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Commit 0303f53a authored by Don Gagne's avatar Don Gagne
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Support correct parameter set for APM

parent d44fcde4
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qgroundcontrol.qrc
View file @ 0303f53a
<RCC>
<qresource prefix="/unittest">
<file alias="MockLink.params">src/comm/MockLink.params</file>
<file alias="PX4MockLink.params">src/comm/PX4MockLink.params</file>
<file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>
<file alias="APMArduPlaneMockLink.params">src/comm/APMArduPlaneMockLink.params</file>
<file alias="FactSystemTest.qml">src/FactSystem/FactSystemTest.qml</file>
</qresource>
<qresource prefix="/qml">
......
src/comm/APMArduCopterMockLink.params 0 → 100644
View file @ 0303f53a
# Onboard parameters for system MAV 001
#
# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)
1 1 ACCEL_Z_D 0 9
1 1 ACCEL_Z_FILT_HZ 20 9
1 1 ACCEL_Z_I 1 9
1 1 ACCEL_Z_IMAX 800 9
1 1 ACCEL_Z_P 0.5 9
1 1 ACRO_BAL_PITCH 1 9
1 1 ACRO_BAL_ROLL 1 9
1 1 ACRO_EXPO 0.3 9
1 1 ACRO_RP_P 4.5 9
1 1 ACRO_TRAINER 2 2
1 1 ACRO_YAW_P 4.5 9
1 1 AHRS_COMP_BETA 0.1 9
1 1 AHRS_GPS_GAIN 1 9
1 1 AHRS_GPS_MINSATS 6 2
1 1 AHRS_GPS_USE 1 2
1 1 AHRS_ORIENTATION 0 2
1 1 AHRS_RP_P 0.2 9
1 1 AHRS_TRIM_X 0 9
1 1 AHRS_TRIM_Y 0 9
1 1 AHRS_TRIM_Z 0 9
1 1 AHRS_WIND_MAX 0 2
1 1 AHRS_YAW_P 0.2 9
1 1 ANGLE_MAX 4500 4
1 1 ARMING_CHECK 1 2
1 1 ATC_ACCEL_P_MAX 1.1e+05 9
1 1 ATC_ACCEL_R_MAX 1.1e+05 9
1 1 ATC_ACCEL_Y_MAX 2.7e+04 9
1 1 ATC_RATE_FF_ENAB 1 2
1 1 ATC_SLEW_YAW 1e+03 9
1 1 AUTOTUNE_AGGR 0.1 9
1 1 AUTOTUNE_AXES 7 2
1 1 AUTOTUNE_MIN_D 0.004 9
1 1 BATT2_AMP_OFFSET 0 9
1 1 BATT2_AMP_PERVOL 17 9
1 1 BATT2_CAPACITY 3300 6
1 1 BATT2_CURR_PIN 3 2
1 1 BATT2_MONITOR 0 2
1 1 BATT2_VOLT_MULT 10.1 9
1 1 BATT2_VOLT_PIN 2 2
1 1 BATT_AMP_OFFSET 0 9
1 1 BATT_AMP_PERVOLT 17 9
1 1 BATT_CAPACITY 3300 6
1 1 BATT_CURR_PIN 3 2
1 1 BATT_MONITOR 0 2
1 1 BATT_VOLT_MULT 10.1 9
1 1 BATT_VOLT_PIN 2 2
1 1 BRD_PWM_COUNT 4 2
1 1 BRD_SAFETYENABLE 1 2
1 1 BRD_SBUS_OUT 0 2
1 1 BRD_SER1_RTSCTS 2 2
1 1 BRD_SER2_RTSCTS 2 2
1 1 BRD_SERIAL_NUM 0 4
1 1 CAM_DURATION 10 2
1 1 CAM_SERVO_OFF 1100 4
1 1 CAM_SERVO_ON 1300 4
1 1 CAM_TRIGG_DIST 0 9
1 1 CAM_TRIGG_TYPE 0 2
1 1 CH10_OPT 0 2
1 1 CH11_OPT 0 2
1 1 CH12_OPT 0 2
1 1 CH7_OPT 0 2
1 1 CH8_OPT 0 2
1 1 CH9_OPT 0 2
1 1 CHUTE_ALT_MIN 10 4
1 1 CHUTE_ENABLED 0 2
1 1 CHUTE_SERVO_OFF 1100 4
1 1 CHUTE_SERVO_ON 1300 4
1 1 CHUTE_TYPE 0 2
1 1 CIRCLE_RADIUS 1e+03 9
1 1 CIRCLE_RATE 20 9
1 1 CLI_ENABLED 0 2
1 1 COMPASS_AUTODEC 1 2
1 1 COMPASS_DEC 0 9
1 1 COMPASS_DEV_ID 131594 6
1 1 COMPASS_DEV_ID2 0 6
1 1 COMPASS_DEV_ID3 0 6
1 1 COMPASS_EXTERN2 0 2
1 1 COMPASS_EXTERN3 0 2
1 1 COMPASS_EXTERNAL 0 2
1 1 COMPASS_LEARN 0 2
1 1 COMPASS_MOT2_X 0 9
1 1 COMPASS_MOT2_Y 0 9
1 1 COMPASS_MOT2_Z 0 9
1 1 COMPASS_MOT3_X 0 9
1 1 COMPASS_MOT3_Y 0 9
1 1 COMPASS_MOT3_Z 0 9
1 1 COMPASS_MOTCT 0 2
1 1 COMPASS_MOT_X 0 9
1 1 COMPASS_MOT_Y 0 9
1 1 COMPASS_MOT_Z 0 9
1 1 COMPASS_OFS2_X 0 9
1 1 COMPASS_OFS2_Y 0 9
1 1 COMPASS_OFS2_Z 0 9
1 1 COMPASS_OFS3_X 0 9
1 1 COMPASS_OFS3_Y 0 9
1 1 COMPASS_OFS3_Z 0 9
1 1 COMPASS_OFS_X 0 9
1 1 COMPASS_OFS_Y 0 9
1 1 COMPASS_OFS_Z 0 9
1 1 COMPASS_ORIENT 0 2
1 1 COMPASS_ORIENT2 0 2
1 1 COMPASS_ORIENT3 0 2
1 1 COMPASS_PRIMARY 0 2
1 1 COMPASS_USE 1 2
1 1 COMPASS_USE2 1 2
1 1 COMPASS_USE3 1 2
1 1 EKF_ABIAS_PNOISE 5e-05 9
1 1 EKF_ACC_PNOISE 0.25 9
1 1 EKF_ALT_NOISE 1 9
1 1 EKF_ALT_SOURCE 1 2
1 1 EKF_EAS_GATE 10 2
1 1 EKF_EAS_NOISE 1.4 9
1 1 EKF_FALLBACK 1 2
1 1 EKF_FLOW_DELAY 10 2
1 1 EKF_FLOW_GATE 3 2
1 1 EKF_FLOW_NOISE 0.25 9
1 1 EKF_GBIAS_PNOISE 1e-06 9
1 1 EKF_GLITCH_ACCEL 100 4
1 1 EKF_GLITCH_RAD 25 2
1 1 EKF_GND_GRADIENT 2 2
1 1 EKF_GPS_TYPE 0 2
1 1 EKF_GYRO_PNOISE 0.015 9
1 1 EKF_HGT_GATE 10 2
1 1 EKF_MAGB_PNOISE 0.0003 9
1 1 EKF_MAGE_PNOISE 0.0003 9
1 1 EKF_MAG_CAL 1 2
1 1 EKF_MAG_GATE 3 2
1 1 EKF_MAG_NOISE 0.05 9
1 1 EKF_MAX_FLOW 2.5 9
1 1 EKF_POSNE_NOISE 0.5 9
1 1 EKF_POS_DELAY 220 4
1 1 EKF_POS_GATE 10 2
1 1 EKF_RNG_GATE 5 2
1 1 EKF_VELD_NOISE 0.7 9
1 1 EKF_VELNE_NOISE 0.5 9
1 1 EKF_VEL_DELAY 220 4
1 1 EKF_VEL_GATE 5 2
1 1 EKF_WIND_PNOISE 0.1 9
1 1 EKF_WIND_PSCALE 0.5 9
1 1 EPM_ENABLE 0 2
1 1 EPM_GRAB 1900 4
1 1 EPM_NEUTRAL 1500 4
1 1 EPM_REGRAB 0 2
1 1 EPM_RELEASE 1100 4
1 1 ESC_CALIBRATION 0 2
1 1 FENCE_ACTION 1 2
1 1 FENCE_ALT_MAX 100 9
1 1 FENCE_ENABLE 0 2
1 1 FENCE_MARGIN 2 9
1 1 FENCE_RADIUS 300 9
1 1 FENCE_TYPE 3 2
1 1 FLOW_ENABLE 0 2
1 1 FLOW_FXSCALER 0 4
1 1 FLOW_FYSCALER 0 4
1 1 FLOW_ORIENT_YAW 0 4
1 1 FLTMODE1 0 2
1 1 FLTMODE2 0 2
