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277 lines
6.7 KiB
C
277 lines
6.7 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013-2015 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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* @file commander_params.c
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*
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* Parameters defined by the sensors task.
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*
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* @author Lorenz Meier <lorenz@px4.io>
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* @author Thomas Gubler <thomas@px4.io>
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* @author Julian Oes <julian@px4.io>
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*/
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#include <px4_config.h>
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#include <systemlib/param/param.h>
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/**
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* Roll trim
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*
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* The trim value is the actuator control value the system needs
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* for straight and level flight. It can be calibrated by
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* flying manually straight and level using the RC trims and
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* copying them using the GCS.
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*
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* @group Radio Calibration
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* @min -0.25
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* @max 0.25
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*/
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PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
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/**
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* Pitch trim
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*
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* The trim value is the actuator control value the system needs
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* for straight and level flight. It can be calibrated by
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* flying manually straight and level using the RC trims and
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* copying them using the GCS.
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*
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* @group Radio Calibration
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* @min -0.25
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* @max 0.25
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*/
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PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
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/**
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* Yaw trim
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*
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* The trim value is the actuator control value the system needs
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* for straight and level flight. It can be calibrated by
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* flying manually straight and level using the RC trims and
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* copying them using the GCS.
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*
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* @group Radio Calibration
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* @min -0.25
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* @max 0.25
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*/
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PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
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/**
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* Empty cell voltage.
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*
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* Defines the voltage where a single cell of the battery is considered empty.
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*
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* @group Battery Calibration
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* @unit V
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*/
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PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f);
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/**
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* Full cell voltage.
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*
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* Defines the voltage where a single cell of the battery is considered full.
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*
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* @group Battery Calibration
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* @unit V
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*/
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PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.2f);
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/**
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* Voltage drop per cell on 100% load
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*
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* This implicitely defines the internal resistance
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* to maximum current ratio and assumes linearity.
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*
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* @group Battery Calibration
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* @unit V
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* @min 0.0
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*/
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PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
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/**
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* Number of cells.
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*
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* Defines the number of cells the attached battery consists of.
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*
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* @group Battery Calibration
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* @unit S
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* @min 1
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* @max 10
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*/
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PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
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/**
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* Battery capacity.
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*
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* Defines the capacity of the attached battery.
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*
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* @group Battery Calibration
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* @unit mA
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*/
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PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
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/**
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* Datalink loss mode enabled.
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*
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* Set to 1 to enable actions triggered when the datalink is lost.
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*
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* @group Commander
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* @min 0
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* @max 1
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*/
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PARAM_DEFINE_INT32(COM_DL_LOSS_EN, 0);
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/**
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* Datalink loss time threshold
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*
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* After this amount of seconds without datalink the data link lost mode triggers
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*
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* @group Commander
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* @unit second
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* @min 0
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* @max 30
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*/
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PARAM_DEFINE_INT32(COM_DL_LOSS_T, 10);
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/**
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* Datalink regain time threshold
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*
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* After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss'
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* flag is set back to false
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*
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* @group Commander
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* @unit second
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* @min 0
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* @max 30
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*/
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PARAM_DEFINE_INT32(COM_DL_REG_T, 0);
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/**
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* Engine Failure Throttle Threshold
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*
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* Engine failure triggers only above this throttle value
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*
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* @group Commander
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* @min 0.0
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* @max 1.0
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*/
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PARAM_DEFINE_FLOAT(COM_EF_THROT, 0.5f);
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/**
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* Engine Failure Current/Throttle Threshold
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*
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* Engine failure triggers only below this current value
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*
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* @group Commander
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* @min 0.0
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* @max 30.0
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* @unit ampere
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*/
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PARAM_DEFINE_FLOAT(COM_EF_C2T, 5.0f);
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/**
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* Engine Failure Time Threshold
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*
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* Engine failure triggers only if the throttle threshold and the
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* current to throttle threshold are violated for this time
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*
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* @group Commander
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* @unit second
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* @min 0.0
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* @max 60.0
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*/
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PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
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/**
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* RC loss time threshold
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*
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* After this amount of seconds without RC connection the rc lost flag is set to true
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*
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* @group Commander
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* @unit second
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* @min 0
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* @max 35
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*/
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PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5f);
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/**
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* Home set horizontal threshold
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*
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* The home position will be set if the estimated positioning accuracy is below the threshold.
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*
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* @group Commander
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* @unit meter
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* @min 2
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* @max 15
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*/
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PARAM_DEFINE_FLOAT(COM_HOME_H_T, 5.0f);
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/**
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* Home set vertical threshold
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*
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* The home position will be set if the estimated positioning accuracy is below the threshold.
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*
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* @group Commander
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* @unit meter
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* @min 5
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* @max 25
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*/
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PARAM_DEFINE_FLOAT(COM_HOME_V_T, 10.0f);
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/**
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* Autosaving of params
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*
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* If not equal to zero the commander will automatically save parameters to persistent storage once changed.
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* Default is on, as the interoperability with currently deployed GCS solutions depends on parameters
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* being sticky. Developers can default it to off.
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*
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* @group Commander
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* @min 0
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* @max 1
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*/
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PARAM_DEFINE_INT32(COM_AUTOS_PAR, 1);
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/**
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* RC control input mode
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*
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* The default value of 0 requires a valid RC transmitter setup.
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* Setting this to 1 disables RC input handling and the associated checks. A value of
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* 2 will generate RC control data from manual input received via MAVLink instead
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* of directly forwarding the manual input data.
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*
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* @group Commander
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* @min 0
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* @max 2
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*/
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PARAM_DEFINE_INT32(COM_RC_IN_MODE, 0);
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