/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file sensor_params.c
*
* Parameters defined by the sensors task.
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Julian Oes <julian@px4.io>
* @author Thomas Gubler <thomas@px4.io>
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/**
* ID of the board this parameter set was calibrated on.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_BOARD_ID, 0);
/**
* ID of the Gyro that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0);
/**
* Gyro X-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_XOFF, 0.0f);
/**
* Gyro Y-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_YOFF, 0.0f);
/**
* Gyro Z-axis offset
*
* @min -5.0
* @max 5.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_ZOFF, 0.0f);
/**
* Gyro X-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_XSCALE, 1.0f);
/**
* Gyro Y-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_YSCALE, 1.0f);
/**
* Gyro Z-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_ZSCALE, 1.0f);
/**
* ID of Magnetometer the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG0_ID, 0);
/**
* Rotation of magnetometer 0 relative to airframe.
*
* An internal magnetometer will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @min -1
* @max 30
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG0_ROT, -1);
/**
* Magnetometer X-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_XOFF, 0.0f);
/**
* Magnetometer Y-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_YOFF, 0.0f);
/**
* Magnetometer Z-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_ZOFF, 0.0f);
/**
* Magnetometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_XSCALE, 1.0f);
/**
* Magnetometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_YSCALE, 1.0f);
/**
* Magnetometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_ZSCALE, 1.0f);
/**
* ID of the Accelerometer that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC0_ID, 0);
/**
* Accelerometer X-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_XOFF, 0.0f);
/**
* Accelerometer Y-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_YOFF, 0.0f);
/**
* Accelerometer Z-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_ZOFF, 0.0f);
/**
* Accelerometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_XSCALE, 1.0f);
/**
* Accelerometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_YSCALE, 1.0f);
/**
* Accelerometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_ZSCALE, 1.0f);
/**
* ID of the Gyro that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0);
/**
* Gyro X-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_XOFF, 0.0f);
/**
* Gyro Y-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_YOFF, 0.0f);
/**
* Gyro Z-axis offset
*
* @min -5.0
* @max 5.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_ZOFF, 0.0f);
/**
* Gyro X-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_XSCALE, 1.0f);
/**
* Gyro Y-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_YSCALE, 1.0f);
/**
* Gyro Z-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_ZSCALE, 1.0f);
/**
* ID of Magnetometer the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG1_ID, 0);
/**
* Rotation of magnetometer 1 relative to airframe.
*
* An internal magnetometer will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @min -1
* @max 30
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG1_ROT, -1);
/**
* Magnetometer X-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_XOFF, 0.0f);
/**
* Magnetometer Y-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_YOFF, 0.0f);
/**
* Magnetometer Z-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_ZOFF, 0.0f);
/**
* Magnetometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_XSCALE, 1.0f);
/**
* Magnetometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_YSCALE, 1.0f);
/**
* Magnetometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f);
/**
* ID of the Accelerometer that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC1_ID, 0);
/**
* Accelerometer X-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_XOFF, 0.0f);
/**
* Accelerometer Y-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_YOFF, 0.0f);
/**
* Accelerometer Z-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_ZOFF, 0.0f);
/**
* Accelerometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_XSCALE, 1.0f);
/**
* Accelerometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_YSCALE, 1.0f);
/**
* Accelerometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_ZSCALE, 1.0f);
/**
* ID of the Gyro that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO2_ID, 0);
/**
* Gyro X-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_XOFF, 0.0f);
/**
* Gyro Y-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_YOFF, 0.0f);
/**
* Gyro Z-axis offset
*
* @min -5.0
* @max 5.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_ZOFF, 0.0f);
/**
* Gyro X-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_XSCALE, 1.0f);
/**
* Gyro Y-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_YSCALE, 1.0f);
/**
* Gyro Z-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_ZSCALE, 1.0f);
/**
* ID of Magnetometer the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
/**
* Rotation of magnetometer 2 relative to airframe.