1 1 FLTMODE3 0 2
1 1 FLTMODE4 0 2
1 1 FLTMODE5 0 2
1 1 FLTMODE6 0 2
1 1 FRAME 1 2
1 1 FS_BATT_ENABLE 0 2
1 1 FS_BATT_MAH 0 9
1 1 FS_BATT_VOLTAGE 10.5 9
1 1 FS_EKF_ACTION 1 2
1 1 FS_EKF_THRESH 0.8 9
1 1 FS_GCS_ENABLE 1 2
1 1 FS_THR_ENABLE 0 2
1 1 FS_THR_VALUE 975 4
1 1 GCS_PID_MASK 0 4
1 1 GND_ABS_PRESS 1.01e+05 9
1 1 GND_ALT_OFFSET 0 2
1 1 GND_TEMP 29.5 9
1 1 GPS_AUTO_SWITCH 1 2
1 1 GPS_GNSS_MODE 0 2
1 1 GPS_HDOP_GOOD 140 4
1 1 GPS_INJECT_TO 127 2
1 1 GPS_MIN_DGPS 100 2
1 1 GPS_MIN_ELEV -100 2
1 1 GPS_NAVFILTER 8 2
1 1 GPS_RAW_DATA 0 2
1 1 GPS_SBAS_MODE 2 2
1 1 GPS_SBP_LOGMASK -256 4
1 1 GPS_TYPE 1 2
1 1 GPS_TYPE2 0 2
1 1 INS_ACC2OFFS_X 0 9
1 1 INS_ACC2OFFS_Y 0 9
1 1 INS_ACC2OFFS_Z 0 9
1 1 INS_ACC2SCAL_X 1 9
1 1 INS_ACC2SCAL_Y 1 9
1 1 INS_ACC2SCAL_Z 1 9
1 1 INS_ACC3OFFS_X 0 9
1 1 INS_ACC3OFFS_Y 0 9
1 1 INS_ACC3OFFS_Z 0 9
1 1 INS_ACC3SCAL_X 0 9
1 1 INS_ACC3SCAL_Y 0 9
1 1 INS_ACC3SCAL_Z 0 9
1 1 INS_ACCEL_FILTER 20 2
1 1 INS_ACCOFFS_X 0 9
1 1 INS_ACCOFFS_Y 0 9
1 1 INS_ACCOFFS_Z 0 9
1 1 INS_ACCSCAL_X 1 9
1 1 INS_ACCSCAL_Y 1 9
1 1 INS_ACCSCAL_Z 1 9
1 1 INS_GYR2OFFS_X 0.0184 9
1 1 INS_GYR2OFFS_Y 0.00255 9
1 1 INS_GYR2OFFS_Z -0.0246 9
1 1 INS_GYR3OFFS_X 0 9
1 1 INS_GYR3OFFS_Y 0 9
1 1 INS_GYR3OFFS_Z 0 9
1 1 INS_GYROFFS_X 0.0225 9
1 1 INS_GYROFFS_Y 0.0483 9
1 1 INS_GYROFFS_Z -0.00417 9
1 1 INS_GYRO_FILTER 20 2
1 1 INS_PRODUCT_ID 5 4
1 1 INS_USE 1 2
1 1 INS_USE2 1 2
1 1 INS_USE3 0 2
1 1 LAND_REPOSITION 1 2
1 1 LAND_SPEED 50 4
1 1 LGR_SERVO_DEPLOY 1750 4
1 1 LGR_SERVO_RTRACT 1250 4
1 1 LOG_BITMASK 176126 6
1 1 MAG_ENABLE 1 2
1 1 MIS_RESTART 0 2
1 1 MIS_TOTAL 0 4
1 1 MNT_ANGMAX_PAN 4500 4
1 1 MNT_ANGMAX_ROL 4500 4
1 1 MNT_ANGMAX_TIL 4500 4
1 1 MNT_ANGMIN_PAN -4500 4
1 1 MNT_ANGMIN_ROL -4500 4
1 1 MNT_ANGMIN_TIL -4500 4
1 1 MNT_DEFLT_MODE 3 2
1 1 MNT_JSTICK_SPD 0 2
1 1 MNT_K_RATE 5 9
1 1 MNT_LEAD_PTCH 0 9
1 1 MNT_LEAD_RLL 0 9
1 1 MNT_NEUTRAL_X 0 9
1 1 MNT_NEUTRAL_Y 0 9
1 1 MNT_NEUTRAL_Z 0 9
1 1 MNT_OFF_ACC_X 0 9
1 1 MNT_OFF_ACC_Y 0 9
1 1 MNT_OFF_ACC_Z 0 9
1 1 MNT_OFF_GYRO_X 0 9
1 1 MNT_OFF_GYRO_Y 0 9
1 1 MNT_OFF_GYRO_Z 0 9
1 1 MNT_OFF_JNT_X 0 9
1 1 MNT_OFF_JNT_Y 0 9
1 1 MNT_OFF_JNT_Z 0 9
1 1 MNT_RC_IN_PAN 0 2
1 1 MNT_RC_IN_ROLL 0 2
1 1 MNT_RC_IN_TILT 0 2
1 1 MNT_RETRACT_X 0 9
1 1 MNT_RETRACT_Y 0 9
1 1 MNT_RETRACT_Z 0 9
1 1 MNT_STAB_PAN 0 2
1 1 MNT_STAB_ROLL 0 2
1 1 MNT_STAB_TILT 0 2
1 1 MNT_TYPE 0 2
1 1 MOT_CURR_MAX 0 9
1 1 MOT_SPIN_ARMED 70 4
1 1 MOT_THR_MIX_MAX 0.5 9
1 1 MOT_THR_MIX_MIN 0.1 9
1 1 MOT_THST_BAT_MAX 0 9
1 1 MOT_THST_BAT_MIN 0 9
1 1 MOT_THST_EXPO 0.65 9
1 1 MOT_THST_MAX 0.95 9
1 1 MOT_YAW_HEADROOM 200 4
1 1 PHLD_BRAKE_ANGLE 3000 4
1 1 PHLD_BRAKE_RATE 8 4
1 1 PILOT_ACCEL_Z 250 4
1 1 PILOT_THR_BHV 0 4
1 1 PILOT_THR_FILT 0 9
1 1 PILOT_TKOFF_ALT 0 9
1 1 PILOT_TKOFF_DZ 100 4
1 1 PILOT_VELZ_MAX 250 4
1 1 POS_XY_P 1 9
1 1 POS_Z_P 1 9
1 1 PSC_ACC_XY_FILT 2 9
1 1 RALLY_INCL_HOME 1 2
1 1 RALLY_LIMIT_KM 0.3 9
1 1 RALLY_TOTAL 0 2
1 1 RATE_PIT_D 0.004 9
1 1 RATE_PIT_FILT_HZ 20 9
1 1 RATE_PIT_I 0.1 9
1 1 RATE_PIT_IMAX 2e+03 9
1 1 RATE_PIT_P 0.15 9
1 1 RATE_RLL_D 0.004 9
1 1 RATE_RLL_FILT_HZ 20 9
1 1 RATE_RLL_I 0.1 9
1 1 RATE_RLL_IMAX 2e+03 9
1 1 RATE_RLL_P 0.15 9
1 1 RATE_YAW_D 0 9
1 1 RATE_YAW_FILT_HZ 5 9
1 1 RATE_YAW_I 0.02 9
1 1 RATE_YAW_IMAX 1e+03 9
1 1 RATE_YAW_P 0.2 9
1 1 RC10_DZ 0 4
1 1 RC10_FUNCTION 0 2
1 1 RC10_MAX 1900 4
1 1 RC10_MIN 1100 4
1 1 RC10_REV 1 2
1 1 RC10_TRIM 1500 4
1 1 RC11_DZ 0 4
1 1 RC11_FUNCTION 0 2
1 1 RC11_MAX 1900 4
1 1 RC11_MIN 1100 4
1 1 RC11_REV 1 2
1 1 RC11_TRIM 1500 4
1 1 RC12_DZ 0 4
1 1 RC12_FUNCTION 0 2
1 1 RC12_MAX 1900 4
1 1 RC12_MIN 1100 4
1 1 RC12_REV 1 2
1 1 RC12_TRIM 1500 4
1 1 RC13_DZ 0 4
1 1 RC13_FUNCTION 0 2
1 1 RC13_MAX 1900 4
1 1 RC13_MIN 1100 4
1 1 RC13_REV 1 2
1 1 RC13_TRIM 1500 4
1 1 RC14_DZ 0 4
1 1 RC14_FUNCTION 0 2
1 1 RC14_MAX 1900 4
1 1 RC14_MIN 1100 4
1 1 RC14_REV 1 2
1 1 RC14_TRIM 1500 4
1 1 RC1_DZ 30 4
1 1 RC1_MAX 1900 4
1 1 RC1_MIN 1100 4
1 1 RC1_REV 1 2
1 1 RC1_TRIM 1500 4
1 1 RC2_DZ 30 4
1 1 RC2_MAX 1900 4
1 1 RC2_MIN 1100 4
1 1 RC2_REV 1 2
1 1 RC2_TRIM 1500 4
1 1 RC3_DZ 30 4
1 1 RC3_MAX 1900 4
1 1 RC3_MIN 1100 4
1 1 RC3_REV 1 2
1 1 RC3_TRIM 1500 4
1 1 RC4_DZ 40 4
1 1 RC4_MAX 1900 4
1 1 RC4_MIN 1100 4
1 1 RC4_REV 1 2
1 1 RC4_TRIM 1500 4
1 1 RC5_DZ 0 4
1 1 RC5_FUNCTION 0 2
1 1 RC5_MAX 1900 4
1 1 RC5_MIN 1100 4
1 1 RC5_REV 1 2
1 1 RC5_TRIM 1500 4
1 1 RC6_DZ 0 4
1 1 RC6_FUNCTION 0 2
1 1 RC6_MAX 1900 4
1 1 RC6_MIN 1100 4
1 1 RC6_REV 1 2
1 1 RC6_TRIM 1500 4
1 1 RC7_DZ 0 4
1 1 RC7_FUNCTION 0 2
1 1 RC7_MAX 1900 4
1 1 RC7_MIN 1100 4
1 1 RC7_REV 1 2
1 1 RC7_TRIM 1500 4
1 1 RC8_DZ 0 4
