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PX4-Autopilot/src/modules/commander/commander_params.c

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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
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @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>
*/
#include <px4_config.h>
#include <systemlib/param/param.h>
/**
* 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);
/**
* 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 3
* @decimal 1
* @increment 0.5
*/
PARAM_DEFINE_INT32(COM_DL_REG_T, 0);
/**
* Engine Failure Throttle Threshold
*
* Engine failure triggers only above this throttle value
*
* @group Commander
* @min 0.0
* @max 1.0
* @decimal 1
* @increment 0.05
*/
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);
/**
* 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);
/**
* Autosaving of params
*
* If not equal to zero the commander will automatically save parameters to persistent storage once changed.
* Default is on, as the interoperability with currently deployed GCS solutions depends on parameters
* being sticky. Developers can default it to off.
*
* @group Commander
* @boolean
*/
PARAM_DEFINE_INT32(COM_AUTOS_PAR, 1);
/**
* 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);
/**
* 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.
* A value of zero means that automatic disarming is disabled.
*
* @group Commander
* @min 0
* @max 20
* @unit s
* @decimal 0
* @increment 1
*/
PARAM_DEFINE_INT32(COM_DISARM_LAND, 0);
/**
* Battery failsafe mode
*
* Action the system takes on low battery. Defaults to off
*
* @group Commander
* @value 0 Warning
* @value 1 Return to Land
* @value 2 Land at current position
* @decimal 0
* @increment 1
*/
PARAM_DEFINE_INT32(COM_LOW_BAT_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
*/
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
*/
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
*/
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
*/
PARAM_DEFINE_INT32(COM_FLTMODE4, -1);
/**
* Fift 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
*/
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
*/
PARAM_DEFINE_INT32(COM_FLTMODE6, -1);
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