*
* An internal magnetometer will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @min -1
* @max 30
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1);
/**
* Magnetometer X-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_XOFF, 0.0f);
/**
* Magnetometer Y-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_YOFF, 0.0f);
/**
* Magnetometer Z-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_ZOFF, 0.0f);
/**
* Magnetometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_XSCALE, 1.0f);
/**
* Magnetometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f);
/**
* Magnetometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f);
/**
* ID of the Accelerometer that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC2_ID, 0);
/**
* Accelerometer X-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_XOFF, 0.0f);
/**
* Accelerometer Y-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_YOFF, 0.0f);
/**
* Accelerometer Z-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_ZOFF, 0.0f);
/**
* Accelerometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_XSCALE, 1.0f);
/**
* Accelerometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_YSCALE, 1.0f);
/**
* Accelerometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_ZSCALE, 1.0f);
/**
* Differential pressure sensor offset
*
* The offset (zero-reading) in Pascal
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
/**
* Differential pressure sensor analog scaling
*
* Pick the appropriate scaling from the datasheet.
* this number defines the (linear) conversion from voltage
* to Pascal (pa). For the MPXV7002DP this is 1000.
*
* NOTE: If the sensor always registers zero, try switching
* the static and dynamic tubes.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);
/**
* QNH for barometer
*
* @min 500
* @max 1500
* @group Sensor Calibration
* @unit hPa
*/
PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f);
/**
* Board rotation
*
* This parameter defines the rotation of the FMU board relative to the platform.
* Possible values are:
* 0 = No rotation
* 1 = Yaw 45°
* 2 = Yaw 90°
* 3 = Yaw 135°
* 4 = Yaw 180°
* 5 = Yaw 225°
* 6 = Yaw 270°
* 7 = Yaw 315°
* 8 = Roll 180°
* 9 = Roll 180°, Yaw 45°
* 10 = Roll 180°, Yaw 90°
* 11 = Roll 180°, Yaw 135°
* 12 = Pitch 180°
* 13 = Roll 180°, Yaw 225°
* 14 = Roll 180°, Yaw 270°
* 15 = Roll 180°, Yaw 315°
* 16 = Roll 90°
* 17 = Roll 90°, Yaw 45°
* 18 = Roll 90°, Yaw 90°
* 19 = Roll 90°, Yaw 135°
* 20 = Roll 270°
* 21 = Roll 270°, Yaw 45°
* 22 = Roll 270°, Yaw 90°
* 23 = Roll 270°, Yaw 135°
* 24 = Pitch 90°
* 25 = Pitch 270°
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
/**
* PX4Flow board rotation
*
* This parameter defines the rotation of the PX4FLOW board relative to the platform.
* Zero rotation is defined as Y on flow board pointing towards front of vehicle
* Possible values are:
* 0 = No rotation
* 1 = Yaw 45°
* 2 = Yaw 90°
* 3 = Yaw 135°
* 4 = Yaw 180°
* 5 = Yaw 225°
* 6 = Yaw 270°
* 7 = Yaw 315°
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(SENS_FLOW_ROT, 0);
/**
* Board rotation Y (Pitch) offset
*
* This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user
* to fine tune the board offset in the event of misalignment.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f);
/**
* Board rotation X (Roll) offset
*
* This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user
* to fine tune the board offset in the event of misalignment.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);
/**
* Board rotation Z (YAW) offset
*
* This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user
* to fine tune the board offset in the event of misalignment.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
/**
* External magnetometer rotation
*
* This parameter defines the rotation of the external magnetometer relative
* to the platform (not relative to the FMU).