1 1 RC8_FUNCTION 0 2
1 1 RC8_MAX 1900 4
1 1 RC8_MIN 1100 4
1 1 RC8_REV 1 2
1 1 RC8_TRIM 1500 4
1 1 RC9_DZ 0 4
1 1 RC9_FUNCTION 0 2
1 1 RC9_MAX 1900 4
1 1 RC9_MIN 1100 4
1 1 RC9_REV 1 2
1 1 RC9_TRIM 1500 4
1 1 RCMAP_PITCH 2 2
1 1 RCMAP_ROLL 1 2
1 1 RCMAP_THROTTLE 3 2
1 1 RCMAP_YAW 4 2
1 1 RC_FEEL_RP 50 2
1 1 RC_SPEED 490 4
1 1 RELAY_DEFAULT 0 2
1 1 RELAY_PIN 54 2
1 1 RELAY_PIN2 55 2
1 1 RELAY_PIN3 -1 2
1 1 RELAY_PIN4 -1 2
1 1 RNGFND2_FUNCTION 0 2
1 1 RNGFND2_GNDCLEAR 10 2
1 1 RNGFND2_MAX_CM 700 4
1 1 RNGFND2_MIN_CM 20 4
1 1 RNGFND2_OFFSET 0 9
1 1 RNGFND2_PIN -1 2
1 1 RNGFND2_RMETRIC 1 2
1 1 RNGFND2_SCALING 3 9
1 1 RNGFND2_SETTLE 0 4
1 1 RNGFND2_STOP_PIN -1 2
1 1 RNGFND2_TYPE 0 2
1 1 RNGFND_FUNCTION 0 2
1 1 RNGFND_GAIN 0.8 9
1 1 RNGFND_GNDCLEAR 10 2
1 1 RNGFND_MAX_CM 700 4
1 1 RNGFND_MIN_CM 20 4
1 1 RNGFND_OFFSET 0 9
1 1 RNGFND_PIN -1 2
1 1 RNGFND_PWRRNG 0 4
1 1 RNGFND_RMETRIC 1 2
1 1 RNGFND_SCALING 3 9
1 1 RNGFND_SETTLE 0 4
1 1 RNGFND_STOP_PIN -1 2
1 1 RNGFND_TYPE 0 2
1 1 RPM2_SCALING 1 9
1 1 RPM2_TYPE 0 2
1 1 RPM_SCALING 1 9
1 1 RPM_TYPE 0 2
1 1 RSSI_PIN -1 2
1 1 RSSI_RANGE 5 9
1 1 RTL_ALT 1500 4
1 1 RTL_ALT_FINAL 0 4
1 1 RTL_CLIMB_MIN 0 4
1 1 RTL_LOIT_TIME 5000 6
1 1 SCHED_DEBUG 0 2
1 1 SERIAL0_BAUD 115 6
1 1 SERIAL1_BAUD 57 6
1 1 SERIAL1_PROTOCOL 1 2
1 1 SERIAL2_BAUD 57 6
1 1 SERIAL2_PROTOCOL 1 2
1 1 SERIAL3_BAUD 38 6
1 1 SERIAL3_PROTOCOL 5 2
1 1 SERIAL4_BAUD 38 6
1 1 SERIAL4_PROTOCOL 5 2
1 1 SIMPLE 0 2
1 1 SR0_EXTRA1 10 4
1 1 SR0_EXTRA2 0 4
1 1 SR0_EXTRA3 0 4
1 1 SR0_EXT_STAT 2 4
1 1 SR0_PARAMS 10 4
1 1 SR0_POSITION 3 4
1 1 SR0_RAW_CTRL 0 4
1 1 SR0_RAW_SENS 2 4
1 1 SR0_RC_CHAN 2 4
1 1 SR1_EXTRA1 0 4
1 1 SR1_EXTRA2 0 4
1 1 SR1_EXTRA3 0 4
1 1 SR1_EXT_STAT 0 4
1 1 SR1_PARAMS 0 4
1 1 SR1_POSITION 0 4
1 1 SR1_RAW_CTRL 0 4
1 1 SR1_RAW_SENS 0 4
1 1 SR1_RC_CHAN 0 4
1 1 SR2_EXTRA1 0 4
1 1 SR2_EXTRA2 0 4
1 1 SR2_EXTRA3 0 4
1 1 SR2_EXT_STAT 0 4
1 1 SR2_PARAMS 0 4
1 1 SR2_POSITION 0 4
1 1 SR2_RAW_CTRL 0 4
1 1 SR2_RAW_SENS 0 4
1 1 SR2_RC_CHAN 0 4
1 1 SR3_EXTRA1 0 4
1 1 SR3_EXTRA2 0 4
1 1 SR3_EXTRA3 0 4
1 1 SR3_EXT_STAT 0 4
1 1 SR3_PARAMS 0 4
1 1 SR3_POSITION 0 4
1 1 SR3_RAW_CTRL 0 4
1 1 SR3_RAW_SENS 0 4
1 1 SR3_RC_CHAN 0 4
1 1 STB_PIT_P 4.5 9
1 1 STB_RLL_P 4.5 9
1 1 STB_YAW_P 4.5 9
1 1 SUPER_SIMPLE 0 2
1 1 SYSID_MYGCS 255 4
1 1 SYSID_SW_MREV 120 4
1 1 SYSID_SW_TYPE 10 2
1 1 SYSID_THISMAV 1 4
1 1 TELEM_DELAY 0 2
1 1 TERRAIN_ENABLE 1 2
1 1 TERRAIN_SPACING 100 4
1 1 THR_DZ 100 4
1 1 THR_MID 500 4
1 1 THR_MIN 130 4
1 1 TUNE 0 2
1 1 TUNE_HIGH 1000 4
1 1 TUNE_LOW 0 4
1 1 VEL_XY_FILT_HZ 5 9
1 1 VEL_XY_I 0.5 9
1 1 VEL_XY_IMAX 1e+03 9
1 1 VEL_XY_P 1 9
1 1 VEL_Z_P 5 9
1 1 WPNAV_ACCEL 100 9
1 1 WPNAV_ACCEL_Z 100 9
1 1 WPNAV_LOIT_JERK 1e+03 9
1 1 WPNAV_LOIT_MAXA 250 9
1 1 WPNAV_LOIT_MINA 25 9
1 1 WPNAV_LOIT_SPEED 500 9
1 1 WPNAV_RADIUS 200 9
1 1 WPNAV_SPEED 500 9
1 1 WPNAV_SPEED_DN 150 9
1 1 WPNAV_SPEED_UP 250 9
1 1 WP_YAW_BEHAVIOR 2 2
src/comm/APMArduPlaneMockLink.params 0 → 100644
View file @ 0303f53a
# Onboard parameters for system MAV 001
#
# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)
1 1 ACRO_LOCKING 0 2
1 1 ACRO_PITCH_RATE 180 4
1 1 ACRO_ROLL_RATE 180 4
1 1 AFS_AMSL_ERR_GPS -1 6
1 1 AFS_AMSL_LIMIT 0 6
1 1 AFS_ENABLE 0 2
1 1 AFS_HB_PIN -1 2
1 1 AFS_MAN_PIN -1 2
1 1 AFS_MAX_COM_LOSS 0 2
1 1 AFS_MAX_GPS_LOSS 0 2
1 1 AFS_QNH_PRESSURE 0 9
1 1 AFS_RC_FAIL_MS 0 4
1 1 AFS_TERMINATE 0 2
1 1 AFS_TERM_ACTION 0 2
1 1 AFS_TERM_PIN -1 2
1 1 AFS_WP_COMMS 0 2
1 1 AFS_WP_GPS_LOSS 0 2
1 1 AHRS_COMP_BETA 0.1 9
1 1 AHRS_EKF_USE 1 2
1 1 AHRS_GPS_GAIN 1 9
1 1 AHRS_GPS_MINSATS 6 2
1 1 AHRS_GPS_USE 1 2
1 1 AHRS_ORIENTATION 0 2
1 1 AHRS_RP_P 0.2 9
1 1 AHRS_TRIM_X 0 9
1 1 AHRS_TRIM_Y 0 9
1 1 AHRS_TRIM_Z 0 9
1 1 AHRS_WIND_MAX 0 2
1 1 AHRS_YAW_P 0.2 9
1 1 ALT_CTRL_ALG 0 2
1 1 ALT_HOLD_FBWCM 0 4
1 1 ALT_HOLD_RTL 10000 6
1 1 ALT_MIX 1 9
1 1 ALT_OFFSET 0 4
1 1 ARMING_CHECK 1 4
1 1 ARMING_REQUIRE 1 2
1 1 ARMING_RUDDER 1 2
1 1 ARSPD_AUTOCAL 0 2
1 1 ARSPD_ENABLE 1 2
1 1 ARSPD_FBW_MAX 22 4
1 1 ARSPD_FBW_MIN 9 4
1 1 ARSPD_OFFSET 0 9
1 1 ARSPD_PIN 15 2
1 1 ARSPD_RATIO 1.99 9
1 1 ARSPD_SKIP_CAL 0 2
1 1 ARSPD_TUBE_ORDER 2 2
1 1 ARSPD_USE 0 2
1 1 AUTOTUNE_LEVEL 6 2
1 1 AUTO_FBW_STEER 0 2
1 1 BATT2_AMP_OFFSET 0 9
1 1 BATT2_AMP_PERVOL 17 9
1 1 BATT2_CAPACITY 3300 6
1 1 BATT2_CURR_PIN 3 2
1 1 BATT2_MONITOR 0 2
1 1 BATT2_VOLT_MULT 10.1 9
1 1 BATT2_VOLT_PIN 2 2
1 1 BATT_AMP_OFFSET 0 9
1 1 BATT_AMP_PERVOLT 17 9
1 1 BATT_CAPACITY 3300 6
1 1 BATT_CURR_PIN 3 2
1 1 BATT_MONITOR 0 2
1 1 BATT_VOLT_MULT 10.1 9
1 1 BATT_VOLT_PIN 2 2
1 1 BRD_PWM_COUNT 4 2
1 1 BRD_SAFETYENABLE 1 2
