1 files changed, 148 insertions, 0 deletions
diff --git a/apps/uORB/parameter_storage.h b/apps/uORB/parameter_storage.h
new file mode 100644
index 000000000..54ae63cb9
--- /dev/null
+++ b/apps/uORB/parameter_storage.h
@@ -0,0 +1,148 @@
+/* Structure for storage of parameters */
+
+#ifndef GLOBAL_DATA_PARAMETER_STORAGE_T_H_ //adjust this line!
+#define GLOBAL_DATA_PARAMETER_STORAGE_T_H_ //adjust this line!
+
+#define PX4_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16
+#define MAX_PARAM_NAME_LEN 16
+
+#include <stdbool.h>
+#include <stdint.h>
+
+enum MODE {
+	TAKEOFF = 1,
+	CRUISE,
+	LOITER,
+	LAND
+};
+
+enum PARAM {
+	PARAM_SYSTEM_ID = 0,   ///< System ID used for communication
+	PARAM_COMP_ID,		   ///< Component ID
+	PARAM_FLIGHT_ENV,      ///< Flight environment, indoor or outdoor
+	PARAM_BATTERYVOLTAGE_CONVERSION,      ///< Conversion factor from adc measurement to millivolts. if not set the sensor app will use the default value for the ardrone board
+	PARAM_PID_YAWPOS_P,
+	PARAM_PID_YAWPOS_I,
+	PARAM_PID_YAWPOS_D,
+	PARAM_PID_YAWPOS_AWU,
+	PARAM_PID_YAWPOS_LIM,
+	PARAM_PID_YAWSPEED_P,
+	PARAM_PID_YAWSPEED_I,
+	PARAM_PID_YAWSPEED_D,
+	PARAM_PID_YAWSPEED_AWU,
+	PARAM_PID_YAWSPEED_LIM,
+	PARAM_PID_ATT_P,
+	PARAM_PID_ATT_I,
+	PARAM_PID_ATT_D,
+	PARAM_PID_ATT_AWU,
+	PARAM_PID_ATT_LIM,
+	PARAM_PID_POS_P,
+	PARAM_PID_POS_I,
+	PARAM_PID_POS_D,
+	PARAM_PID_POS_AWU,
+	PARAM_PID_POS_LIM,
+	PARAM_PID_POS_Z_P,
+	PARAM_PID_POS_Z_I,
+	PARAM_PID_POS_Z_D,
+	PARAM_PID_POS_Z_AWU,
+	PARAM_PID_POS_Z_LIM,
+	PARAM_AIRSPEED,
+	PARAM_WPLON,
+	PARAM_WPLAT,
+	PARAM_WPALT,
+	PARAM_FLIGHTMODE,
+	PARAM_SENSOR_GYRO_XOFFSET,
+	PARAM_SENSOR_GYRO_YOFFSET,
+	PARAM_SENSOR_GYRO_ZOFFSET,
+	PARAM_SENSOR_MAG_XOFFSET,
+	PARAM_SENSOR_MAG_YOFFSET,
+	PARAM_SENSOR_MAG_ZOFFSET,
+	PARAM_ATT_XOFFSET,
+	PARAM_ATT_YOFFSET,
+	PARAM_RC1_MIN,
+	PARAM_RC1_MAX,
+	PARAM_RC1_TRIM,
+	PARAM_RC1_REV,
+	PARAM_RC2_MIN,
+	PARAM_RC2_MAX,
+	PARAM_RC2_TRIM,
+	PARAM_RC2_REV,
+	PARAM_RC3_MIN,
+	PARAM_RC3_MAX,
+	PARAM_RC3_TRIM,
+	PARAM_RC3_REV,
+	PARAM_RC4_MIN,
+	PARAM_RC4_MAX,
+	PARAM_RC4_TRIM,
+	PARAM_RC4_REV,
+	PARAM_RC5_MIN,
+	PARAM_RC5_MAX,
+	PARAM_RC5_TRIM,
+	PARAM_RC5_REV,
+	PARAM_RC6_MIN,
+	PARAM_RC6_MAX,
+	PARAM_RC6_TRIM,
+	PARAM_RC6_REV,
+	PARAM_RC7_MIN,
+	PARAM_RC7_MAX,
+	PARAM_RC7_TRIM,
+	PARAM_RC7_REV,
+	PARAM_RC8_MIN,
+	PARAM_RC8_MAX,
+	PARAM_RC8_TRIM,
+	PARAM_RC8_REV,
+	PARAM_THROTTLE_CHAN,
+	PARAM_ROLL_CHAN,
+	PARAM_PITCH_CHAN,
+	PARAM_YAW_CHAN,
+	PARAM_OVERRIDE_CHAN,
+	PARAM_SERVO1_MIN,
+	PARAM_SERVO1_MAX,
+	PARAM_SERVO1_TRIM,
+	PARAM_SERVO2_MIN,
+	PARAM_SERVO2_MAX,
+	PARAM_SERVO2_TRIM,
+	PARAM_SERVO3_MIN,
+	PARAM_SERVO3_MAX,
+	PARAM_SERVO3_TRIM,
+	PARAM_SERVO4_MIN,
+	PARAM_SERVO4_MAX,
+	PARAM_SERVO4_TRIM,
+	PARAM_SERVO_SCALE,
+	PARAM_MAX_COUNT        ///< LEAVE THIS IN PLACE AS LAST ELEMENT!
+};
+
+struct px4_parameter_storage_t {
+	float param_values[PARAM_MAX_COUNT];      ///< Parameter values
+	const char *param_names[PARAM_MAX_COUNT]; ///< Parameter names
+	bool param_needs_write[PARAM_MAX_COUNT];
+	uint16_t next_param;
+	uint16_t size;
+};
+
+
+#define PX4_FLIGHT_ENVIRONMENT_INDOOR 0
+#define PX4_FLIGHT_ENVIRONMENT_OUTDOOR 1
+#define PX4_FLIGHT_ENVIRONMENT_TESTING 2 //NO check for position fix in this environment
+
+struct global_data_parameter_storage_t {
+
+	/* use of a counter and timestamp recommended (but not necessary) */
+
+//	uint16_t counter; //incremented by the writing thread everytime new data is stored
+//	uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data
+
+	/* Actual data, this is specific to the type of data which is stored in this struct */
+
+	//***** Start: Add your variables here *****
+
+	/* Parameters (set by a param_set mavlink message */
+	struct px4_parameter_storage_t pm;
+
+	//*****END: Add your variables here *****
+
+};
+
+__attribute__ ((visibility ("default"))) extern struct global_data_parameter_storage_t *global_data_parameter_storage; //adjust this line!
+
+#endif