOW
// @Path: ../libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
GOBJECT(optflow, "FLOW", AP_OpticalFlow),
#endif
#if OSD_ENABLED || OSD_PARAM_ENABLED
// @Group: OSD
// @Path: ../libraries/AP_OSD/AP_OSD.cpp
GOBJECT(osd, "OSD", AP_OSD),
#endif
#if AP_RSSI_ENABLED
// @Group: RSSI_
// @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
GOBJECT(rssi, "RSSI_", AP_RSSI),
#endif
// @Group: NTF_
// @Path: ../libraries/AP_Notify/AP_Notify.cpp
GOBJECT(notify, "NTF_", AP_Notify),
// @Group:
// @Path: Parameters.cpp
GOBJECT(g2, "", ParametersG2),
// @Group:
// @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
PARAM_VEHICLE_INFO,
#if HAL_GCS_ENABLED
// @Group: MAV
// @Path: ../libraries/GCS_MAVLink/GCS.cpp
GOBJECT(_gcs, "MAV", GCS),
#endif
AP_VAREND
};
/*
2nd group of parameters
*/
const AP_Param::GroupInfo ParametersG2::var_info[] = {
// 1 was AP_Stats
#if HAL_PROXIMITY_ENABLED
// @Group: PRX
// @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
AP_SUBGROUPINFO(proximity, "PRX", 2, ParametersG2, AP_Proximity),
#endif
// 3 was AP_Gripper
// @Group: SERVO
// @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
AP_SUBGROUPINFO(servo_channels, "SERVO", 16, ParametersG2, SRV_Channels),
// @Group: RC
// @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels),
// 18 was scripting
// 19 was ORIGIN_LAT
// 20 was ORIGIN_LON
// 21 was ORIGIN_ALT
// @Param: SFC_NOBARO_THST
// @DisplayName: Surface mode throttle output when no barometer is available
// @Description: Surface mode throttle output when no borometer is available. 100% is full throttle. -100% is maximum throttle downwards
// @Units: %
// @User: Standard
// @Range: -100 100
AP_GROUPINFO("SFC_NOBARO_THST", 22, ParametersG2, surface_nobaro_thrust, 10),
// @Group: ACTUATOR
// @Path: ../ArduSub/actuators.cpp
AP_SUBGROUPINFO(actuators, "ACTUATOR", 23, ParametersG2, Actuators),
// Hidden param used as a flag for param conversion
// This allows one time conversion while allowing user to flash between versions with and without converted params
AP_GROUPINFO_FLAGS("PARM_FMT_VER", 24, ParametersG2, param_conversion_increment, 0, AP_PARAM_FLAG_HIDDEN),
AP_GROUPEND
};
/*
constructor for g2 object
*/
ParametersG2::ParametersG2()
{
AP_Param::setup_object_defaults(this, var_info);
}
void Sub::load_parameters()
{
AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_SUB);
AP_Param::set_defaults_from_table(defaults_table, ARRAY_SIZE(defaults_table));
// We should ignore this parameter since ROVs are neutral buoyancy
AP_Param::set_by_name("MOT_THST_HOVER", 0.5);
// PARAMETER_CONVERSION - Added: Jul-2025 for ArduPilot-4.7
#if AP_RPM_ENABLED
AP_Param::convert_class(g.k_param_rpm_sensor_old, &rpm_sensor, rpm_sensor.var_info, 0, true, true);
#endif
static const AP_Param::G2ObjectConversion g2_conversions[] {
#if AP_STATS_ENABLED
// PARAMETER_CONVERSION - Added: Jan-2024
{ &stats, stats.var_info, 1 },
#endif
#if AP_SCRIPTING_ENABLED
// PARAMETER_CONVERSION - Added: Jan-2024
{ &scripting, scripting.var_info, 18 },
#endif
#if AP_GRIPPER_ENABLED
// PARAMETER_CONVERSION - Added: Feb-2024
{ &gripper, gripper.var_info, 3 },
#endif
};
AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));
// PARAMETER_CONVERSION - Added: Feb-2024
#if HAL_LOGGING_ENABLED
AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
#endif
