parameters.h
The Parameters.h file contains definieitons for the different variables that will be used as parameters they are defined as part of the class Parameters .
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef PARAMETERS_H
#define PARAMETERS_H
#include <AP_Common.h>
...
This slice of codes deinfes PARAMETERS_H and includes AP_Common, which contains definitions and utility routines for the ArduPilot libraries.
// Global parameter class.
//
class Parameters {
...
Here begins the class Parameters definition.
// 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 = 16;
static const uint16_t k_software_type = 20;
...
This class methods are defined as public.This slice of code include some warning comments and the definition of two methods.
enum {
// Layout version number, always key zero.
//
k_param_format_version = 0,
k_param_software_type,
// Misc
//
k_param_log_bitmask_old = 10, // unused
k_param_num_resets,
k_param_reset_switch_chan,
k_param_initial_mode,
k_param_scheduler,
k_param_relay,
k_param_BoardConfig,
k_param_pivot_turn_angle,
k_param_rc_13,
k_param_rc_14,
...
Here begins the layout. The first variables included are the ones related to the Misc.
// IO pins
k_param_rssi_pin = 20,
k_param_battery_volt_pin,
k_param_battery_curr_pin,
// braking
k_param_braking_percent = 30,
k_param_braking_speederr,
// misc2
k_param_log_bitmask = 40,
k_param_gps,
k_param_serial0_baud,
k_param_serial1_baud,
k_param_serial2_baud,
// 110: Telemetry control
//
k_param_gcs0 = 110, // stream rates for uartA
k_param_gcs1, // stream rates for uartC
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial0_baud_old,
k_param_serial1_baud_old,
k_param_telem_delay,
k_param_skip_gyro_cal,
k_param_gcs2, // stream rates for uartD
k_param_serial2_baud_old,
k_param_serial2_protocol,
//
// 130: Sensor parameters
//
k_param_compass_enabled = 130,
k_param_steering_learn, // unused
k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group
k_param_mission, // mission library
...
In the same way exist parameters for Telemetry control parameters, I/O pins parameters...
// 140: battery controls
k_param_battery_monitoring = 140, // 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_battery,
//
// 150: Navigation parameters
//
k_param_crosstrack_gain = 150,
k_param_crosstrack_entry_angle,
k_param_speed_cruise,
k_param_speed_turn_gain,
k_param_speed_turn_dist,
k_param_ch7_option,
k_param_auto_trigger_pin,
k_param_auto_kickstart,
k_param_turn_circle, // unused
k_param_turn_max_g,
//
// 160: Radio settings
//
k_param_rc_1 = 160,
k_param_rc_2,
k_param_rc_3,
k_param_rc_4,
k_param_rc_5,
k_param_rc_6,
k_param_rc_7,
k_param_rc_8,
// throttle control
k_param_throttle_min = 170,
k_param_throttle_max,
k_param_throttle_cruise,
k_param_throttle_slewrate,
k_param_throttle_reduction,
k_param_skid_steer_in,
k_param_skid_steer_out,
// failsafe control
k_param_fs_action = 180,
k_param_fs_timeout,
k_param_fs_throttle_enabled,
k_param_fs_throttle_value,
k_param_fs_gcs_enabled,
// obstacle control
k_param_sonar_enabled = 190, // deprecated, can be removed
k_param_sonar_old, // unused
k_param_sonar_trigger_cm,
k_param_sonar_turn_angle,
k_param_sonar_turn_time,
k_param_sonar2_old, // unused
k_param_sonar_debounce,
k_param_sonar, // sonar object
//
// 210: driving modes
//
k_param_mode_channel = 210,
k_param_mode1,
k_param_mode2,
k_param_mode3,
k_param_mode4,
k_param_mode5,
k_param_mode6,
k_param_learn_channel,
//
// 220: Waypoint data
//
k_param_command_total = 220, // unused
k_param_command_index, // unused
k_param_waypoint_radius,
//
// 230: camera control
//
k_param_camera,
k_param_camera_mount,
k_param_camera_mount2,
//
// 240: PID Controllers
k_param_pidNavSteer = 230,
k_param_pidServoSteer, // unused
k_param_pidSpeedThrottle,
// high RC channels
k_param_rc_9 = 235,
k_param_rc_10,
k_param_rc_11,
k_param_rc_12,
// other objects
k_param_sitl = 240,
k_param_ahrs,
k_param_ins,
k_param_compass,
k_param_rcmap,
k_param_L1_controller,
k_param_steerController,
k_param_barometer,
// 254,255: reserved
};
...