1 1 BRD_SBUS_OUT 0 2
1 1 BRD_SER1_RTSCTS 2 2
1 1 BRD_SER2_RTSCTS 2 2
1 1 BRD_SERIAL_NUM 0 4
1 1 CAM_DURATION 10 2
1 1 CAM_RELAY_ON 1 2
1 1 CAM_SERVO_OFF 1100 4
1 1 CAM_SERVO_ON 1300 4
1 1 CAM_TRIGG_DIST 0 9
1 1 CAM_TRIGG_TYPE 0 2
1 1 CLI_ENABLED 0 2
1 1 COMPASS_AUTODEC 1 2
1 1 COMPASS_CAL_FIT 8 9
1 1 COMPASS_DEC 0 9
1 1 COMPASS_DEV_ID 131594 6
1 1 COMPASS_DEV_ID2 0 6
1 1 COMPASS_DEV_ID3 0 6
1 1 COMPASS_DIA2_X 0 9
1 1 COMPASS_DIA2_Y 0 9
1 1 COMPASS_DIA2_Z 0 9
1 1 COMPASS_DIA3_X 0 9
1 1 COMPASS_DIA3_Y 0 9
1 1 COMPASS_DIA3_Z 0 9
1 1 COMPASS_DIA_X 1 9
1 1 COMPASS_DIA_Y 1 9
1 1 COMPASS_DIA_Z 1 9
1 1 COMPASS_EXTERN2 0 2
1 1 COMPASS_EXTERN3 0 2
1 1 COMPASS_EXTERNAL 0 2
1 1 COMPASS_LEARN 1 2
1 1 COMPASS_MOT2_X 0 9
1 1 COMPASS_MOT2_Y 0 9
1 1 COMPASS_MOT2_Z 0 9
1 1 COMPASS_MOT3_X 0 9
1 1 COMPASS_MOT3_Y 0 9
1 1 COMPASS_MOT3_Z 0 9
1 1 COMPASS_MOTCT 0 2
1 1 COMPASS_MOT_X 0 9
1 1 COMPASS_MOT_Y 0 9
1 1 COMPASS_MOT_Z 0 9
1 1 COMPASS_ODI2_X 0 9
1 1 COMPASS_ODI2_Y 0 9
1 1 COMPASS_ODI2_Z 0 9
1 1 COMPASS_ODI3_X 0 9
1 1 COMPASS_ODI3_Y 0 9
1 1 COMPASS_ODI3_Z 0 9
1 1 COMPASS_ODI_X 0 9
1 1 COMPASS_ODI_Y 0 9
1 1 COMPASS_ODI_Z 0 9
1 1 COMPASS_OFS2_X 0 9
1 1 COMPASS_OFS2_Y 0 9
1 1 COMPASS_OFS2_Z 0 9
1 1 COMPASS_OFS3_X 0 9
1 1 COMPASS_OFS3_Y 0 9
1 1 COMPASS_OFS3_Z 0 9
1 1 COMPASS_OFS_X 0 9
1 1 COMPASS_OFS_Y 0 9
1 1 COMPASS_OFS_Z 0 9
1 1 COMPASS_ORIENT 0 2
1 1 COMPASS_ORIENT2 0 2
1 1 COMPASS_ORIENT3 0 2
1 1 COMPASS_PRIMARY 0 2
1 1 COMPASS_USE 1 2
1 1 COMPASS_USE2 1 2
1 1 COMPASS_USE3 1 2
1 1 CRASH_DETECT 0 2
1 1 EKF_ABIAS_PNOISE 5e-05 9
1 1 EKF_ACC_PNOISE 0.5 9
1 1 EKF_ALT_NOISE 0.5 9
1 1 EKF_ALT_SOURCE 1 2
1 1 EKF_EAS_GATE 10 2
1 1 EKF_EAS_NOISE 1.4 9
1 1 EKF_FALLBACK 1 2
1 1 EKF_FLOW_DELAY 25 2
1 1 EKF_FLOW_GATE 3 2
1 1 EKF_FLOW_NOISE 0.3 9
1 1 EKF_GBIAS_PNOISE 8e-06 9
1 1 EKF_GLITCH_ACCEL 150 4
1 1 EKF_GLITCH_RAD 20 2
1 1 EKF_GND_GRADIENT 2 2
1 1 EKF_GPS_TYPE 0 2
1 1 EKF_GYRO_PNOISE 0.015 9
1 1 EKF_HGT_GATE 20 2
1 1 EKF_MAGB_PNOISE 0.0003 9
1 1 EKF_MAGE_PNOISE 0.0003 9
1 1 EKF_MAG_CAL 0 2
1 1 EKF_MAG_GATE 3 2
1 1 EKF_MAG_NOISE 0.05 9
1 1 EKF_MAX_FLOW 2.5 9
1 1 EKF_POSNE_NOISE 0.5 9
1 1 EKF_POS_DELAY 220 4
1 1 EKF_POS_GATE 30 2
1 1 EKF_RNG_GATE 5 2
1 1 EKF_VELD_NOISE 0.7 9
1 1 EKF_VELNE_NOISE 0.5 9
1 1 EKF_VEL_DELAY 220 4
1 1 EKF_VEL_GATE 6 2
1 1 EKF_WIND_PNOISE 0.1 9
1 1 EKF_WIND_PSCALE 0.5 9
1 1 ELEVON_CH1_REV 0 2
1 1 ELEVON_CH2_REV 0 2
1 1 ELEVON_MIXING 0 2
1 1 ELEVON_OUTPUT 0 2
1 1 ELEVON_REVERSE 0 2
1 1 FBWA_TDRAG_CHAN 0 2
1 1 FBWB_CLIMB_RATE 2 2
1 1 FBWB_ELEV_REV 0 2
1 1 FENCE_ACTION 0 2
1 1 FENCE_AUTOENABLE 0 2
1 1 FENCE_CHANNEL 0 2
1 1 FENCE_MAXALT 0 4
1 1 FENCE_MINALT 0 4
1 1 FENCE_RETALT 0 4
1 1 FENCE_RET_RALLY 0 2
1 1 FENCE_TOTAL 0 2
1 1 FLAPERON_OUTPUT 0 2
1 1 FLAP_1_PERCNT 0 2
1 1 FLAP_1_SPEED 0 2
1 1 FLAP_2_PERCNT 0 2
1 1 FLAP_2_SPEED 0 2
1 1 FLAP_IN_CHANNEL 0 2
1 1 FLAP_SLEWRATE 75 2
1 1 FLOW_ENABLE 0 2
1 1 FLOW_FXSCALER 0 4
1 1 FLOW_FYSCALER 0 4
1 1 FLOW_ORIENT_YAW 0 4
1 1 FLTMODE1 11 2
1 1 FLTMODE2 11 2
1 1 FLTMODE3 5 2
1 1 FLTMODE4 5 2
1 1 FLTMODE5 0 2
1 1 FLTMODE6 0 2
1 1 FLTMODE_CH 8 2
1 1 FORMAT_VERSION 13 4
1 1 FS_BATT_MAH 0 9
1 1 FS_BATT_VOLTAGE 0 9
1 1 FS_GCS_ENABL 0 2
1 1 FS_LONG_ACTN 0 2
1 1 FS_LONG_TIMEOUT 5 9
1 1 FS_SHORT_ACTN 0 2
1 1 FS_SHORT_TIMEOUT 1.5 9
1 1 GCS_PID_MASK 0 4
1 1 GLIDE_SLOPE_MIN 15 4
1 1 GLIDE_SLOPE_THR 5 9
1 1 GND_ABS_PRESS 1.01e+05 9
1 1 GND_ALT_OFFSET 0 9
1 1 GND_PRIMARY 0 2
1 1 GND_TEMP 0 9
1 1 GPS_AUTO_SWITCH 1 2
1 1 GPS_GNSS_MODE 0 2
1 1 GPS_INJECT_TO 127 2
1 1 GPS_MIN_DGPS 100 2
1 1 GPS_MIN_ELEV -100 2
1 1 GPS_NAVFILTER 8 2
1 1 GPS_RAW_DATA 0 2
1 1 GPS_SBAS_MODE 2 2
1 1 GPS_SBP_LOGMASK -256 4
1 1 GPS_TYPE 1 2
1 1 GPS_TYPE2 0 2
1 1 GROUND_STEER_ALT 0 9
1 1 GROUND_STEER_DPS 90 4
1 1 HIL_ERR_LIMIT 5 9
1 1 HIL_MODE 0 2
1 1 HIL_SERVOS 0 2
1 1 INITIAL_MODE 0 2
1 1 INS_ACC2OFFS_X 0 9
1 1 INS_ACC2OFFS_Y 0 9
1 1 INS_ACC2OFFS_Z 0 9
1 1 INS_ACC2SCAL_X 1 9
1 1 INS_ACC2SCAL_Y 1 9
1 1 INS_ACC2SCAL_Z 1 9
1 1 INS_ACC3OFFS_X 0 9
1 1 INS_ACC3OFFS_Y 0 9
1 1 INS_ACC3OFFS_Z 0 9
1 1 INS_ACC3SCAL_X 0 9
1 1 INS_ACC3SCAL_Y 0 9
1 1 INS_ACC3SCAL_Z 0 9
1 1 INS_ACCEL_FILTER 20 2
1 1 INS_ACCOFFS_X 0 9
1 1 INS_ACCOFFS_Y 0 9
1 1 INS_ACCOFFS_Z 0 9
1 1 INS_ACCSCAL_X 1 9
1 1 INS_ACCSCAL_Y 1 9
1 1 INS_ACCSCAL_Z 1 9
1 1 INS_GYR2OFFS_X 0.0165 9
1 1 INS_GYR2OFFS_Y 0.00344 9
1 1 INS_GYR2OFFS_Z -0.0258 9
1 1 INS_GYR3OFFS_X 0 9
1 1 INS_GYR3OFFS_Y 0 9
1 1 INS_GYR3OFFS_Z 0 9
1 1 INS_GYROFFS_X 0.0234 9
1 1 INS_GYROFFS_Y 0.0507 9
1 1 INS_GYROFFS_Z -0.00498 9
1 1 INS_GYRO_FILTER 20 2
1 1 INS_GYR_CAL 1 2
1 1 INS_PRODUCT_ID 5 4
