bizhang_-obav/src/modules/commander/commander_params.c

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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>
 */

#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
 */
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
 */
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
 */
PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);

/**
 * Empty cell voltage.
 *
 * Defines the voltage where a single cell of the battery is considered empty.
 *
 * @group Battery Calibration
 * @unit V
 */
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f);

/**
 * Full cell voltage.
 *
 * Defines the voltage where a single cell of the battery is considered full.
 *
 * @group Battery Calibration
 * @unit V
 */
PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.2f);

/**
 * Voltage drop per cell on 100% load
 *
 * This implicitely defines the internal resistance
 * to maximum current ratio and assumes linearity.
 *
 * @group Battery Calibration
 * @unit V
 * @min 0.0
 */
PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);

/**
 * Number of cells.
 *
 * Defines the number of cells the attached battery consists of.
 *
 * @group Battery Calibration
 * @unit S
 * @min 1
 * @max 10
 */
PARAM_DEFINE_INT32(BAT_N_CELLS, 3);

/**
 * Battery capacity.
 *
 * Defines the capacity of the attached battery.
 *
 * @group Battery Calibration
 * @unit mA
 */
PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);

/**
 * Datalink loss mode enabled.
 *
 * Set to 1 to enable actions triggered when the datalink is lost.
 *
 * @group Commander
 * @min 0
 * @max 1
 */
PARAM_DEFINE_INT32(COM_DL_LOSS_EN, 0);

/**
 * Datalink loss time threshold
 *
 * After this amount of seconds without datalink the data link lost mode triggers
 *
 * @group Commander
 * @unit second
 * @min 0
 * @max 30
 */
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 second
 * @min 0
 * @max 30
 */
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
 */
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 30.0
 * @unit ampere
 */
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 second
 * @min 0.0
 * @max 60.0
 */
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 second
 * @min 0
 * @max 35
 */
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 meter
 * @min 2
 * @max 15
 */
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 meter
 * @min 5
 * @max 25
 */
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
 * @min 0
 * @max 1
 */
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 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
 */
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
 */
PARAM_DEFINE_INT32(COM_DISARM_LAND, 0);