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PX4-Autopilot/src/modules/commander/commander_params.c
Claudio Micheli 3b5ef82193 Commander: Added COM_ONB_BOOT_T parameter. 
Since onboard controllers bootup times are hardware dependent, it makes sense to have the possibility to adapt timeout time according to the specific HW.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
2019-03-27 09:56:32 +01:00

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/****************************************************************************
*
* Copyright (c) 2013-2015 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
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*
****************************************************************************/
/**
* @file commander_params.c
*
* Parameters defined by the sensors task.
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Thomas Gubler <thomas@px4.io>
* @author Julian Oes <julian@px4.io>
*/
/**
* Roll trim
*
* The trim value is the actuator control value the system needs
* for straight and level flight. It can be calibrated by
* flying manually straight and level using the RC trims and
* copying them using the GCS.
*
* @group Radio Calibration
* @min -0.25
* @max 0.25
* @decimal 2
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
/**
* Pitch trim
*
* The trim value is the actuator control value the system needs
* for straight and level flight. It can be calibrated by
* flying manually straight and level using the RC trims and
* copying them using the GCS.
*
* @group Radio Calibration
* @min -0.25
* @max 0.25
* @decimal 2
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
/**
* Yaw trim
*
* The trim value is the actuator control value the system needs
* for straight and level flight. It can be calibrated by
* flying manually straight and level using the RC trims and
* copying them using the GCS.
*
* @group Radio Calibration
* @min -0.25
* @max 0.25
* @decimal 2
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
/**
* Datalink loss time threshold
*
* After this amount of seconds without datalink the data link lost mode triggers
*
* @group Commander
* @unit s
* @min 5
* @max 300
* @decimal 1
* @increment 0.5
*/
PARAM_DEFINE_INT32(COM_DL_LOSS_T, 10);
/**
* High Latency Datalink loss time threshold
*
* After this amount of seconds without datalink the data link lost mode triggers
*
* @group Commander
* @unit s
* @min 60
* @max 3600
*/
PARAM_DEFINE_INT32(COM_HLDL_LOSS_T, 120);
/**
* High Latency Datalink regain time threshold
*
* After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss'
* flag is set back to false
*
* @group Commander
* @unit s
* @min 0
* @max 60
*/
PARAM_DEFINE_INT32(COM_HLDL_REG_T, 0);
/**
* Engine Failure Throttle Threshold
*
* Engine failure triggers only above this throttle value
*
* @group Commander
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(COM_EF_THROT, 0.5f);
/**
* Engine Failure Current/Throttle Threshold
*
* Engine failure triggers only below this current value
*
* @group Commander
* @min 0.0
* @max 50.0
* @unit A/%
* @decimal 2
* @increment 1
*/
PARAM_DEFINE_FLOAT(COM_EF_C2T, 5.0f);
/**
* Engine Failure Time Threshold
*
* Engine failure triggers only if the throttle threshold and the
* current to throttle threshold are violated for this time
*
* @group Commander
* @unit s
* @min 0.0
* @max 60.0
* @decimal 1
* @increment 1
*/
PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
/**
* RC loss time threshold
*
* After this amount of seconds without RC connection the rc lost flag is set to true
*
* @group Commander
* @unit s
* @min 0
* @max 35
* @decimal 1
* @increment 0.1
*/
PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5f);
/**
* RC stick override threshold
*
* If an RC stick is moved more than by this amount the system will interpret this as
* override request by the pilot.
*
* @group Commander
* @unit %
* @min 5
* @max 40
* @decimal 0
* @increment 0.05
*/
PARAM_DEFINE_FLOAT(COM_RC_STICK_OV, 12.0f);
/**
* Home set horizontal threshold
*
* The home position will be set if the estimated positioning accuracy is below the threshold.
*
* @group Commander
* @unit m
* @min 2
* @max 15
* @decimal 2
* @increment 0.5
*/
PARAM_DEFINE_FLOAT(COM_HOME_H_T, 5.0f);
/**
* Home set vertical threshold
*
* The home position will be set if the estimated positioning accuracy is below the threshold.
*
* @group Commander
* @unit m
* @min 5
* @max 25
* @decimal 2
* @increment 0.5
*/
PARAM_DEFINE_FLOAT(COM_HOME_V_T, 10.0f);
/**
* RC control input mode
*
* The default value of 0 requires a valid RC transmitter setup.
* Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of
* 2 will generate RC control data from manual input received via MAVLink instead
* of directly forwarding the manual input data.
*
* @group Commander
* @min 0
* @max 2
* @value 0 RC Transmitter
* @value 1 Joystick/No RC Checks
* @value 2 Virtual RC by Joystick
*/
PARAM_DEFINE_INT32(COM_RC_IN_MODE, 0);
/**
* RC input arm/disarm command duration
*
* The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.