* See SENS_BOARD_ROT for possible values.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0);
/**
* Set usage of external magnetometer
*
* * Set to 0 (default) to auto-detect (will try to get the external as primary)
* * Set to 1 to force the external magnetometer as primary
* * Set to 2 to force the internal magnetometer as primary
*
* @min 0
* @max 2
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(SENS_EXT_MAG, 0);
/**
* RC Channel 1 Minimum
*
* Minimum value for RC channel 1
*
* @min 800.0
* @max 1500.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
/**
* RC Channel 1 Trim
*
* Mid point value (same as min for throttle)
*
* @min 800.0
* @max 2200.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
/**
* RC Channel 1 Maximum
*
* Maximum value for RC channel 1
*
* @min 1500.0
* @max 2200.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
/**
* RC Channel 1 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
/**
* RC Channel 1 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f);
/**
* RC Channel 2 Minimum
*
* Minimum value for RC channel 2
*
* @min 800.0
* @max 1500.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC2_MIN, 1000.0f);
/**
* RC Channel 2 Trim
*
* Mid point value (same as min for throttle)
*
* @min 800.0
* @max 2200.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC2_TRIM, 1500.0f);
/**
* RC Channel 2 Maximum
*
* Maximum value for RC channel 2
*
* @min 1500.0
* @max 2200.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC2_MAX, 2000.0f);
/**
* RC Channel 2 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
/**
* RC Channel 2 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC3_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC4_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC5_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC6_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC7_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC8_DZ, 10.0f);
PARAM_DEFINE_FLOAT(RC9_MIN, 1000);
PARAM_DEFINE_FLOAT(RC9_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC9_MAX, 2000);
PARAM_DEFINE_FLOAT(RC9_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC9_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC10_MIN, 1000);
PARAM_DEFINE_FLOAT(RC10_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC10_MAX, 2000);
PARAM_DEFINE_FLOAT(RC10_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC10_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC11_MIN, 1000);
PARAM_DEFINE_FLOAT(RC11_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC11_MAX, 2000);
PARAM_DEFINE_FLOAT(RC11_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC11_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC12_MIN, 1000);
PARAM_DEFINE_FLOAT(RC12_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC12_MAX, 2000);
PARAM_DEFINE_FLOAT(RC12_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC12_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC13_MIN, 1000);
PARAM_DEFINE_FLOAT(RC13_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC13_MAX, 2000);
PARAM_DEFINE_FLOAT(RC13_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC13_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC14_MIN, 1000);
PARAM_DEFINE_FLOAT(RC14_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC14_MAX, 2000);
PARAM_DEFINE_FLOAT(RC14_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC15_MIN, 1000);
PARAM_DEFINE_FLOAT(RC15_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC16_MIN, 1000);
PARAM_DEFINE_FLOAT(RC16_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC16_MAX, 2000);
PARAM_DEFINE_FLOAT(RC16_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC16_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC17_MIN, 1000);
PARAM_DEFINE_FLOAT(RC17_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC17_MAX, 2000);
PARAM_DEFINE_FLOAT(RC17_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC17_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC18_MIN, 1000);
PARAM_DEFINE_FLOAT(RC18_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC18_MAX, 2000);
PARAM_DEFINE_FLOAT(RC18_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
#endif
/**
* DSM binding trigger.
*
* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind
*
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_DSM_BIND, -1);
/**
* Scaling factor for battery voltage sensor on PX4IO.
*
* @group Battery Calibration
*/
PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
/**
* Scaling factor for battery voltage sensor on FMU v2.
*
* @board CONFIG_ARCH_BOARD_PX4FMU_V2
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
#elif CONFIG_ARCH_BOARD_AEROCORE
/**
* Scaling factor for battery voltage sensor on AeroCore.
*
* For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063
*
* @board CONFIG_ARCH_BOARD_AEROCORE
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0063f);
#else
/**
* Scaling factor for battery voltage sensor on FMU v1.
*
* FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659
* FMUv1 with PX4IO: 0.00459340659
* FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f);
#endif
/**
* Scaling factor for battery current sensor.
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124); /* scaling for 3DR power brick */
/**
* RC channel count
*
* This parameter is used by Ground Station software to save the number
* of channels which were used during RC calibration. It is only meant
* for ground station use.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_CHAN_CNT, 0);
/**
* RC mode switch threshold automaic distribution
*
* This parameter is used by Ground Station software to specify whether
* the threshold values for flight mode switches were automatically calculated.