1 1 INS_STILL_THRESH 0.1 9
1 1 INS_USE 1 2
1 1 INS_USE2 1 2
1 1 INS_USE3 0 2
1 1 INVERTEDFLT_CH 0 2
1 1 KFF_RDDRMIX 0.5 9
1 1 KFF_THR2PTCH 0 9
1 1 LAND_ABORT_THR 0 2
1 1 LAND_DISARMDELAY 20 2
1 1 LAND_FLAP_PERCNT 0 2
1 1 LAND_FLARE_ALT 3 9
1 1 LAND_FLARE_SEC 2 9
1 1 LAND_PITCH_CD 0 4
1 1 LEVEL_ROLL_LIMIT 5 2
1 1 LIM_PITCH_MAX 2000 4
1 1 LIM_PITCH_MIN -2500 4
1 1 LIM_ROLL_CD 4500 4
1 1 LOG_BITMASK 65535 6
1 1 MAG_ENABLE 1 2
1 1 MIN_GNDSPD_CM 0 6
1 1 MIS_RESTART 0 2
1 1 MIS_TOTAL 0 4
1 1 MIXING_GAIN 0.5 9
1 1 MNT_ANGMAX_PAN 4500 4
1 1 MNT_ANGMAX_ROL 4500 4
1 1 MNT_ANGMAX_TIL 4500 4
1 1 MNT_ANGMIN_PAN -4500 4
1 1 MNT_ANGMIN_ROL -4500 4
1 1 MNT_ANGMIN_TIL -4500 4
1 1 MNT_DEFLT_MODE 3 2
1 1 MNT_JSTICK_SPD 0 2
1 1 MNT_K_RATE 5 9
1 1 MNT_LEAD_PTCH 0 9
1 1 MNT_LEAD_RLL 0 9
1 1 MNT_NEUTRAL_X 0 9
1 1 MNT_NEUTRAL_Y 0 9
1 1 MNT_NEUTRAL_Z 0 9
1 1 MNT_OFF_ACC_X 0 9
1 1 MNT_OFF_ACC_Y 0 9
1 1 MNT_OFF_ACC_Z 0 9
1 1 MNT_OFF_GYRO_X 0 9
1 1 MNT_OFF_GYRO_Y 0 9
1 1 MNT_OFF_GYRO_Z 0 9
1 1 MNT_OFF_JNT_X 0 9
1 1 MNT_OFF_JNT_Y 0 9
1 1 MNT_OFF_JNT_Z 0 9
1 1 MNT_RC_IN_PAN 0 2
1 1 MNT_RC_IN_ROLL 0 2
1 1 MNT_RC_IN_TILT 0 2
1 1 MNT_RETRACT_X 0 9
1 1 MNT_RETRACT_Y 0 9
1 1 MNT_RETRACT_Z 0 9
1 1 MNT_STAB_PAN 0 2
1 1 MNT_STAB_ROLL 0 2
1 1 MNT_STAB_TILT 0 2
1 1 MNT_TYPE 0 2
1 1 NAVL1_DAMPING 0.75 9
1 1 NAVL1_PERIOD 20 9
1 1 NAV_CONTROLLER 1 2
1 1 OVERRIDE_CHAN 0 2
1 1 PTCH2SRV_D 0.02 9
1 1 PTCH2SRV_FF 0 9
1 1 PTCH2SRV_I 0.04 9
1 1 PTCH2SRV_IMAX 3000 4
1 1 PTCH2SRV_P 0.4 9
1 1 PTCH2SRV_RLL 1 9
1 1 PTCH2SRV_RMAX_DN 0 4
1 1 PTCH2SRV_RMAX_UP 0 4
1 1 PTCH2SRV_TCONST 0.5 9
1 1 RALLY_INCL_HOME 0 2
1 1 RALLY_LIMIT_KM 5 9
1 1 RALLY_TOTAL 0 2
1 1 RC10_DZ 0 4
1 1 RC10_FUNCTION 0 2
1 1 RC10_MAX 1900 4
1 1 RC10_MIN 1100 4
1 1 RC10_REV 1 2
1 1 RC10_TRIM 1500 4
1 1 RC11_DZ 0 4
1 1 RC11_FUNCTION 0 2
1 1 RC11_MAX 1900 4
1 1 RC11_MIN 1100 4
1 1 RC11_REV 1 2
1 1 RC11_TRIM 1500 4
1 1 RC12_DZ 0 4
1 1 RC12_FUNCTION 0 2
1 1 RC12_MAX 1900 4
1 1 RC12_MIN 1100 4
1 1 RC12_REV 1 2
1 1 RC12_TRIM 1500 4
1 1 RC13_DZ 0 4
1 1 RC13_FUNCTION 0 2
1 1 RC13_MAX 1900 4
1 1 RC13_MIN 1100 4
1 1 RC13_REV 1 2
1 1 RC13_TRIM 1500 4
1 1 RC14_DZ 0 4
1 1 RC14_FUNCTION 0 2
1 1 RC14_MAX 1900 4
1 1 RC14_MIN 1100 4
1 1 RC14_REV 1 2
1 1 RC14_TRIM 1500 4
1 1 RC1_DZ 30 4
1 1 RC1_MAX 1900 4
1 1 RC1_MIN 1100 4
1 1 RC1_REV 1 2
1 1 RC1_TRIM 1500 4
1 1 RC2_DZ 30 4
1 1 RC2_MAX 1900 4
1 1 RC2_MIN 1100 4
1 1 RC2_REV 1 2
1 1 RC2_TRIM 1500 4
1 1 RC3_DZ 30 4
1 1 RC3_MAX 1900 4
1 1 RC3_MIN 1100 4
1 1 RC3_REV 1 2
1 1 RC3_TRIM 1100 4
1 1 RC4_DZ 30 4
1 1 RC4_MAX 1900 4
1 1 RC4_MIN 1100 4
1 1 RC4_REV 1 2
1 1 RC4_TRIM 1500 4
1 1 RC5_DZ 0 4
1 1 RC5_FUNCTION 0 2
1 1 RC5_MAX 1900 4
1 1 RC5_MIN 1100 4
1 1 RC5_REV 1 2
1 1 RC5_TRIM 1500 4
1 1 RC6_DZ 0 4
1 1 RC6_FUNCTION 0 2
1 1 RC6_MAX 1900 4
1 1 RC6_MIN 1100 4
1 1 RC6_REV 1 2
1 1 RC6_TRIM 1500 4
1 1 RC7_DZ 0 4
1 1 RC7_FUNCTION 0 2
1 1 RC7_MAX 1900 4
1 1 RC7_MIN 1100 4
1 1 RC7_REV 1 2
1 1 RC7_TRIM 1500 4
1 1 RC8_DZ 0 4
1 1 RC8_FUNCTION 0 2
1 1 RC8_MAX 1900 4
1 1 RC8_MIN 1100 4
1 1 RC8_REV 1 2
1 1 RC8_TRIM 1500 4
1 1 RC9_DZ 0 4
1 1 RC9_FUNCTION 0 2
1 1 RC9_MAX 1900 4
1 1 RC9_MIN 1100 4
1 1 RC9_REV 1 2
1 1 RC9_TRIM 1500 4
1 1 RCMAP_PITCH 2 2
1 1 RCMAP_ROLL 1 2
1 1 RCMAP_THROTTLE 3 2
1 1 RCMAP_YAW 4 2
1 1 RELAY_DEFAULT 0 2
1 1 RELAY_PIN 54 2
1 1 RELAY_PIN2 55 2
1 1 RELAY_PIN3 -1 2
1 1 RELAY_PIN4 -1 2
1 1 RLL2SRV_D 0.02 9
1 1 RLL2SRV_FF 0 9
1 1 RLL2SRV_I 0.04 9
1 1 RLL2SRV_IMAX 3000 4
1 1 RLL2SRV_P 0.4 9
1 1 RLL2SRV_RMAX 0 4
1 1 RLL2SRV_TCONST 0.5 9
1 1 RNGFND2_ADDR 0 2
1 1 RNGFND2_FUNCTION 0 2
1 1 RNGFND2_GNDCLEAR 10 2
1 1 RNGFND2_MAX_CM 700 4
1 1 RNGFND2_MIN_CM 20 4
1 1 RNGFND2_OFFSET 0 9
1 1 RNGFND2_PIN -1 2
1 1 RNGFND2_RMETRIC 1 2
1 1 RNGFND2_SCALING 3 9
1 1 RNGFND2_SETTLE 0 4
1 1 RNGFND2_STOP_PIN -1 2
1 1 RNGFND2_TYPE 0 2
1 1 RNGFND_ADDR 0 2
1 1 RNGFND_FUNCTION 0 2
1 1 RNGFND_GNDCLEAR 10 2
1 1 RNGFND_LANDING 0 2
1 1 RNGFND_MAX_CM 700 4
1 1 RNGFND_MIN_CM 20 4
1 1 RNGFND_OFFSET 0 9
1 1 RNGFND_PIN -1 2
1 1 RNGFND_PWRRNG 0 4
1 1 RNGFND_RMETRIC 1 2
1 1 RNGFND_SCALING 3 9
1 1 RNGFND_SETTLE 0 4
1 1 RNGFND_STOP_PIN -1 2
1 1 RNGFND_TYPE 0 2
1 1 RSSI_ANA_PIN 0 2
1 1 RSSI_CHANNEL 0 2
1 1 RSSI_CHAN_HIGH 2000 4
1 1 RSSI_CHAN_LOW 1000 4
1 1 RSSI_PIN_HIGH 5 9
1 1 RSSI_PIN_LOW 0 9
1 1 RSSI_TYPE 0 2
1 1 RST_MISSION_CH 0 2
1 1 RST_SWITCH_CH 0 2
1 1 RTL_AUTOLAND 0 2
1 1 RUDDER_ONLY 0 2
1 1 SCALING_SPEED 15 9
1 1 SCHED_DEBUG 0 2
1 1 SERIAL0_BAUD 115 6
1 1 SERIAL1_BAUD 57 6
1 1 SERIAL1_PROTOCOL 1 2
1 1 SERIAL2_BAUD 57 6
1 1 SERIAL2_PROTOCOL 1 2
1 1 SERIAL3_BAUD 38 6
1 1 SERIAL3_PROTOCOL 5 2
1 1 SERIAL4_BAUD 38 6