*
* @group Commander
* @min 100
* @max 1500
*/
PARAM_DEFINE_INT32(COM_RC_ARM_HYST, 1000);
/**
* Time-out for auto disarm after landing
*
* A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be
* automatically disarmed in case a landing situation has been detected during this period.
*
* The vehicle will also auto-disarm right after arming if it has not even flown, however the time
* will always be 10 seconds such that the pilot has enough time to take off.
*
* A negative value means that automatic disarming triggered by landing detection is disabled.
*
* @group Commander
* @min -1
* @max 20
* @unit s
* @decimal 2
*/
PARAM_DEFINE_FLOAT(COM_DISARM_LAND, -1.0f);
/**
* Allow arming without GPS
*
* The default allows to arm the vehicle without GPS signal.
*
* @group Commander
* @boolean
*/
PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1);
/**
* Arm switch is only a button
*
* The default uses the arm switch as real switch.
* If parameter set button gets handled like stick arming.
*
* @group Commander
* @min 0
* @max 1
* @value 0 Arm switch is a switch that stays on when armed
* @value 1 Arm switch is a button that only triggers arming and disarming
*/
PARAM_DEFINE_INT32(COM_ARM_SWISBTN, 0);
/**
* Battery failsafe mode
*
* Action the system takes on low battery. Defaults to off
*
* @group Commander
* @value 0 Warning
* @value 1 Return mode
* @value 2 Land mode
* @value 3 Return mode at critically low level, Land mode at current position if reaching dangerously low levels
* @decimal 0
* @increment 1
* @increment 1
*/
PARAM_DEFINE_INT32(COM_LOW_BAT_ACT, 0);
/**
* Time-out to wait when offboard connection is lost before triggering offboard lost action.
* See COM_OBL_ACT and COM_OBL_RC_ACT to configure action.
*
* @group Commander
* @unit s
* @min 0
* @max 60
* @increment 1
*/
PARAM_DEFINE_FLOAT(COM_OF_LOSS_T, 0.0f);
/**
* Set offboard loss failsafe mode
*
* The offboard loss failsafe will only be entered after a timeout,
* set by COM_OF_LOSS_T in seconds.
*
* @value 0 Land mode
* @value 1 Hold mode
* @value 2 Return mode
*
* @group Mission
*/
PARAM_DEFINE_INT32(COM_OBL_ACT, 0);
/**
* Set offboard loss failsafe mode when RC is available
*
* The offboard loss failsafe will only be entered after a timeout,
* set by COM_OF_LOSS_T in seconds.
*
* @value 0 Position mode
* @value 1 Altitude mode
* @value 2 Manual
* @value 3 Return mode
* @value 4 Land mode
* @value 5 Hold mode
* @group Mission
*/
PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
/**
* First flightmode slot (1000-1160)
*
* If the main switch channel is in this range the
* selected flight mode will be applied.
*
* @value -1 Unassigned
* @value 0 Manual
* @value 1 Altitude
* @value 2 Position
* @value 3 Mission
* @value 4 Hold
* @value 10 Takeoff
* @value 11 Land
* @value 5 Return
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 9 Rattitude
* @value 12 Follow Me
* @group Commander
*/
PARAM_DEFINE_INT32(COM_FLTMODE1, -1);
/**
* Second flightmode slot (1160-1320)
*
* If the main switch channel is in this range the
* selected flight mode will be applied.
*
* @value -1 Unassigned
* @value 0 Manual
* @value 1 Altitude
* @value 2 Position
* @value 3 Mission
* @value 4 Hold
* @value 10 Takeoff
* @value 11 Land
* @value 5 Return
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 9 Rattitude
* @value 12 Follow Me
* @group Commander
*/
PARAM_DEFINE_INT32(COM_FLTMODE2, -1);
/**
* Third flightmode slot (1320-1480)
*
* If the main switch channel is in this range the
* selected flight mode will be applied.
*
* @value -1 Unassigned
* @value 0 Manual
* @value 1 Altitude
* @value 2 Position
* @value 3 Mission
* @value 4 Hold
* @value 10 Takeoff
* @value 11 Land
* @value 5 Return
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 9 Rattitude
* @value 12 Follow Me
* @group Commander
*/
PARAM_DEFINE_INT32(COM_FLTMODE3, -1);
/**
* Fourth flightmode slot (1480-1640)
*
* If the main switch channel is in this range the
* selected flight mode will be applied.