* 0 indicates that the threshold values were set by the user. Any other value
* indicates that the threshold value where automatically set by the ground
* station software. It is only meant for ground station use.
*
* @min 0
* @max 1
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_TH_USER, 1);
/**
* Roll control channel mapping.
*
* The channel index (starting from 1 for channel 1) indicates
* which channel should be used for reading roll inputs from.
* A value of zero indicates the switch is not assigned.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
/**
* Pitch control channel mapping.
*
* The channel index (starting from 1 for channel 1) indicates
* which channel should be used for reading pitch inputs from.
* A value of zero indicates the switch is not assigned.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
/**
* Failsafe channel mapping.
*
* The RC mapping index indicates which channel is used for failsafe
* If 0, whichever channel is mapped to throttle is used
* otherwise the value indicates the specific rc channel to use
*
* @min 0
* @max 18
*
*
*/
PARAM_DEFINE_INT32(RC_MAP_FAILSAFE, 0); //Default to throttle function
/**
* Throttle control channel mapping.
*
* The channel index (starting from 1 for channel 1) indicates
* which channel should be used for reading throttle inputs from.
* A value of zero indicates the switch is not assigned.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3);
/**
* Yaw control channel mapping.
*
* The channel index (starting from 1 for channel 1) indicates
* which channel should be used for reading yaw inputs from.
* A value of zero indicates the switch is not assigned.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
/**
* Mode switch channel mapping.
*
* This is the main flight mode selector.
* The channel index (starting from 1 for channel 1) indicates
* which channel should be used for deciding about the main mode.
* A value of zero indicates the switch is not assigned.
*
* @min 0
* @max 18
* @group Radio Switches
*/
PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
/**
* Return switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Switches
*/
PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
/**
* Posctl switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Switches
*/
PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
/**
* Loiter switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Switches
*/
PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
/**
* Acro switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Switches
*/
PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
/**
* Offboard switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Switches
*/
PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
/**
* Flaps channel mapping.
*
* @min 0
* @max 18
* @group Radio Switches
*/
PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);
/**
* Auxiliary switch 1 channel mapping.
*
* Default function: Camera pitch
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_AUX1, 0);
/**
* Auxiliary switch 2 channel mapping.
*
* Default function: Camera roll
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera roll */
/**
* Auxiliary switch 3 channel mapping.
*
* Default function: Camera azimuth / yaw
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
/**
* Channel which changes a parameter
*
* Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel.
* Set to 0 to deactivate *
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_PARAM1, 0);
/**
* Channel which changes a parameter
*
* Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel.
* Set to 0 to deactivate *
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_PARAM2, 0);
/**
* Channel which changes a parameter
*
* Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel.
* Set to 0 to deactivate *
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_PARAM3, 0);
/**
* Failsafe channel PWM threshold.
*
* @min 800
* @max 2200
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_FAILS_THR, 0);
/**
* Threshold for selecting assist mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
/**
* Threshold for selecting auto mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
/**
* Threshold for selecting posctl mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
*
*
*/
PARAM_DEFINE_FLOAT(RC_POSCTL_TH, 0.5f);
/**
* Threshold for selecting return to launch mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_RETURN_TH, 0.5f);
/**
* Threshold for selecting loiter mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
/**
* Threshold for selecting acro mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
/**
* Threshold for selecting offboard mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f);
/**
* PWM input channel that provides RSSI.
*
* 0: do not read RSSI from input channel
* 1-18: read RSSI from specified input channel
*
* Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.
*
* @min 0
* @max 18
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_CHAN, 0);
/**
* Max input value for RSSI reading.
*
* Only used if RC_RSSI_PWM_CHAN > 0
*
* @min 0
* @max 2000
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MAX, 1000);
/**
* Min input value for RSSI reading.
*
* Only used if RC_RSSI_PWM_CHAN > 0
*
* @min 0
* @max 2000
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);
