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PX4-Autopilot/src/drivers/uavcan/uavcan_params.c
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/****************************************************************************
*
* Copyright (c) 2014-2021 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.
*
****************************************************************************/
/**
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
*/
/**
* UAVCAN mode
*
* 0 - UAVCAN disabled.
* 1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update.
* 2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update.
* 3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.
*
* @min 0
* @max 3
* @value 0 Disabled
* @value 1 Sensors Manual Config
* @value 2 Sensors Automatic Config
* @value 3 Sensors and Actuators (ESCs) Automatic Config
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_ENABLE, 0);
/**
* UAVCAN Node ID.
*
* Read the specs at https://dronecan.github.io/ to learn more about Node ID.
*
* @min 1
* @max 125
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_NODE_ID, 1);
/**
* UAVCAN CAN bus bitrate.
*
* @unit bit/s
* @min 20000
* @max 1000000
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000);
/**
* UAVCAN rangefinder minimum range
*
* This parameter defines the minimum valid range for a rangefinder connected via UAVCAN.
*
* @unit m
* @group UAVCAN
*/
PARAM_DEFINE_FLOAT(UAVCAN_RNG_MIN, 0.0f);
/**
* UAVCAN rangefinder maximum range
*
* This parameter defines the maximum valid range for a rangefinder connected via UAVCAN.
*
* @unit m
* @group UAVCAN
*/
PARAM_DEFINE_FLOAT(UAVCAN_RNG_MAX, 999.0f);
/**
* UAVCAN fuel tank maximum capacity
*
* This parameter defines the maximum fuel capacity of the vehicle's fuel tank.
*
* @min 0.0
* @max 100000.0
* @unit liters
* @decimal 1
* @increment 0.1
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_FLOAT(UAVCAN_ECU_MAXF, 15.0f);
/**
* UAVCAN fuel tank fuel type
*
* This parameter defines the type of fuel used in the vehicle's fuel tank.
*
* 0: Unknown
* 1: Liquid (e.g., gasoline, diesel)
* 2: Gas (e.g., hydrogen, methane, propane)
*
* @min 0
* @max 2
* @value 0 Unknown
* @value 1 Liquid
* @value 2 Gas
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_ECU_FUELT, 1);
/**
* UAVCAN ANTI_COLLISION light operating mode
*
* This parameter defines the minimum condition under which the system will command
* the ANTI_COLLISION lights on
*
* 0 - Always off
* 1 - When autopilot is armed
* 2 - When autopilot is prearmed
* 3 - Always on
*
* @min 0
* @max 3
* @value 0 Always off
* @value 1 When autopilot is armed
* @value 2 When autopilot is prearmed
* @value 3 Always on
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_LGT_ANTCL, 2);
/**
* UAVCAN STROBE light operating mode
*
* This parameter defines the minimum condition under which the system will command
* the STROBE lights on
*
* 0 - Always off
* 1 - When autopilot is armed
* 2 - When autopilot is prearmed
* 3 - Always on
*
* @min 0
* @max 3
* @value 0 Always off
* @value 1 When autopilot is armed
* @value 2 When autopilot is prearmed
* @value 3 Always on
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_LGT_STROB, 1);
/**
* UAVCAN RIGHT_OF_WAY light operating mode
*
* This parameter defines the minimum condition under which the system will command
* the RIGHT_OF_WAY lights on
*
* 0 - Always off
* 1 - When autopilot is armed
* 2 - When autopilot is prearmed
* 3 - Always on
*
* @min 0
* @max 3
* @value 0 Always off
* @value 1 When autopilot is armed
* @value 2 When autopilot is prearmed
* @value 3 Always on
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_LGT_NAV, 3);
/**
* UAVCAN LIGHT_ID_LANDING light operating mode
*
* This parameter defines the minimum condition under which the system will command
* the LIGHT_ID_LANDING lights on
*
* 0 - Always off
* 1 - When autopilot is armed
* 2 - When autopilot is prearmed
* 3 - Always on
*
* @min 0
* @max 3
* @value 0 Always off
* @value 1 When autopilot is armed
* @value 2 When autopilot is prearmed
* @value 3 Always on
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_LGT_LAND, 0);
/**
* publish Arming Status stream
*
* Enable UAVCAN Arming Status stream publication
* uavcan::equipment::safety::ArmingStatus
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_PUB_ARM, 0);
/**
* publish RTCM stream
*
* Enable UAVCAN RTCM stream publication
* uavcan::equipment::gnss::RTCMStream
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_PUB_RTCM, 0);
/**
* publish moving baseline data RTCM stream
*
* Enable UAVCAN RTCM stream publication
* ardupilot::gnss::MovingBaselineData
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_PUB_MBD, 0);
/**
* subscription airspeed
*
* Enable UAVCAN airspeed subscriptions.
* uavcan::equipment::air_data::IndicatedAirspeed
* uavcan::equipment::air_data::TrueAirspeed
* uavcan::equipment::air_data::StaticTemperature
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_SUB_ASPD, 0);
/**
* subscription barometer
*
* Enable UAVCAN barometer subscription.
* uavcan::equipment::air_data::StaticPressure
* uavcan::equipment::air_data::StaticTemperature
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_SUB_BARO, 0);
/**
* subscription battery
*
* 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)
*
* @min 0
* @max 2
* @value 0 Disable
* @value 1 Raw data
* @value 2 Filter data
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_SUB_BAT, 0);
/**
* subscription differential pressure
*
* Enable UAVCAN differential pressure subscription.
* uavcan::equipment::air_data::RawAirData
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_SUB_DPRES, 0);
/**
* subscription flow
*
* Enable UAVCAN optical flow subscription.
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_SUB_FLOW, 0);
/**
* subscription fuel tank
*
* Enable UAVCAN fuel tank status subscription.
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_SUB_FUEL, 0);
/**
* subscription GPS
*
* Enable UAVCAN GPS subscriptions.
* uavcan::equipment::gnss::Fix
* uavcan::equipment::gnss::Fix2
* uavcan::equipment::gnss::Auxiliary
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_SUB_GPS, 1);
/**
* subscription GPS Relative
*
* Enable UAVCAN GPS Relative subscription.
* ardupilot::gnss::RelPosHeading
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_SUB_GPS_R, 1);
/**
* subscription hygrometer
*
* Enable UAVCAN hygrometer subscriptions.
* dronecan::sensors::hygrometer::Hygrometer
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_SUB_HYGRO, 0);
/**
* subscription ICE
*
* Enable UAVCAN internal combustion engine (ICE) subscription.
* uavcan::equipment::ice::reciprocating::Status
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_SUB_ICE, 0);
/**
* subscription IMU
*
* Enable UAVCAN IMU subscription.
* uavcan::equipment::ahrs::RawIMU
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_SUB_IMU, 0);
/**
* subscription magnetometer
*
* Enable UAVCAN mag subscription.
* uavcan::equipment::ahrs::MagneticFieldStrength
* uavcan::equipment::ahrs::MagneticFieldStrength2
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_SUB_MAG, 1);
/**
* subscription range finder
*
* Enable UAVCAN range finder subscription.
* uavcan::equipment::range_sensor::Measurement
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_SUB_RNG, 0);
/**
* subscription button
*
* Enable UAVCAN button subscription.
* ardupilot::indication::Button
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_SUB_BTN, 0);
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