*
* @value -1 Unassigned
* @value 0 Manual
* @value 1 Altitude
* @value 2 Position
* @value 3 Mission
* @value 4 Hold
* @value 10 Takeoff
* @value 11 Land
* @value 5 Return
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 9 Rattitude
* @value 12 Follow Me
* @group Commander
*/
PARAM_DEFINE_INT32(COM_FLTMODE4, -1);
/**
* Fifth flightmode slot (1640-1800)
*
* If the main switch channel is in this range the
* selected flight mode will be applied.
*
* @value -1 Unassigned
* @value 0 Manual
* @value 1 Altitude
* @value 2 Position
* @value 3 Mission
* @value 4 Hold
* @value 10 Takeoff
* @value 11 Land
* @value 5 Return
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 9 Rattitude
* @value 12 Follow Me
* @group Commander
*/
PARAM_DEFINE_INT32(COM_FLTMODE5, -1);
/**
* Sixth flightmode slot (1800-2000)
*
* If the main switch channel is in this range the
* selected flight mode will be applied.
*
* @value -1 Unassigned
* @value 0 Manual
* @value 1 Altitude
* @value 2 Position
* @value 3 Mission
* @value 4 Hold
* @value 10 Takeoff
* @value 11 Land
* @value 5 Return
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 9 Rattitude
* @value 12 Follow Me
* @group Commander
*/
PARAM_DEFINE_INT32(COM_FLTMODE6, -1);
/**
* Maximum EKF position innovation test ratio that will allow arming
*
* @group Commander
* @unit m
* @min 0.1
* @max 1.0
* @decimal 2
* @increment 0.05
*/
PARAM_DEFINE_FLOAT(COM_ARM_EKF_POS, 0.5f);
/**
* Maximum EKF velocity innovation test ratio that will allow arming
*
* @group Commander
* @unit m/s
* @min 0.1
* @max 1.0
* @decimal 2
* @increment 0.05
*/
PARAM_DEFINE_FLOAT(COM_ARM_EKF_VEL, 0.5f);
/**
* Maximum EKF height innovation test ratio that will allow arming
*
* @group Commander
* @unit m
* @min 0.1
* @max 1.0
* @decimal 2
* @increment 0.05
*/
PARAM_DEFINE_FLOAT(COM_ARM_EKF_HGT, 1.0f);
/**
* Maximum EKF yaw innovation test ratio that will allow arming
*
* @group Commander
* @unit rad
* @min 0.1
* @max 1.0
* @decimal 2
* @increment 0.05
*/
PARAM_DEFINE_FLOAT(COM_ARM_EKF_YAW, 0.5f);
/**
* Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming.
* Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than EKF2_ABL_LIM * FILTER_UPDATE_PERIOD_MS * 0.001 so this parameter must be less than that to be useful.
*
* @group Commander
* @unit m/s
* @min 0.001
* @max 0.01
* @decimal 4
* @increment 0.0001
*/
PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 1.73e-3f);
/**
* Maximum value of EKF gyro delta angle bias estimate that will allow arming
*
* @group Commander
* @unit rad
* @min 0.0001
* @max 0.0017
* @decimal 5
* @increment 0.0001
*/
PARAM_DEFINE_FLOAT(COM_ARM_EKF_GB, 8.7e-4f);
/**
* Maximum accelerometer inconsistency between IMU units that will allow arming
*
* @group Commander
* @unit m/s/s
* @min 0.1
* @max 1.0
* @decimal 2
* @increment 0.05
*/
PARAM_DEFINE_FLOAT(COM_ARM_IMU_ACC, 0.7f);
/**
* Maximum rate gyro inconsistency between IMU units that will allow arming
*
* @group Commander
* @unit rad/s
* @min 0.02
* @max 0.3
* @decimal 3
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(COM_ARM_IMU_GYR, 0.25f);
/**
* Maximum magnetic field inconsistency between units that will allow arming
*
* @group Commander
* @unit Gauss
* @min 0.05
* @max 0.5
* @decimal 2
* @increment 0.05
*/
PARAM_DEFINE_FLOAT(COM_ARM_MAG, 0.15f);
/**
* Enable RC stick override of auto modes
*
* @boolean
* @group Commander
*/
PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 0);
/**
* Require valid mission to arm
*
* The default allows to arm the vehicle without a valid mission.
*
* @group Commander
* @boolean
*/
PARAM_DEFINE_INT32(COM_ARM_MIS_REQ, 0);
/**
* Position control navigation loss response.
*
* This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control.
* Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.
*
* @value 0 Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.
* @value 1 Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.
*
* @group Mission
*/
PARAM_DEFINE_INT32(COM_POSCTL_NAVL, 0);
/**
* Arm authorization parameters, this uint32_t will be split between starting from the LSB:
* - 8bits to authorizer system id
* - 16bits to authentication method parameter, this will be used to store a timeout for the first 2 methods but can be used to another parameter for other new authentication methods.