1 1 SERIAL4_PROTOCOL 5 2
1 1 SR0_EXTRA1 10 4
1 1 SR0_EXTRA2 1 4
1 1 SR0_EXTRA3 1 4
1 1 SR0_EXT_STAT 2 4
1 1 SR0_PARAMS 10 4
1 1 SR0_POSITION 3 4
1 1 SR0_RAW_CTRL 1 4
1 1 SR0_RAW_SENS 2 4
1 1 SR0_RC_CHAN 2 4
1 1 SR1_EXTRA1 1 4
1 1 SR1_EXTRA2 1 4
1 1 SR1_EXTRA3 1 4
1 1 SR1_EXT_STAT 1 4
1 1 SR1_PARAMS 10 4
1 1 SR1_POSITION 1 4
1 1 SR1_RAW_CTRL 1 4
1 1 SR1_RAW_SENS 1 4
1 1 SR1_RC_CHAN 1 4
1 1 SR2_EXTRA1 1 4
1 1 SR2_EXTRA2 1 4
1 1 SR2_EXTRA3 1 4
1 1 SR2_EXT_STAT 1 4
1 1 SR2_PARAMS 10 4
1 1 SR2_POSITION 1 4
1 1 SR2_RAW_CTRL 1 4
1 1 SR2_RAW_SENS 1 4
1 1 SR2_RC_CHAN 1 4
1 1 SR3_EXTRA1 1 4
1 1 SR3_EXTRA2 1 4
1 1 SR3_EXTRA3 1 4
1 1 SR3_EXT_STAT 1 4
1 1 SR3_PARAMS 10 4
1 1 SR3_POSITION 1 4
1 1 SR3_RAW_CTRL 1 4
1 1 SR3_RAW_SENS 1 4
1 1 SR3_RC_CHAN 1 4
1 1 STAB_PITCH_DOWN 2 9
1 1 STALL_PREVENTION 1 2
1 1 STEER2SRV_D 0.005 9
1 1 STEER2SRV_FF 0 9
1 1 STEER2SRV_I 0.2 9
1 1 STEER2SRV_IMAX 1500 4
1 1 STEER2SRV_MINSPD 1 9
1 1 STEER2SRV_P 1.8 9
1 1 STEER2SRV_TCONST 0.75 9
1 1 STICK_MIXING 1 2
1 1 SYSID_MYGCS 255 4
1 1 SYSID_SW_TYPE 0 2
1 1 SYSID_THISMAV 1 4
1 1 SYS_NUM_RESETS 1 4
1 1 TECS_CLMB_MAX 5 9
1 1 TECS_HGT_OMEGA 3 9
1 1 TECS_INTEG_GAIN 0.1 9
1 1 TECS_LAND_ARSPD -1 9
1 1 TECS_LAND_DAMP 0.5 9
1 1 TECS_LAND_PMAX 10 2
1 1 TECS_LAND_SINK 0.25 9
1 1 TECS_LAND_SPDWGT 1 9
1 1 TECS_LAND_TCONST 2 9
1 1 TECS_LAND_THR -1 9
1 1 TECS_PITCH_MAX 0 2
1 1 TECS_PITCH_MIN 0 2
1 1 TECS_PTCH_DAMP 0 9
1 1 TECS_RLL2THR 10 9
1 1 TECS_SINK_MAX 5 9
1 1 TECS_SINK_MIN 2 9
1 1 TECS_SPDWEIGHT 1 9
1 1 TECS_SPD_OMEGA 2 9
1 1 TECS_THR_DAMP 0.5 9
1 1 TECS_TIME_CONST 5 9
1 1 TECS_VERT_ACC 7 9
1 1 TELEM_DELAY 0 2
1 1 TERRAIN_ENABLE 1 2
1 1 TERRAIN_FOLLOW 0 2
1 1 TERRAIN_LOOKAHD 2000 4
1 1 TERRAIN_SPACING 100 4
1 1 THROTTLE_NUDGE 1 2
1 1 THR_FAILSAFE 1 2
1 1 THR_FS_VALUE 950 4
1 1 THR_MAX 75 2
1 1 THR_MIN 0 2
1 1 THR_PASS_STAB 0 2
1 1 THR_SLEWRATE 100 2
1 1 THR_SUPP_MAN 0 2
1 1 TKOFF_FLAP_PCNT 0 2
1 1 TKOFF_ROTATE_SPD 0 9
1 1 TKOFF_TDRAG_ELEV 0 2
1 1 TKOFF_TDRAG_SPD1 0 9
1 1 TKOFF_THR_DELAY 2 2
1 1 TKOFF_THR_MAX 0 2
1 1 TKOFF_THR_MINACC 0 9
1 1 TKOFF_THR_MINSPD 0 9
1 1 TKOFF_THR_SLEW 0 2
1 1 TRIM_ARSPD_CM 1200 6
1 1 TRIM_AUTO 0 2
1 1 TRIM_PITCH_CD 0 4
1 1 TRIM_RC_AT_START 0 2
1 1 TRIM_THROTTLE 45 2
1 1 VTAIL_OUTPUT 0 2
1 1 WP_LOITER_RAD 60 4
1 1 WP_MAX_RADIUS 0 4
1 1 WP_RADIUS 90 4
1 1 YAW2SRV_DAMP 0 9
1 1 YAW2SRV_IMAX 1500 4
1 1 YAW2SRV_INT 0 9
1 1 YAW2SRV_RLL 1 9
1 1 YAW2SRV_SLIP 0 9
src/comm/MockLink.cc
View file @ 0303f53a
......@@ -72,6 +72,7 @@ float MockLink::_vehicleLongitude = -122.08794f;
float MockLink::_vehicleAltitude = 2.5f;
const char* MockConfiguration::_firmwareTypeKey = "FirmwareType";
const char* MockConfiguration::_vehicleTypeKey = "VehicleType";
const char* MockConfiguration::_sendStatusTextKey = "SendStatusText";
MockLink::MockLink(MockConfiguration* config)
......@@ -85,6 +86,7 @@ MockLink::MockLink(MockConfiguration* config)
, _mavBaseMode(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)
, _mavState(MAV_STATE_STANDBY)
, _firmwareType(MAV_AUTOPILOT_PX4)
, _vehicleType(MAV_TYPE_QUADROTOR)
, _fileServer(NULL)
, _sendStatusText(false)
, _apmSendHomePositionOnEmptyList(false)
......@@ -93,6 +95,7 @@ MockLink::MockLink(MockConfiguration* config)
_config = config;
if (_config) {
_firmwareType = config->firmwareType();
_vehicleType = config->vehicleType();
_sendStatusText = config->sendStatusText();
}
......@@ -113,7 +116,6 @@ MockLink::MockLink(MockConfiguration* config)
MockLink::~MockLink(void)
{
qDebug() << "MockLink destructor";
_disconnect();
}
......@@ -200,7 +202,18 @@ void MockLink::_run50HzTasks(void)
void MockLink::_loadParams(void)
{
QFile paramFile(":/unittest/MockLink.params");
QFile paramFile;
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
if (_vehicleType == MAV_TYPE_FIXED_WING) {
paramFile.setFileName(":/unittest/APMArduPlaneMockLink.params");
} else {
paramFile.setFileName(":/unittest/APMArduCopterMockLink.params");
}
} else {
paramFile.setFileName(":/unittest/PX4MockLink.params");
}
bool success = paramFile.open(QFile::ReadOnly);
Q_UNUSED(success);
......@@ -234,11 +247,21 @@ void MockLink::_loadParams(void)
case MAV_PARAM_TYPE_INT32:
paramValue = QVariant(valStr.toInt());
break;
case MAV_PARAM_TYPE_UINT16:
paramValue = QVariant((quint16)valStr.toUInt());
break;
case MAV_PARAM_TYPE_INT16:
paramValue = QVariant((qint16)valStr.toInt());
break;
case MAV_PARAM_TYPE_UINT8:
paramValue = QVariant((quint8)valStr.toUInt());
break;
case MAV_PARAM_TYPE_INT8:
paramValue = QVariant((unsigned char)valStr.toUInt());
