mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-03 20:40:36 +08:00
Daniel Agar
303 lines
7.3 KiB
C
303 lines
7.3 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2017 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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* Primary baro ID
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_INT32(CAL_BARO_PRIME, 0);
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/**
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* Airspeed sensor pitot model
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*
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* @value 0 HB Pitot
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_INT32(CAL_AIR_PMODEL, 0);
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/**
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* Airspeed sensor tube length
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* @min 0.01
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* @max 0.5
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* @unit meter
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(CAL_AIR_TUBELEN, 0.2f);
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/**
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* Differential pressure sensor offset
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*
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* The offset (zero-reading) in Pascal
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
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/**
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* Differential pressure sensor analog scaling
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*
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* Pick the appropriate scaling from the datasheet.
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* this number defines the (linear) conversion from voltage
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* to Pascal (pa). For the MPXV7002DP this is 1000.
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*
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* NOTE: If the sensor always registers zero, try switching
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* the static and dynamic tubes.
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);
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/**
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* QNH for barometer
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*
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* @min 500
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* @max 1500
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* @group Sensors
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* @unit hPa
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*/
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PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f);
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/**
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* Board rotation
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*
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* This parameter defines the rotation of the FMU board relative to the platform.
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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* @value 8 Roll 180°
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* @value 9 Roll 180°, Yaw 45°
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* @value 10 Roll 180°, Yaw 90°
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* @value 11 Roll 180°, Yaw 135°
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* @value 12 Pitch 180°
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* @value 13 Roll 180°, Yaw 225°
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* @value 14 Roll 180°, Yaw 270°
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* @value 15 Roll 180°, Yaw 315°
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* @value 16 Roll 90°
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* @value 17 Roll 90°, Yaw 45°
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* @value 18 Roll 90°, Yaw 90°
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* @value 19 Roll 90°, Yaw 135°
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* @value 20 Roll 270°
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* @value 21 Roll 270°, Yaw 45°
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* @value 22 Roll 270°, Yaw 90°
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* @value 23 Roll 270°, Yaw 135°
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* @value 24 Pitch 90°
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* @value 25 Pitch 270°
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*
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* @reboot_required true
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*
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* @group Sensors
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*/
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PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
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/**
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* PX4Flow board rotation
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*
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* This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame.
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* Zero rotation is defined as X on flow board pointing towards front of vehicle.
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* The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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*
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* @reboot_required true
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*
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* @group Sensors
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*/
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PARAM_DEFINE_INT32(SENS_FLOW_ROT, 6);
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/**
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* Board rotation Y (Pitch) offset
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*
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* This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user
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* to fine tune the board offset in the event of misalignment.
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*
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* @unit deg
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* @group Sensors
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*/
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PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f);
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/**
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* Board rotation X (Roll) offset
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*
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* This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user
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* to fine tune the board offset in the event of misalignment.
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*
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* @unit deg
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* @group Sensors
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*/
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PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);
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/**
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* Board rotation Z (YAW) offset
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*
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* This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user
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* to fine tune the board offset in the event of misalignment.
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*
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* @unit deg
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* @group Sensors
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*/
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PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
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/**
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* Threshold (of RMS) to warn about high vibration levels
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*
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* @group Sensors
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* @min 0.01
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* @max 10
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(ATT_VIBE_THRESH, 0.2f);
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/**
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* Lidar-Lite (LL40LS)
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*
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* @reboot_required true
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* @min 0
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* @max 2
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* @group Sensors
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* @value 0 Disabled
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* @value 1 PWM
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* @value 2 I2C
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*/
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PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0);
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/**
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* Lightware laser rangefinder (serial)
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*
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* @reboot_required true
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* @min 0
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* @max 4
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* @group Sensors
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* @value 0 Disabled
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* @value 1 SF02
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* @value 2 SF10/a
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* @value 3 SF10/b
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* @value 4 SF10/c
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* @value 5 SF11/c
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*/
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PARAM_DEFINE_INT32(SENS_EN_SF0X, 0);
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/**
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* Maxbotix Soanr (mb12xx)
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*
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* @reboot_required true
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*
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* @boolean
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* @group Sensors
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*/
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PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0);
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/**
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* TeraRanger Rangefinder (i2c)
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*
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* @reboot_required true
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* @min 0
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* @max 3
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* @group Sensors
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* @value 0 Disabled
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* @value 1 Autodetect
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* @value 2 TROne
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* @value 3 TREvo
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*/
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PARAM_DEFINE_INT32(SENS_EN_TRANGER, 0);
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/**
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* Lightware SF1xx/SF20/LW20 laser rangefinder (i2c)
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*
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* @reboot_required true
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* @min 0
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* @max 5
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* @group Sensors
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* @value 0 Disabled
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* @value 1 SF10/a
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* @value 2 SF10/b
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* @value 3 SF10/c
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* @value 4 SF11/c
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* @value 5 SF/LW20
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*/
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PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0);
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/**
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* Thermal control of sensor temperature
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*
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* @value -1 Thermal control unavailable
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* @value 0 Thermal control off
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* @group Sensors
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*/
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PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
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/**
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* Driver level cut frequency for gyro
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*
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* The cut frequency for the 2nd order butterworth filter on the gyro driver. This features
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* is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the
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* controllers, not the estimators. 0 disables the filter.
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*
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* @min 5
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* @max 1000
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* @unit Hz
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* @reboot_required true
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* @group Sensors
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*/
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PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
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/**
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* Driver level cut frequency for accel
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*
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* The cut frequency for the 2nd order butterworth filter on the accel driver. This features
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* is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the
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* controllers, not the estimators. 0 disables the filter.
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*
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* @min 5
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* @max 1000
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* @unit Hz
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* @reboot_required true
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* @group Sensors
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*/
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PARAM_DEFINE_FLOAT(IMU_ACCEL_CUTOFF, 30.0f);
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