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88 lines
3.0 KiB
C
88 lines
3.0 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2014-2017 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 http://uavcan.org 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 ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints.
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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_ESC_IDLT, 1);
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