mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
refactor(drivers/uavcan): convert params.c to module.yaml
Convert 1 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
Jacob Dahl
parent
15b6dc442c
commit
5586a666c6
@ -184,6 +184,7 @@ px4_add_module(
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sensors/safety_button.cpp
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MODULE_CONFIG
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module.yaml
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uavcan_params.yaml
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DEPENDS
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px4_uavcan_dsdlc
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@ -1,388 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2014-2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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/**
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* UAVCAN mode
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*
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* 0 - UAVCAN disabled.
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* 1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update.
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* 2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update.
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* 3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.
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*
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* @min 0
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* @max 3
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* @value 0 Disabled
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* @value 1 Sensors Manual Config
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* @value 2 Sensors Automatic Config
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* @value 3 Sensors and Actuators (ESCs) Automatic Config
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_ENABLE, 0);
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/**
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* UAVCAN Node ID.
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*
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* Read the specs at https://dronecan.github.io/ to learn more about Node ID.
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*
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* @min 1
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* @max 125
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_NODE_ID, 1);
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/**
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* UAVCAN CAN bus bitrate.
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*
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* @unit bit/s
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* @min 20000
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* @max 1000000
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000);
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/**
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* UAVCAN rangefinder minimum range
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*
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* This parameter defines the minimum valid range for a rangefinder connected via UAVCAN.
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*
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* @unit m
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* @group UAVCAN
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*/
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PARAM_DEFINE_FLOAT(UAVCAN_RNG_MIN, 0.0f);
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/**
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* UAVCAN rangefinder maximum range
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*
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* This parameter defines the maximum valid range for a rangefinder connected via UAVCAN.
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*
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* @unit m
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* @group UAVCAN
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*/
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PARAM_DEFINE_FLOAT(UAVCAN_RNG_MAX, 999.0f);
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/**
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* UAVCAN fuel tank maximum capacity
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*
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* This parameter defines the maximum fuel capacity of the vehicle's fuel tank.
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*
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* @min 0.0
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* @max 100000.0
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* @unit liters
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* @decimal 1
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* @increment 0.1
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_FLOAT(UAVCAN_ECU_MAXF, 15.0f);
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/**
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* UAVCAN fuel tank fuel type
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*
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* This parameter defines the type of fuel used in the vehicle's fuel tank.
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*
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* 0: Unknown
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* 1: Liquid (e.g., gasoline, diesel)
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* 2: Gas (e.g., hydrogen, methane, propane)
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*
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* @min 0
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* @max 2
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* @value 0 Unknown
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* @value 1 Liquid
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* @value 2 Gas
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_ECU_FUELT, 1);
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/**
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* UAVCAN Navigation light operating mode
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*
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* This parameter defines the minimum condition under which the system will command
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* Navigation lights to turn on. Affects lights with functions: Anti-collision, Colored Navigation Lights or Hybrid lights.
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*
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* For hybrid functions (StatusOrAntiCollision, etc.), the light
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* displays status colors when this mode is inactive, and switches to the
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* navigation light function when this mode becomes active.
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*
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* 0 - Always off
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* 1 - When autopilot is armed
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* 2 - When autopilot is prearmed
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* 3 - Always on
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*
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* @min 0
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* @max 3
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* @value 0 Always off
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* @value 1 When autopilot is armed
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* @value 2 When autopilot is prearmed
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* @value 3 Always on
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_LGT_MODE, 1);
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/**
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* publish Arming Status stream
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*
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* Enable UAVCAN Arming Status stream publication
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* uavcan::equipment::safety::ArmingStatus
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_PUB_ARM, 0);
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/**
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* publish RTCM stream
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*
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* Enable UAVCAN RTCM stream publication
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* uavcan::equipment::gnss::RTCMStream
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_PUB_RTCM, 0);
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/**
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* publish moving baseline data RTCM stream
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*
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* Enable UAVCAN RTCM stream publication
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* ardupilot::gnss::MovingBaselineData
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_PUB_MBD, 0);
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/**
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* subscription airspeed
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*
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* Enable UAVCAN airspeed subscriptions.
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* uavcan::equipment::air_data::IndicatedAirspeed
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* uavcan::equipment::air_data::TrueAirspeed
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* uavcan::equipment::air_data::StaticTemperature
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_ASPD, 0);
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/**
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* subscription barometer
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*
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* Enable UAVCAN barometer subscription.