static const AP_Param::TopLevelObjectConversion toplevel_conversions[] {
#if AP_SERIALMANAGER_ENABLED
// PARAMETER_CONVERSION - Added: Feb-2024
{ &serial_manager, serial_manager.var_info, Parameters::k_param_serial_manager_old },
#endif
};
AP_Param::convert_toplevel_objects(toplevel_conversions, ARRAY_SIZE(toplevel_conversions));
#if HAL_GCS_ENABLED
// Move parameters into new MAV_ parameter namespace
// PARAMETER_CONVERSION - Added: Mar-2025
{
static const AP_Param::ConversionInfo gcs_conversion_info[] {
{ Parameters::k_param_sysid_this_mav_old, 0, AP_PARAM_INT16, "MAV_SYSID" },
{ Parameters::k_param_sysid_my_gcs_old, 0, AP_PARAM_INT16, "MAV_GCS_SYSID" },
};
AP_Param::convert_old_parameters(&gcs_conversion_info[0], ARRAY_SIZE(gcs_conversion_info));
}
#endif // HAL_GCS_ENABLED
// upgrade attitude controller parameters
sub.attitude_control.convert_parameters();
// upgrade waypoint navigation parameters
wp_nav.convert_parameters();
// upgrade loiter navigation parameters
loiter_nav.convert_parameters();
#if CIRCLE_NAV_ENABLED
circle_nav.convert_parameters();
#endif
// PARAMETER_CONVERSION - Added: Jan-2026
// move ORIGIN_LAT, ORIGIN_LON, ORIGIN_ALT to AHRS
static const AP_Param::ConversionInfo origin_conversion_info[] {
{ 2, 19, AP_PARAM_FLOAT, "AHRS_ORIGIN_LAT" }, // ORIGIN_LAT moved to AHRS_ORIGIN_LAT
{ 2, 20, AP_PARAM_FLOAT, "AHRS_ORIGIN_LON" }, // ORIGIN_LON moved to AHRS_ORIGIN_LON
{ 2, 21, AP_PARAM_FLOAT, "AHRS_ORIGIN_ALT" }, // ORIGIN_ALT moved to AHRS_ORIGIN_ALT
};
AP_Param::convert_old_parameters(&origin_conversion_info[0], ARRAY_SIZE(origin_conversion_info));
}
#if LEAKDETECTOR_MAX_INSTANCES > 0
// PARAMETER_CONVERSION - Added: Dec-2025
// Deals with leak detector getting misconfigured when updating from Sub 4.1
void Sub::update_leak_pins()
{
for (uint8_t instance = 0; instance < LEAKDETECTOR_MAX_INSTANCES; instance++) {
if (leak_detector.get_pin(instance) <= 0) {
// leak detector does not use pin
continue;
}
uint8_t servo_channel;
if (!hal.gpio->pin_to_servo_channel(leak_detector.get_pin(instance), servo_channel)) {
// leak detector pin does not map to a servo channel
continue;
}
if (SRV_Channels::is_GPIO(servo_channel)) {
// servo channel is already set to GPIO
continue;
}
if (SRV_Channels::channel_function(servo_channel) != SRV_Channel::Function::k_none) {
// servo channel is already set to a function
gcs().send_text(MAV_SEVERITY_WARNING, "Leak detector %u error. Please set SERVO%u_FUNCTION to GPIO", instance + 1, servo_channel + 1);
continue;
}
// servo channel is disabled, let's set it to GPIO for the user
gcs().send_text(MAV_SEVERITY_INFO, "Leak detector %u pin (servo %u) auto-set to GPIO", instance + 1, servo_channel + 1);
char param_name[20];
snprintf(param_name, sizeof(param_name), "SERVO%u_FUNCTION", servo_channel + 1);
AP_Param::set_and_save_by_name(param_name, static_cast<int>(SRV_Channel::Function::k_GPIO));
}
}
#endif
#if AP_RELAY_ENABLED
// PARAMETER_CONVERSION - Added: Dec-2025
// Deals with relay getting misconfigured when updating from Sub 4.1
void Sub::update_relay_pins()
{
for (uint8_t instance = 0; instance < AP_RELAY_NUM_RELAYS; instance++) {
uint8_t servo_channel;
uint8_t pin;
if (!relay.get_pin_by_instance(instance, pin) || !hal.gpio->pin_to_servo_channel(pin, servo_channel)) {
// instance does not use pin or pin does not map to a servo channel