paramValue = QVariant((qint8)valStr.toUInt());
break;
default:
Q_ASSERT(false);
qCritical() << "Unknown type" << paramType;
paramValue = QVariant(valStr.toInt());
break;
}
......@@ -405,24 +428,38 @@ void MockLink::_setParamFloatUnionIntoMap(int componentId, const QString& paramN
QVariant paramVariant;
switch (paramType) {
case MAV_PARAM_TYPE_INT8:
paramVariant = QVariant::fromValue(valueUnion.param_int8);
break;
case MAV_PARAM_TYPE_INT32:
paramVariant = QVariant::fromValue(valueUnion.param_int32);
break;
case MAV_PARAM_TYPE_UINT32:
paramVariant = QVariant::fromValue(valueUnion.param_uint32);
break;
case MAV_PARAM_TYPE_REAL32:
paramVariant = QVariant::fromValue(valueUnion.param_float);
break;
default:
qCritical() << "Invalid parameter type" << paramType;
case MAV_PARAM_TYPE_REAL32:
paramVariant = QVariant::fromValue(valueUnion.param_float);
break;
case MAV_PARAM_TYPE_UINT32:
paramVariant = QVariant::fromValue(valueUnion.param_uint32);
break;
case MAV_PARAM_TYPE_INT32:
paramVariant = QVariant::fromValue(valueUnion.param_int32);
break;
case MAV_PARAM_TYPE_UINT16:
paramVariant = QVariant::fromValue(valueUnion.param_uint16);
break;
case MAV_PARAM_TYPE_INT16:
paramVariant = QVariant::fromValue(valueUnion.param_int16);
break;
case MAV_PARAM_TYPE_UINT8:
paramVariant = QVariant::fromValue(valueUnion.param_uint8);
break;
case MAV_PARAM_TYPE_INT8:
paramVariant = QVariant::fromValue(valueUnion.param_int8);
break;
default:
qCritical() << "Invalid parameter type" << paramType;
paramVariant = QVariant::fromValue(valueUnion.param_int32);
break;
}
qCDebug(MockLinkLog) << "_setParamFloatUnionIntoMap" << paramName << paramVariant;
......@@ -442,36 +479,65 @@ float MockLink::_floatUnionForParam(int componentId, const QString& paramName)
QVariant paramVar = _mapParamName2Value[componentId][paramName];
switch (paramType) {
case MAV_PARAM_TYPE_INT8:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = (unsigned char)paramVar.toChar().toLatin1();
} else {
valueUnion.param_int8 = (unsigned char)paramVar.toChar().toLatin1();
}
break;
case MAV_PARAM_TYPE_REAL32:
valueUnion.param_float = paramVar.toFloat();
break;
case MAV_PARAM_TYPE_INT32:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toInt();
} else {
valueUnion.param_int32 = paramVar.toInt();
}
break;
case MAV_PARAM_TYPE_UINT32:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toUInt();
} else {
valueUnion.param_uint32 = paramVar.toUInt();
}
break;
case MAV_PARAM_TYPE_UINT32:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toUInt();
} else {
valueUnion.param_uint32 = paramVar.toUInt();
}
break;
case MAV_PARAM_TYPE_INT32:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toInt();
} else {
valueUnion.param_int32 = paramVar.toInt();
}
break;
case MAV_PARAM_TYPE_REAL32:
valueUnion.param_float = paramVar.toFloat();
break;
case MAV_PARAM_TYPE_UINT16:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toUInt();
} else {
valueUnion.param_uint16 = paramVar.toUInt();
}
break;
default:
qCritical() << "Invalid parameter type" << paramType;
case MAV_PARAM_TYPE_INT16:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toInt();
} else {
valueUnion.param_int16 = paramVar.toInt();
}
break;
case MAV_PARAM_TYPE_UINT8:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toUInt();
} else {
valueUnion.param_uint8 = paramVar.toUInt();
}
break;
case MAV_PARAM_TYPE_INT8:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = (unsigned char)paramVar.toChar().toLatin1();
} else {
valueUnion.param_int8 = (unsigned char)paramVar.toChar().toLatin1();
}
break;
default:
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toInt();
} else {
valueUnion.param_int32 = paramVar.toInt();
}
qCritical() << "Invalid parameter type" << paramType;
}
return valueUnion.param_float;
......@@ -801,6 +867,7 @@ void MockLink::_sendStatusTextMessages(void)
MockConfiguration::MockConfiguration(const QString& name)
: LinkConfiguration(name)
, _firmwareType(MAV_AUTOPILOT_PX4)
, _vehicleType(MAV_TYPE_QUADROTOR)
, _sendStatusText(false)
{
......@@ -810,6 +877,7 @@ MockConfiguration::MockConfiguration(MockConfiguration* source)
: LinkConfiguration(source)
{
_firmwareType = source->_firmwareType;
_vehicleType = source->_vehicleType;
_sendStatusText = source->_sendStatusText;
}
......@@ -824,6 +892,7 @@ void MockConfiguration::copyFrom(LinkConfiguration *source)
}
_firmwareType = usource->_firmwareType;
_vehicleType = usource->_vehicleType;
_sendStatusText = usource->_sendStatusText;
}
......@@ -831,6 +900,7 @@ void MockConfiguration::saveSettings(QSettings& settings, const QString& root)
