mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
refactor(lib/systemlib): 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
2a2a44550a
commit
b5fd31feee
@ -47,4 +47,5 @@ if(${PX4_PLATFORM} STREQUAL "nuttx")
|
||||
endif()
|
||||
|
||||
px4_add_library(systemlib ${SRCS})
|
||||
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/system_params.yaml)
|
||||
target_compile_options(systemlib PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
|
||||
|
||||
@ -1,303 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file system_params.c
|
||||
*
|
||||
* System wide parameters
|
||||
*/
|
||||
|
||||
/**
|
||||
* Auto-start script index.
|
||||
*
|
||||
* CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.
|
||||
*
|
||||
* @reboot_required true
|
||||
* @min 0
|
||||
* @max 9999999
|
||||
* @group System
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
|
||||
|
||||
/**
|
||||
* Automatically configure default values.
|
||||
*
|
||||
* Set to 1 to reset parameters on next system startup (setting defaults).
|
||||
* Platform-specific values are used if available.
|
||||
* RC* parameters are preserved.
|
||||
*
|
||||
* @value 0 Keep parameters
|
||||
* @value 1 Reset parameters to airframe defaults
|
||||
* @group System
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
|
||||
|
||||
/**
|
||||
* Enable HITL/SIH mode on next boot
|
||||
*
|
||||
* While enabled the system will boot in Hardware-In-The-Loop (HITL)
|
||||
* or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks.
|
||||
* When disabled the same vehicle can be flown normally.
|
||||
*
|
||||
* Set to 'external HITL', if the system should perform as if it were a real
|
||||
* vehicle (the only difference to a real system is then only the parameter
|
||||
* value, which can be used for log analysis).
|
||||
*
|
||||
* @value -1 external HITL
|
||||
* @value 0 HITL and SIH disabled
|
||||
* @value 1 HITL enabled
|
||||
* @value 2 SIH enabled
|
||||
* @reboot_required true
|
||||
*
|
||||
* @group System
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_HITL, 0);
|
||||
|
||||
/**
|
||||
* Parameter version
|
||||
*
|
||||
* This is used internally only: an airframe configuration might set an expected
|
||||
* parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup
|
||||
* against SYS_PARAM_VER, and if they do not match, parameters are reset and
|
||||
* reloaded from the airframe configuration.
|
||||
*
|
||||
* @min 0
|
||||
* @group System
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_PARAM_VER, 1);
|
||||
|
||||
/**
|
||||
* Enable auto start of rate gyro thermal calibration at the next power up.
|
||||
*
|
||||
* 0 : Set to 0 to do nothing
|
||||
* 1 : Set to 1 to start a calibration at next boot
|
||||
* This parameter is reset to zero when the temperature calibration starts.
|
||||
*
|
||||
* default (0, no calibration)
|
||||
*
|
||||
* @group System
|
||||
* @min 0
|
||||
* @max 1
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_CAL_GYRO, 0);
|
||||
|
||||
/**
|
||||
* Enable auto start of accelerometer thermal calibration at the next power up.
|
||||
*
|
||||
* 0 : Set to 0 to do nothing
|
||||
* 1 : Set to 1 to start a calibration at next boot
|
||||
* This parameter is reset to zero when the temperature calibration starts.
|
||||
*
|
||||
* default (0, no calibration)
|
||||
*
|
||||
* @group System
|
||||
* @min 0
|
||||
* @max 1
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_CAL_ACCEL, 0);
|
||||
|
||||
/**
|
||||
* Enable auto start of barometer thermal calibration at the next power up.
|
||||
*
|
||||
* 0 : Set to 0 to do nothing
|
||||
* 1 : Set to 1 to start a calibration at next boot
|
||||
* This parameter is reset to zero when the temperature calibration starts.
|
||||
*
|
||||
* default (0, no calibration)
|
||||
*
|
||||
* @group System
|
||||
* @min 0
|
||||
* @max 1
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_CAL_BARO, 0);
|
||||
|
||||
/**
|
||||
* Required temperature rise during thermal calibration
|
||||
*
|
||||
* A temperature increase greater than this value is required during calibration.
|
||||
* Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL.
|
||||
* If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.
|
||||
*
|
||||
* @unit celcius
|
||||
* @min 10
|
||||
* @group System
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_CAL_TDEL, 24);
|
||||
|
||||
/**
|
||||
* Minimum starting temperature for thermal calibration
|
||||
*
|
||||
* Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.