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* uavcan::equipment::air_data::StaticPressure
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* uavcan::equipment::air_data::StaticTemperature
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_BARO, 0);
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/**
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* subscription battery
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*
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* Enable UAVCAN battery subscription.
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* uavcan::equipment::power::BatteryInfo
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* ardupilot::equipment::power::BatteryInfoAux
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* cuav::equipment::power::CBAT
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*
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* 0 - Disable
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* 1 - Use raw data. Recommended for Smart battery
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* 2 - Filter the data with internal battery library (unsupported with CBAT)
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*
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* @min 0
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* @max 2
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* @value 0 Disable
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* @value 1 Raw data
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* @value 2 Filter data
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_BAT, 0);
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/**
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* subscription differential pressure
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*
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* Enable UAVCAN differential pressure subscription.
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* uavcan::equipment::air_data::RawAirData
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_DPRES, 0);
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/**
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* subscription flow
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*
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* Enable UAVCAN optical flow subscription.
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_FLOW, 0);
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/**
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* subscription fuel tank
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*
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* Enable UAVCAN fuel tank status subscription.
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_FUEL, 0);
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/**
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* subscription GPS
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*
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* Enable UAVCAN GPS subscriptions.
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* uavcan::equipment::gnss::Fix
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* uavcan::equipment::gnss::Fix2
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* uavcan::equipment::gnss::Auxiliary
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_GPS, 1);
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/**
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* subscription GPS Relative
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*
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* Enable UAVCAN GPS Relative subscription.
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* ardupilot::gnss::RelPosHeading
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_GPS_R, 1);
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/**
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* subscription hygrometer
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*
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* Enable UAVCAN hygrometer subscriptions.
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* dronecan::sensors::hygrometer::Hygrometer
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_HYGRO, 0);
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/**
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* subscription ICE
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*
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* Enable UAVCAN internal combustion engine (ICE) subscription.
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* uavcan::equipment::ice::reciprocating::Status
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_ICE, 0);
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/**
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* subscription IMU
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*
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* Enable UAVCAN IMU subscription.
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* uavcan::equipment::ahrs::RawIMU
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_IMU, 0);
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/**
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* subscription magnetometer
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*
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* Enable UAVCAN mag subscription.
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* uavcan::equipment::ahrs::MagneticFieldStrength
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* uavcan::equipment::ahrs::MagneticFieldStrength2
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_MAG, 1);
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/**
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* subscription range finder
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*
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* Enable UAVCAN range finder subscription.
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* uavcan::equipment::range_sensor::Measurement
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_RNG, 0);
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/**
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* subscription button
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*
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* Enable UAVCAN button subscription.
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* ardupilot::indication::Button
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_BTN, 0);
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/**
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* subscription MovingBaselineData
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*
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* Enable UAVCAN MovingBaselineData subscription.
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* ardupilot::gnss::MovingBaselineData
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_SUB_MBD, 0);
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289
src/drivers/uavcan/uavcan_params.yaml
Normal file
289
src/drivers/uavcan/uavcan_params.yaml
Normal file
@ -0,0 +1,289 @@
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module_name: uavcan
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parameters:
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- group: UAVCAN
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definitions:
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UAVCAN_ENABLE:
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description:
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short: UAVCAN mode
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long: |-
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0 - UAVCAN disabled.
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1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update.
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2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update.
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3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.
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type: enum
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values:
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0: Disabled
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1: Sensors Manual Config
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2: Sensors Automatic Config
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3: Sensors and Actuators (ESCs) Automatic Config
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default: 0
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min: 0
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max: 3
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reboot_required: true
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UAVCAN_NODE_ID:
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description:
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short: UAVCAN Node ID
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long: Read the specs at https://dronecan.github.io/ to learn more about Node
|
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ID.
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type: int32
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default: 1
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min: 1
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max: 125
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reboot_required: true
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UAVCAN_BITRATE:
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description:
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short: UAVCAN CAN bus bitrate
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type: int32
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default: 1000000
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unit: bit/s
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min: 20000
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max: 1000000
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reboot_required: true
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UAVCAN_RNG_MIN:
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description:
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short: UAVCAN rangefinder minimum range
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long: This parameter defines the minimum valid range for a rangefinder connected
|
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via UAVCAN.
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type: float
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default: 0.0
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unit: m
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UAVCAN_RNG_MAX:
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description:
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short: UAVCAN rangefinder maximum range
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long: This parameter defines the maximum valid range for a rangefinder connected
|
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via UAVCAN.