* - 7bits to authentication method
* - one arm = 0
* - two step arm = 1
* * the MSB bit is not used to avoid problems in the conversion between int and uint
*
* Default value: (10 << 0 | 1000 << 8 | 0 << 24) = 256010
* - authorizer system id = 10
* - authentication method parameter = 10000msec of timeout
* - authentication method = during arm
* @group Commander
*/
PARAM_DEFINE_INT32(COM_ARM_AUTH, 256010);
/**
* Loss of position failsafe activation delay.
*
* This sets number of seconds that the position checks need to be failed before the failsafe will activate.
* The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.
*
* @unit sec
* @reboot_required true
* @group Commander
* @min 1
* @max 100
*/
PARAM_DEFINE_INT32(COM_POS_FS_DELAY, 1);
/**
* Loss of position probation delay at takeoff.
*
* The probation delay is the number of seconds that the EKF innovation checks need to pass for the position to be declared good after it has been declared bad.
* The probation delay will be reset to this parameter value when takeoff is detected.
* After takeoff, if position checks are passing, the probation delay will reduce by one second for every lapsed second of valid position down to a minimum of 1 second.
* If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds.
* The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used.
*
* @unit sec
* @reboot_required true
* @group Commander
* @min 1
* @max 100
*/
PARAM_DEFINE_INT32(COM_POS_FS_PROB, 30);
/**
* Loss of position probation gain factor.
*
* This sets the rate that the loss of position probation time grows when position checks are failing.
* The default value has been optimised for rotary wing applications. For fixed wing applications a value of 0 should be used.
*
* @reboot_required true
* @group Commander
*/
PARAM_DEFINE_INT32(COM_POS_FS_GAIN, 10);
/**
* Horizontal position error threshold.
*
* This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
*
* @unit m
* @group Commander
*/
PARAM_DEFINE_FLOAT(COM_POS_FS_EPH, 5);
/**
* Vertical position error threshold.
*
* This is the vertical position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
*
* @unit m
* @group Commander
*/
PARAM_DEFINE_FLOAT(COM_POS_FS_EPV, 10);
/**
* Horizontal velocity error threshold.
*
* This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
*
* @unit m/s
* @group Commander
*/
PARAM_DEFINE_FLOAT(COM_VEL_FS_EVH, 1);
/**
* Next flight UUID
*
* This number is incremented automatically after every flight on
* disarming in order to remember the next flight UUID.
* The first flight is 0.
*
* @group Commander
* @category system
* @volatile
* @min 0
*/
PARAM_DEFINE_INT32(COM_FLIGHT_UUID, 0);
/**
* Action after TAKEOFF has been accepted.
*
* The mode transition after TAKEOFF has completed successfully.
*
* @value 0 Hold
* @value 1 Mission (if valid)
* @group Mission
*/
PARAM_DEFINE_INT32(COM_TAKEOFF_ACT, 0);
/**
* Set data link loss failsafe mode
*
* The data link loss failsafe will only be entered after a timeout,
* set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected
* action will be executed. Setting this parameter to 4 will enable CASA
* Outback Challenge rules, which are only recommended to participants
* of that competition.
*
* @value 0 Disabled
* @value 1 Hold mode
* @value 2 Return mode
* @value 3 Land mode
* @value 4 Data Link Auto Recovery (CASA Outback Challenge rules)
* @value 5 Terminate
* @value 6 Lockdown
*
* @group Mission
*/
PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
/**
* Set RC loss failsafe mode
*
* The RC loss failsafe will only be entered after a timeout,
* set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled
* by setting the COM_RC_IN_MODE param it will not be triggered.
* Setting this parameter to 4 will enable CASA Outback Challenge rules,
* which are only recommended to participants of that competition.
*
* @value 0 Disabled
* @value 1 Hold mode
* @value 2 Return mode
* @value 3 Land mode
* @value 4 RC Auto Recovery (CASA Outback Challenge rules)
* @value 5 Terminate
* @value 6 Lockdown
*
* @group Mission
*/
PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
/**
* Flag to enable obstacle avoidance
* Temporary Parameter to enable interface testing
*
* @boolean
* @reboot_required true
* @group Mission
*/
PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
/**
* Set onboard controller bootup timeout
*
* This parameter defines the bootup timeout.
* After the timeout a mavlink message to warn the user that the system
* is still booting up is triggered.
*
* @group Commander
* @unit s
* @min 0
* @max 120
*/
PARAM_DEFINE_INT32(COM_ONB_BOOT_T, 15);
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