|
||||
*
|
||||
* @unit celcius
|
||||
* @group System
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_CAL_TMIN, 5);
|
||||
|
||||
/**
|
||||
* Maximum starting temperature for thermal calibration
|
||||
*
|
||||
* Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.
|
||||
*
|
||||
* @unit celcius
|
||||
* @group System
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_CAL_TMAX, 10);
|
||||
|
||||
/**
|
||||
* Control if the vehicle has a GPS
|
||||
*
|
||||
* Disable this if the system has no GPS.
|
||||
* If disabled, the sensors hub will not process sensor_gps,
|
||||
* and GPS will not be available for the rest of the system.
|
||||
*
|
||||
* @boolean
|
||||
* @reboot_required true
|
||||
*
|
||||
* @group System
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_HAS_GPS, 1);
|
||||
|
||||
/**
|
||||
* Control if and how many magnetometers are expected
|
||||
*
|
||||
* 0: System has no magnetometer, preflight checks should pass without one.
|
||||
* 1-N: Require the presence of N magnetometer sensors for check to pass.
|
||||
*
|
||||
* @reboot_required true
|
||||
* @group System
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_HAS_MAG, 1);
|
||||
|
||||
/**
|
||||
* Control if the vehicle has a barometer
|
||||
*
|
||||
* Disable this if the board has no barometer, such as some of the Omnibus
|
||||
* F4 SD variants.
|
||||
* If disabled, the preflight checks will not check for the presence of a
|
||||
* barometer.
|
||||
*
|
||||
* @boolean
|
||||
* @reboot_required true
|
||||
*
|
||||
* @group System
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_HAS_BARO, 1);
|
||||
|
||||
/**
|
||||
* Control if the vehicle has an airspeed sensor
|
||||
*
|
||||
* Set this to 0 if the board has no airspeed sensor.
|
||||
* If set to 0, the preflight checks will not check for the presence of an
|
||||
* airspeed sensor.
|
||||
*
|
||||
* @group System
|
||||
* @min 0
|
||||
* @max 1
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_HAS_NUM_ASPD, 0);
|
||||
|
||||
/**
|
||||
* Number of distance sensors to check being available
|
||||
*
|
||||
* The preflight check will fail if fewer than this number of distance sensors with valid data is present.
|
||||
*
|
||||
* Disable the check with 0.
|
||||
*
|
||||
* @group System
|
||||
* @min 0
|
||||
* @max 4
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_HAS_NUM_DIST, 0);
|
||||
|
||||
/**
|
||||
* Number of optical flow sensors required to be available
|
||||
*
|
||||
* The preflight check will fail if fewer than this number of optical flow sensors with valid data are present.
|
||||
*
|
||||
* @group System
|
||||
* @min 0
|
||||
* @max 1
|
||||
*/
|
||||
|
||||
PARAM_DEFINE_INT32(SYS_HAS_NUM_OF, 0);
|
||||
|
||||
/**
|
||||
* Enable factory calibration mode
|
||||
*
|
||||
* If enabled, future sensor calibrations will be stored to /fs/mtd_caldata.
|
||||
*
|
||||
* Note: this is only supported on boards with a separate calibration storage
|
||||
* /fs/mtd_caldata.
|
||||
*
|
||||
* @value 0 Disabled
|
||||
* @value 1 All sensors
|
||||
* @value 2 All sensors except mag
|
||||
* @group System
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_FAC_CAL_MODE, 0);
|
||||
|
||||
/**
|
||||
* Bootloader update
|
||||
*
|
||||
* If enabled, update the bootloader on the next boot.
|
||||
*
|
||||
* WARNING: do not cut the power during an update process, otherwise you will
|
||||
* have to recover using some alternative method (e.g. JTAG).
|
||||
*
|
||||
* Instructions:
|
||||
* - Insert an SD card
|
||||
* - Enable this parameter
|
||||
* - Reboot the board (plug the power or send a reboot command)
|
||||
* - Wait until the board comes back up (or at least 2 minutes)
|
||||
* - If it does not come back, check the file bootlog.txt on the SD card
|
||||
*
|
||||
* @boolean
|
||||
* @reboot_required true
|
||||
*
|
||||
* @group System
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_BL_UPDATE, 0);
|
||||
|
||||
/**
|
||||
* Enable failure injection
|
||||
*
|
||||
* If enabled allows MAVLink INJECT_FAILURE commands.
|
||||
*
|
||||
* WARNING: the failures can easily cause crashes and are to be used with caution!