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type: float
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default: 999.0
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unit: m
|
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UAVCAN_ECU_MAXF:
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description:
|
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short: UAVCAN fuel tank maximum capacity
|
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long: This parameter defines the maximum fuel capacity of the vehicle's fuel
|
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tank.
|
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type: float
|
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default: 15.0
|
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min: 0.0
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max: 100000.0
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unit: liters
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decimal: 1
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increment: 0.1
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reboot_required: true
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UAVCAN_ECU_FUELT:
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description:
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short: UAVCAN fuel tank fuel type
|
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long: |-
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This parameter defines the type of fuel used in the vehicle's fuel tank.
|
||||
|
||||
0: Unknown
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||||
1: Liquid (e.g., gasoline, diesel)
|
||||
2: Gas (e.g., hydrogen, methane, propane)
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type: enum
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values:
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0: Unknown
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||||
1: Liquid
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2: Gas
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default: 1
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min: 0
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max: 2
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reboot_required: true
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UAVCAN_LGT_MODE:
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description:
|
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short: UAVCAN Navigation light operating mode
|
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long: |-
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This parameter defines the minimum condition under which the system will command
|
||||
Navigation lights to turn on. Affects lights with functions: Anti-collision, Colored Navigation Lights or Hybrid lights.
|
||||
|
||||
For hybrid functions (StatusOrAntiCollision, etc.), the light
|
||||
displays status colors when this mode is inactive, and switches to the
|
||||
navigation light function when this mode becomes active.
|
||||
|
||||
0 - Always off
|
||||
1 - When autopilot is armed
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2 - When autopilot is prearmed
|
||||
3 - Always on
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type: enum
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values:
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0: Always off
|
||||
1: When autopilot is armed
|
||||
2: When autopilot is prearmed
|
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3: Always on
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default: 1
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min: 0
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||||
max: 3
|
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reboot_required: true
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UAVCAN_PUB_ARM:
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description:
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short: publish Arming Status stream
|
||||
long: |-
|
||||
Enable UAVCAN Arming Status stream publication
|
||||
uavcan::equipment::safety::ArmingStatus
|
||||
type: boolean
|
||||
default: 0
|
||||
reboot_required: true
|
||||
UAVCAN_PUB_RTCM:
|
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description:
|
||||
short: publish RTCM stream
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long: |-
|
||||
Enable UAVCAN RTCM stream publication
|
||||
uavcan::equipment::gnss::RTCMStream
|
||||
type: boolean
|
||||
default: 0
|
||||
reboot_required: true
|
||||
UAVCAN_PUB_MBD:
|
||||
description:
|
||||
short: publish moving baseline data RTCM stream
|
||||
long: |-
|
||||
Enable UAVCAN RTCM stream publication
|
||||
ardupilot::gnss::MovingBaselineData
|
||||
type: boolean
|
||||
default: 0
|
||||
reboot_required: true
|
||||
UAVCAN_SUB_ASPD:
|
||||
description:
|
||||
short: subscription airspeed
|
||||
long: |-
|
||||
Enable UAVCAN airspeed subscriptions.
|
||||
uavcan::equipment::air_data::IndicatedAirspeed
|
||||
uavcan::equipment::air_data::TrueAirspeed
|
||||
uavcan::equipment::air_data::StaticTemperature
|
||||
type: boolean
|
||||
default: 0
|
||||
reboot_required: true
|
||||
UAVCAN_SUB_BARO:
|
||||
description:
|
||||
short: subscription barometer
|
||||
long: |-
|
||||
Enable UAVCAN barometer subscription.
|
||||
uavcan::equipment::air_data::StaticPressure
|
||||
uavcan::equipment::air_data::StaticTemperature
|
||||
type: boolean
|
||||
default: 0
|
||||
reboot_required: true
|
||||
UAVCAN_SUB_BAT:
|
||||
description:
|
||||
short: subscription battery
|
||||
long: |-
|
||||
Enable UAVCAN battery subscription.
|
||||
uavcan::equipment::power::BatteryInfo
|
||||
ardupilot::equipment::power::BatteryInfoAux
|
||||
cuav::equipment::power::CBAT
|
||||
|
||||
0 - Disable
|
||||
1 - Use raw data. Recommended for Smart battery
|
||||
2 - Filter the data with internal battery library (unsupported with CBAT)
|
||||
type: enum
|
||||
values:
|
||||
0: Disable
|
||||
1: Raw data
|
||||
2: Filter data
|
||||
default: 0
|
||||
min: 0
|
||||
max: 2
|
||||
reboot_required: true
|
||||
UAVCAN_SUB_DPRES:
|
||||
description:
|
||||
short: subscription differential pressure
|
||||
long: |-
|
||||
Enable UAVCAN differential pressure subscription.