continue;
}
if (!relay.enabled(instance) || SRV_Channels::is_GPIO(servo_channel)) {
// instance is not enabled or servo channel is already set to GPIO
continue;
}
if (SRV_Channels::channel_function(servo_channel) != SRV_Channel::Function::k_none) {
// servo channel is already set to a function
gcs().send_text(MAV_SEVERITY_WARNING, "Relay %u error. Please set SERVO%u_FUNCTION to GPIO", instance + 1, servo_channel + 1);
continue;
}
// servo channel is disabled, let's set it to GPIO for the user
gcs().send_text(MAV_SEVERITY_INFO, "Relay %u pin (servo %u) auto-set to GPIO", instance + 1, servo_channel + 1);
char param_name[20];
snprintf(param_name, sizeof(param_name), "SERVO%u_FUNCTION", servo_channel + 1);
AP_Param::set_and_save_by_name(param_name, static_cast<int>(SRV_Channel::Function::k_GPIO));
}
}
#endif
// Helper function to set servo function by channel number, 1-indexed
static void set_servo_function(uint8_t channel, SRV_Channel::Function function)
{
char param_name[20];
snprintf(param_name, sizeof(param_name), "SERVO%u_FUNCTION", channel);
AP_Param::set_and_save_by_name(param_name, static_cast<int>(function));
}
// PARAMETER_CONVERSION - Added: Mar-2026
void Sub::update_actuators_from_jsbuttons()
{
/*
This function is used to update parameters from Sub <=4.5.4 to the newer actuators implementation.
servo_1_inc/min/dec/etc.. were hard-coded to work only on channels 9,10,11. This update means we now have to change
these functions to the corresponding actuator function to keep the same functionality.
For each of SERVO9,10,11, if they are set to DISABLED, check if there are joystick buttons set to actuator functions.
if so, and no other channel is set to that actuator function, set the servo to the actuator function.
*/
// Configuration constants
const uint8_t FIRST_LEGACY_CHANNEL = 9;
const uint8_t NUM_LEGACY_ACTUATORS = 3;
const size_t FUNCTIONS_PER_SERVO = 9;
// Legacy servo button functions mapped to actuators 1-3
static constexpr JSButton::button_function_t servo_functions[NUM_LEGACY_ACTUATORS][FUNCTIONS_PER_SERVO] = {
{
// Actuator 1 (was servo_1_*)
JSButton::button_function_t::k_servo_1_inc,
JSButton::button_function_t::k_servo_1_dec,
JSButton::button_function_t::k_servo_1_min,
JSButton::button_function_t::k_servo_1_max,
JSButton::button_function_t::k_servo_1_center,
JSButton::button_function_t::k_servo_1_min_momentary,
JSButton::button_function_t::k_servo_1_max_momentary,
JSButton::button_function_t::k_servo_1_min_toggle,
JSButton::button_function_t::k_servo_1_max_toggle
},
{
// Actuator 2 (was servo_2_*)
JSButton::button_function_t::k_servo_2_inc,
JSButton::button_function_t::k_servo_2_dec,
JSButton::button_function_t::k_servo_2_min,
JSButton::button_function_t::k_servo_2_max,
JSButton::button_function_t::k_servo_2_center,
JSButton::button_function_t::k_servo_2_min_momentary,
JSButton::button_function_t::k_servo_2_max_momentary,
JSButton::button_function_t::k_servo_2_min_toggle,
JSButton::button_function_t::k_servo_2_max_toggle
},
{
// Actuator 3 (was servo_3_*)
JSButton::button_function_t::k_servo_3_inc,
JSButton::button_function_t::k_servo_3_dec,
JSButton::button_function_t::k_servo_3_min,
JSButton::button_function_t::k_servo_3_max,
JSButton::button_function_t::k_servo_3_center,
JSButton::button_function_t::k_servo_3_min_momentary,