|
||||
*
|
||||
* @boolean
|
||||
*
|
||||
* @group System
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_FAILURE_EN, 0);
|
||||
230
src/lib/systemlib/system_params.yaml
Normal file
230
src/lib/systemlib/system_params.yaml
Normal file
@ -0,0 +1,230 @@
|
||||
module_name: systemlib
|
||||
parameters:
|
||||
- group: System
|
||||
definitions:
|
||||
SYS_AUTOSTART:
|
||||
description:
|
||||
short: Auto-start script index
|
||||
long: CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script
|
||||
used to bootstrap the system.
|
||||
type: int32
|
||||
default: 0
|
||||
reboot_required: true
|
||||
min: 0
|
||||
max: 9999999
|
||||
SYS_AUTOCONFIG:
|
||||
description:
|
||||
short: Automatically configure default values
|
||||
long: |-
|
||||
Set to 1 to reset parameters on next system startup (setting defaults).
|
||||
Platform-specific values are used if available.
|
||||
RC* parameters are preserved.
|
||||
type: enum
|
||||
values:
|
||||
0: Keep parameters
|
||||
1: Reset parameters to airframe defaults
|
||||
default: 0
|
||||
SYS_HITL:
|
||||
description:
|
||||
short: Enable HITL/SIH mode on next boot
|
||||
long: |-
|
||||
While enabled the system will boot in Hardware-In-The-Loop (HITL)
|
||||
or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks.
|
||||
When disabled the same vehicle can be flown normally.
|
||||
|
||||
Set to 'external HITL', if the system should perform as if it were a real
|
||||
vehicle (the only difference to a real system is then only the parameter
|
||||
value, which can be used for log analysis).
|
||||
type: enum
|
||||
values:
|
||||
-1: external HITL
|
||||
0: HITL and SIH disabled
|
||||
1: HITL enabled
|
||||
2: SIH enabled
|
||||
default: 0
|
||||
reboot_required: true
|
||||
SYS_PARAM_VER:
|
||||
description:
|
||||
short: Parameter version
|
||||
long: |-
|
||||
This is used internally only: an airframe configuration might set an expected
|
||||
parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup
|
||||
against SYS_PARAM_VER, and if they do not match, parameters are reset and
|
||||
reloaded from the airframe configuration.
|
||||
type: int32
|
||||
default: 1
|
||||
min: 0
|
||||
SYS_CAL_GYRO:
|
||||
description:
|
||||
short: Auto start gyro thermal calibration on next boot
|
||||
long: |-
|
||||
Enable auto start of rate gyro thermal calibration at the next power up
|
||||
|
||||
0 : Set to 0 to do nothing
|
||||
1 : Set to 1 to start a calibration at next boot
|
||||
This parameter is reset to zero when the temperature calibration starts.
|
||||
|
||||
default (0, no calibration)
|
||||
type: int32
|
||||
default: 0
|
||||
min: 0
|
||||
max: 1
|
||||
SYS_CAL_ACCEL:
|
||||
description:
|
||||
short: Auto start accel thermal calibration on next boot
|
||||
long: |-
|
||||
Enable auto start of accelerometer thermal calibration at the next power up
|
||||
|
||||
0 : Set to 0 to do nothing
|
||||
1 : Set to 1 to start a calibration at next boot
|
||||
This parameter is reset to zero when the temperature calibration starts.
|
||||
|
||||
default (0, no calibration)
|
||||
type: int32
|
||||
default: 0
|
||||
min: 0
|
||||
max: 1
|
||||
SYS_CAL_BARO:
|
||||
description:
|
||||
short: Auto start baro thermal calibration on next boot
|
||||
long: |-
|
||||
Enable auto start of barometer thermal calibration at the next power up
|
||||
|
||||
0 : Set to 0 to do nothing
|
||||
1 : Set to 1 to start a calibration at next boot
|
||||
This parameter is reset to zero when the temperature calibration starts.
|
||||
|
||||
default (0, no calibration)
|
||||
type: int32
|
||||
default: 0
|
||||
min: 0
|
||||
max: 1
|
||||
SYS_CAL_TDEL:
|
||||
description:
|
||||
short: Required temperature rise during thermal calibration
|
||||
long: |-
|
||||
A temperature increase greater than this value is required during calibration.
|
||||
Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL.
|
||||
If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.
|
||||
type: int32
|
||||
default: 24
|
||||
unit: celcius
|
||||
min: 10
|
||||
SYS_CAL_TMIN:
|
||||
description:
|
||||
short: Minimum starting temperature for thermal calibration
|
||||
long: Temperature calibration for each sensor will ignore data if the temperature
|
||||
is lower than the value set by SYS_CAL_TMIN.