Here ends the parameters defined as part of the enum.
AP_Int16 format_version;
AP_Int8 software_type;
// Misc
//
AP_Int32 log_bitmask;
AP_Int16 num_resets;
AP_Int8 reset_switch_chan;
AP_Int8 initial_mode;
...
some of the methods we have seen as part of the enumare defined here.
// IO pins
AP_Int8 rssi_pin;
// braking
AP_Int8 braking_percent;
AP_Float braking_speederr;
// Telemetry control
//
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int16 serial0_baud;
AP_Int16 serial1_baud;
#if MAVLINK_COMM_NUM_BUFFERS > 2
AP_Int16 serial2_baud;
AP_Int8 serial2_protocol;
#endif
AP_Int8 telem_delay;
AP_Int8 skip_gyro_cal;
// sensor parameters
AP_Int8 compass_enabled;
// navigation parameters
//
AP_Float speed_cruise;
AP_Int8 speed_turn_gain;
AP_Float speed_turn_dist;
AP_Int8 ch7_option;
AP_Int8 auto_trigger_pin;
AP_Float auto_kickstart;
AP_Float turn_max_g;
AP_Int16 pivot_turn_angle;
...
Till here you can see the definition of navigation parameters, sensor parameters... included in the enum.
// RC channels
RC_Channel rc_1;
RC_Channel_aux rc_2;
RC_Channel rc_3;
RC_Channel_aux rc_4;
RC_Channel_aux rc_5;
RC_Channel_aux rc_6;
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_9;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_10;
RC_Channel_aux rc_11;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_12;
RC_Channel_aux rc_13;
RC_Channel_aux rc_14;
#endif
...
This slice of code defines the possible channels depending of the type of board being used.
// Throttle
//
AP_Int8 throttle_min;
AP_Int8 throttle_max;
AP_Int8 throttle_cruise;
AP_Int8 throttle_slewrate;
AP_Int8 skid_steer_in;
AP_Int8 skid_steer_out;
// failsafe control
AP_Int8 fs_action;
AP_Float fs_timeout;
AP_Int8 fs_throttle_enabled;
AP_Int16 fs_throttle_value;
AP_Int8 fs_gcs_enabled;
// obstacle control
AP_Int16 sonar_trigger_cm;
AP_Float sonar_turn_angle;
AP_Float sonar_turn_time;
AP_Int8 sonar_debounce;
// driving modes
//
AP_Int8 mode_channel;
AP_Int8 mode1;
AP_Int8 mode2;
AP_Int8 mode3;
AP_Int8 mode4;
AP_Int8 mode5;
AP_Int8 mode6;
AP_Int8 learn_channel;
// Waypoints
//
AP_Float waypoint_radius;
// PID controllers
//
PID pidSpeedThrottle;
...
Here continue the definition fot the parameters outside the enum.
arameters() :
// RC channels
rc_1(CH_1),
rc_2(CH_2),
rc_3(CH_3),
rc_4(CH_4),
rc_5(CH_5),
rc_6(CH_6),
rc_7(CH_7),
rc_8(CH_8),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_9 (CH_9),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_10 (CH_10),
rc_11 (CH_11),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_12 (CH_12),
rc_13 (CH_13),
rc_14 (CH_14),
#endif
...
This slice of code implements some channels options depending on the board.
// PID controller initial P initial I initial D initial imax
//-----------------------------------------------------------------------------------
pidSpeedThrottle (0.7, 0.2, 0.2, 4000)
{}
};
...
Also the values of the PID controller are initialized.
extern const AP_Param::Info var_info[];
#endif // PARAMETERS_H
AP_Paramis defined here for make it possible a later exportation.