{
settings.beginGroup(root);
settings.setValue(_firmwareTypeKey, (int)_firmwareType);
settings.setValue(_vehicleTypeKey, (int)_vehicleType);
settings.setValue(_sendStatusTextKey, _sendStatusText);
settings.sync();
settings.endGroup();
......@@ -840,6 +910,7 @@ void MockConfiguration::loadSettings(QSettings& settings, const QString& root)
{
settings.beginGroup(root);
_firmwareType = (MAV_AUTOPILOT)settings.value(_firmwareTypeKey, (int)MAV_AUTOPILOT_PX4).toInt();
_vehicleType = (MAV_TYPE)settings.value(_vehicleTypeKey, (int)MAV_TYPE_QUADROTOR).toInt();
_sendStatusText = settings.value(_sendStatusTextKey, false).toBool();
settings.endGroup();
}
......
src/comm/MockLink.h
View file @ 0303f53a
......@@ -44,6 +44,9 @@ public:
MAV_AUTOPILOT firmwareType(void) { return _firmwareType; }
void setFirmwareType(MAV_AUTOPILOT firmwareType) { _firmwareType = firmwareType; }
MAV_TYPE vehicleType(void) { return _vehicleType; }
void setVehicleType(MAV_TYPE vehicleType) { _vehicleType = vehicleType; }
/// @param sendStatusText true: mavlink status text messages will be sent for each severity, as well as voice output info message
void setSendStatusText(bool sendStatusText) { _sendStatusText = sendStatusText; }
bool sendStatusText(void) { return _sendStatusText; }
......@@ -57,9 +60,11 @@ public:
private:
MAV_AUTOPILOT _firmwareType;
MAV_TYPE _vehicleType;
bool _sendStatusText;
static const char* _firmwareTypeKey;
static const char* _vehicleTypeKey;
static const char* _sendStatusTextKey;
};
......@@ -183,8 +188,9 @@ private:
uint32_t _mavCustomMode;
uint8_t _mavState;
MockConfiguration* _config;
MAV_AUTOPILOT _firmwareType;
MockConfiguration* _config;
MAV_AUTOPILOT _firmwareType;
MAV_TYPE _vehicleType;
MockLinkFileServer* _fileServer;
......
src/ui/MockLinkConfiguration.cc
View file @ 0303f53a
......@@ -43,11 +43,23 @@ MockLinkConfiguration::MockLinkConfiguration(MockConfiguration *config, QWidget
break;
}
switch (config->vehicleType()) {
case MAV_TYPE_FIXED_WING:
_ui->apmArduPlaneRadio->setChecked(true);
break;
default:
_ui->apmArduCopterRadio->setChecked(true);
break;
}
_ui->sendStatusTextCheckBox->setChecked(config->sendStatusText());
connect(_ui->px4Radio, &QRadioButton::clicked, this, &MockLinkConfiguration::_px4RadioClicked);
connect(_ui->apmRadio, &QRadioButton::clicked, this, &MockLinkConfiguration::_apmRadioClicked);
connect(_ui->genericRadio, &QRadioButton::clicked, this, &MockLinkConfiguration::_genericRadioClicked);
connect(_ui->apmArduCopterRadio, &QRadioButton::clicked, this, &MockLinkConfiguration::_apmArduCopterRadioClicked);
connect(_ui->apmArduPlaneRadio, &QRadioButton::clicked, this, &MockLinkConfiguration::_apmArduPlaneRadioClicked);
connect(_ui->genericRadio, &QRadioButton::clicked, this, &MockLinkConfiguration::_genericRadioClicked);
connect(_ui->sendStatusTextCheckBox, &QCheckBox::clicked, this, &MockLinkConfiguration::_sendStatusTextClicked);
}
......@@ -77,6 +89,20 @@ void MockLinkConfiguration::_genericRadioClicked(bool checked)
}
}
void MockLinkConfiguration::_apmArduCopterRadioClicked(bool checked)
{
if (checked) {
_config->setVehicleType(MAV_TYPE_QUADROTOR);
}
}
void MockLinkConfiguration::_apmArduPlaneRadioClicked(bool checked)
{
if (checked) {
_config->setVehicleType(MAV_TYPE_FIXED_WING);
}
}
void MockLinkConfiguration::_sendStatusTextClicked(bool checked)
{
_config->setSendStatusText(checked);
......
src/ui/MockLinkConfiguration.h
View file @ 0303f53a
......@@ -44,6 +44,8 @@ private slots:
void _px4RadioClicked(bool checked);
void _apmRadioClicked(bool checked);
void _genericRadioClicked(bool checked);
void _apmArduCopterRadioClicked(bool checked);
void _apmArduPlaneRadioClicked(bool checked);
void _sendStatusTextClicked(bool checked);
private:
......
src/ui/MockLinkConfiguration.ui
View file @ 0303f53a
......@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>187</width>
<height>116</height>
<width>238</width>
<height>188</height>
</rect>
</property>
<property name="windowTitle">
......@@ -42,6 +42,29 @@
</property>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>APM vehicle type</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QRadioButton" name="apmArduCopterRadio">
<property name="text">
<string>ArduCopter</string>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="apmArduPlaneRadio">
<property name="text">
<string>ArduPlane</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<resources/>
......
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