|
||||
type: int32
|
||||
default: 5
|
||||
unit: celcius
|
||||
SYS_CAL_TMAX:
|
||||
description:
|
||||
short: Maximum starting temperature for thermal calibration
|
||||
long: Temperature calibration will not start if the temperature of any sensor
|
||||
is higher than the value set by SYS_CAL_TMAX.
|
||||
type: int32
|
||||
default: 10
|
||||
unit: celcius
|
||||
SYS_HAS_GPS:
|
||||
description:
|
||||
short: Control if the vehicle has a GPS
|
||||
long: |-
|
||||
Disable this if the system has no GPS.
|
||||
If disabled, the sensors hub will not process sensor_gps,
|
||||
and GPS will not be available for the rest of the system.
|
||||
type: boolean
|
||||
default: 1
|
||||
reboot_required: true
|
||||
SYS_HAS_MAG:
|
||||
description:
|
||||
short: Control if and how many magnetometers are expected
|
||||
long: |-
|
||||
0: System has no magnetometer, preflight checks should pass without one.
|
||||
1-N: Require the presence of N magnetometer sensors for check to pass.
|
||||
type: int32
|
||||
default: 1
|
||||
reboot_required: true
|
||||
SYS_HAS_BARO:
|
||||
description:
|
||||
short: Control if the vehicle has a barometer
|
||||
long: |-
|
||||
Disable this if the board has no barometer, such as some of the Omnibus
|
||||
F4 SD variants.
|
||||
If disabled, the preflight checks will not check for the presence of a
|
||||
barometer.
|
||||
type: boolean
|
||||
default: 1
|
||||
reboot_required: true
|
||||
SYS_HAS_NUM_ASPD:
|
||||
description:
|
||||
short: Control if the vehicle has an airspeed sensor
|
||||
long: |-
|
||||
Set this to 0 if the board has no airspeed sensor.
|
||||
If set to 0, the preflight checks will not check for the presence of an
|
||||
airspeed sensor.
|
||||
type: int32
|
||||
default: 0
|
||||
min: 0
|
||||
max: 1
|
||||
SYS_HAS_NUM_DIST:
|
||||
description:
|
||||
short: Number of distance sensors to check being available
|
||||
long: |-
|
||||
The preflight check will fail if fewer than this number of distance sensors with valid data is present.
|
||||
|
||||
Disable the check with 0.
|
||||
type: int32
|
||||
default: 0
|
||||
min: 0
|
||||
max: 4
|
||||
SYS_HAS_NUM_OF:
|
||||
description:
|
||||
short: Number of optical flow sensors required to be available
|
||||
long: The preflight check will fail if fewer than this number of optical flow
|
||||
sensors with valid data are present.
|
||||
type: int32
|
||||
default: 0
|
||||
min: 0
|
||||
max: 1
|
||||
SYS_FAC_CAL_MODE:
|
||||
description:
|
||||
short: Enable factory calibration mode
|
||||
long: |-
|
||||
If enabled, future sensor calibrations will be stored to /fs/mtd_caldata.
|
||||
|
||||
Note: this is only supported on boards with a separate calibration storage
|
||||
/fs/mtd_caldata.
|
||||
type: enum
|
||||
values:
|
||||
0: Disabled
|
||||
1: All sensors
|
||||
2: All sensors except mag
|
||||
default: 0
|
||||
SYS_BL_UPDATE:
|
||||
description:
|
||||
short: Bootloader update
|
||||
long: |-
|
||||
If enabled, update the bootloader on the next boot.
|
||||
|
||||
WARNING: do not cut the power during an update process, otherwise you will
|
||||
have to recover using some alternative method (e.g. JTAG).
|
||||
|
||||
Instructions:
|
||||
- Insert an SD card
|
||||
- Enable this parameter
|
||||
- Reboot the board (plug the power or send a reboot command)
|
||||
- Wait until the board comes back up (or at least 2 minutes)
|
||||
- If it does not come back, check the file bootlog.txt on the SD card
|
||||
type: boolean
|
||||
default: 0
|
||||
reboot_required: true
|
||||
SYS_FAILURE_EN:
|
||||
description:
|
||||
short: Enable failure injection
|
||||
long: |-
|
||||
If enabled allows MAVLink INJECT_FAILURE commands.
|
||||
|
||||
WARNING: the failures can easily cause crashes and are to be used with caution!
|
||||
type: boolean
|
||||
default: 0
|
||||
Loading…
x
Reference in New Issue
Block a user