|
||||
uavcan::equipment::air_data::RawAirData
|
||||
type: boolean
|
||||
default: 0
|
||||
reboot_required: true
|
||||
UAVCAN_SUB_FLOW:
|
||||
description:
|
||||
short: subscription flow
|
||||
long: Enable UAVCAN optical flow subscription.
|
||||
type: boolean
|
||||
default: 0
|
||||
reboot_required: true
|
||||
UAVCAN_SUB_FUEL:
|
||||
description:
|
||||
short: subscription fuel tank
|
||||
long: Enable UAVCAN fuel tank status subscription.
|
||||
type: boolean
|
||||
default: 0
|
||||
reboot_required: true
|
||||
UAVCAN_SUB_GPS:
|
||||
description:
|
||||
short: subscription GPS
|
||||
long: |-
|
||||
Enable UAVCAN GPS subscriptions.
|
||||
uavcan::equipment::gnss::Fix
|
||||
uavcan::equipment::gnss::Fix2
|
||||
uavcan::equipment::gnss::Auxiliary
|
||||
type: boolean
|
||||
default: 1
|
||||
reboot_required: true
|
||||
UAVCAN_SUB_GPS_R:
|
||||
description:
|
||||
short: subscription GPS Relative
|
||||
long: |-
|
||||
Enable UAVCAN GPS Relative subscription.
|
||||
ardupilot::gnss::RelPosHeading
|
||||
type: boolean
|
||||
default: 1
|
||||
reboot_required: true
|
||||
UAVCAN_SUB_HYGRO:
|
||||
description:
|
||||
short: subscription hygrometer
|
||||
long: |-
|
||||
Enable UAVCAN hygrometer subscriptions.
|
||||
dronecan::sensors::hygrometer::Hygrometer
|
||||
type: boolean
|
||||
default: 0
|
||||
reboot_required: true
|
||||
UAVCAN_SUB_ICE:
|
||||
description:
|
||||
short: subscription ICE
|
||||
long: |-
|
||||
Enable UAVCAN internal combustion engine (ICE) subscription.
|
||||
uavcan::equipment::ice::reciprocating::Status
|
||||
type: boolean
|
||||
default: 0
|
||||
reboot_required: true
|
||||
UAVCAN_SUB_IMU:
|
||||
description:
|
||||
short: subscription IMU
|
||||
long: |-
|
||||
Enable UAVCAN IMU subscription.
|
||||
uavcan::equipment::ahrs::RawIMU
|
||||
type: boolean
|
||||
default: 0
|
||||
reboot_required: true
|
||||
UAVCAN_SUB_MAG:
|
||||
description:
|
||||
short: subscription magnetometer
|
||||
long: |-
|
||||
Enable UAVCAN mag subscription.
|
||||
uavcan::equipment::ahrs::MagneticFieldStrength
|
||||
uavcan::equipment::ahrs::MagneticFieldStrength2
|
||||
type: boolean
|
||||
default: 1
|
||||
reboot_required: true
|
||||
UAVCAN_SUB_RNG:
|
||||
description:
|
||||
short: subscription range finder
|
||||
long: |-
|
||||
Enable UAVCAN range finder subscription.
|
||||
uavcan::equipment::range_sensor::Measurement
|
||||
type: boolean
|
||||
default: 0
|
||||
reboot_required: true
|
||||
UAVCAN_SUB_BTN:
|
||||
description:
|
||||
short: subscription button
|
||||
long: |-
|
||||
Enable UAVCAN button subscription.
|
||||
ardupilot::indication::Button
|
||||
type: boolean
|
||||
default: 0
|
||||
reboot_required: true
|
||||
UAVCAN_SUB_MBD:
|
||||
description:
|
||||
short: subscription MovingBaselineData
|
||||
long: |-
|
||||
Enable UAVCAN MovingBaselineData subscription.
|
||||
ardupilot::gnss::MovingBaselineData
|
||||
type: boolean
|
||||
default: 0
|
||||
reboot_required: true
|
||||
Loading…
x
Reference in New Issue
Block a user