JSButton::button_function_t::k_servo_3_max_momentary,
JSButton::button_function_t::k_servo_3_min_toggle,
JSButton::button_function_t::k_servo_3_max_toggle
}
};
// Target actuator functions for assignment
static constexpr SRV_Channel::Function actuator_functions[NUM_LEGACY_ACTUATORS] = {
SRV_Channel::Function::k_actuator1,
SRV_Channel::Function::k_actuator2,
SRV_Channel::Function::k_actuator3
};
// Process legacy channels 9-11
for (uint8_t actuator_idx = 0; actuator_idx < NUM_LEGACY_ACTUATORS; actuator_idx++) {
const uint8_t channel = FIRST_LEGACY_CHANNEL + actuator_idx;
const auto target_function = actuator_functions[actuator_idx];
// Skip if actuator function already assigned to any channel
uint8_t existing_channel;
if (SRV_Channels::find_channel(target_function, existing_channel)) {
continue;
}
// Skip if channel is not disabled
if (SRV_Channels::channel_function(channel - 1) != SRV_Channel::Function::k_none) {
continue;
}
// Check if any servo/actuator buttons are assigned
bool has_assigned_button = false;
for (size_t func_idx = 0; func_idx < FUNCTIONS_PER_SERVO; func_idx++) {
if (sub.jsbutton_function_is_assigned(servo_functions[actuator_idx][func_idx])) {
has_assigned_button = true;
break;
}
}
if (has_assigned_button) {
// Assign actuator function to preserve legacy behavior
set_servo_function(channel, target_function);
}
}
}
// PARAMETER_CONVERSION - Added: Mar-2026
void Sub::update_lights_from_rcin()
{
/*
Maps older systems from using RCIN9 and RCIN10 to using lights1 and lights2.
This is only done if there are joystick buttons assigned to the lights functions and there are no channels assigned to the lights functions.
*/
const uint8_t NUM_LIGHTS = 2;
const uint8_t FUNCTIONS_PER_LIGHT = 3;
static constexpr JSButton::button_function_t lights_button_functions[NUM_LIGHTS][FUNCTIONS_PER_LIGHT] = {
{
JSButton::button_function_t::k_lights1_brighter,
JSButton::button_function_t::k_lights1_dimmer,
JSButton::button_function_t::k_lights1_cycle,
},
{
JSButton::button_function_t::k_lights2_brighter,
JSButton::button_function_t::k_lights2_dimmer,
JSButton::button_function_t::k_lights2_cycle,
}
};
// New, dedicated lights output functions
const SRV_Channel::Function lights_functions[NUM_LIGHTS] = {
SRV_Channel::Function::k_lights1,
SRV_Channel::Function::k_lights2
};
// Legacy, overloaded and hardcoded RCIN passthrough outputs
const SRV_Channel::Function rcin_functions[NUM_LIGHTS] = {
SRV_Channel::Function::k_rcin9,
SRV_Channel::Function::k_rcin10
};
// Confirm the new output is not already assigned, and extract the legacy output for remapping
for (uint8_t light = 0; light < NUM_LIGHTS; light++) {
uint8_t existing_channel;
if (SRV_Channels::find_channel(lights_functions[light], existing_channel)
|| !SRV_Channels::find_channel(rcin_functions[light], existing_channel)) {
continue;
}
// We have a potential lights RCIN channel. Do we have lights buttons?
for (uint8_t func_idx = 0; func_idx < FUNCTIONS_PER_LIGHT; func_idx++) {
if (sub.jsbutton_function_is_assigned(lights_button_functions[light][func_idx])) {
// We have buttons assigned to lights. Set the channel to the new, dedicated lights function.
set_servo_function(existing_channel + 1, lights_functions[light]);
break;
}
}
}
}
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