uavcan_params.c 5.73 KB
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/**
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

/**
 * UAVCAN mode
 *
 *  0 - UAVCAN disabled.
 *  1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update.
 *  2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update.
 *  3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.
 *
 * @min 0
 * @max 3
 * @value 0 Disabled
 * @value 1 Sensors Manual Config
 * @value 2 Sensors Automatic Config
 * @value 3 Sensors and Actuators (ESCs) Automatic Config
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_ENABLE, 0);

/**
 * UAVCAN Node ID.
 *
 * Read the specs at http://uavcan.org to learn more about Node ID.
 *
 * @min 1
 * @max 125
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_NODE_ID, 1);

/**
 * UAVCAN CAN bus bitrate.
 *
 * @unit bit/s
 * @min 20000
 * @max 1000000
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000);

/**
 * UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints.
 *
 * @boolean
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_ESC_IDLT, 1);

/**
 * UAVCAN rangefinder minimum range
 *
 * This parameter defines the minimum valid range for a rangefinder connected via UAVCAN.
 *
 * @unit m
 * @group UAVCAN
 */
PARAM_DEFINE_FLOAT(UAVCAN_RNG_MIN, 0.3f);

/**
 * UAVCAN rangefinder maximum range
 *
 * This parameter defines the maximum valid range for a rangefinder connected via UAVCAN.
 *
 * @unit m
 * @group UAVCAN
 */
PARAM_DEFINE_FLOAT(UAVCAN_RNG_MAX, 200.0f);

/**
 * UAVCAN ANTI_COLLISION light operating mode
 *
 * This parameter defines the minimum condition under which the system will command
 * the ANTI_COLLISION lights on
 *
 *  0 - Always off
 *  1 - When autopilot is armed
 *  2 - When autopilot is prearmed
 *  3 - Always on
 *
 * @min 0
 * @max 3
 * @value 0 Always off
 * @value 1 When autopilot is armed
 * @value 2 When autopilot is prearmed
 * @value 3 Always on
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_LGT_ANTCL, 2);

/**
 * UAVCAN STROBE light operating mode
 *
 * This parameter defines the minimum condition under which the system will command
 * the STROBE lights on
 *
 *  0 - Always off
 *  1 - When autopilot is armed
 *  2 - When autopilot is prearmed
 *  3 - Always on
 *
 * @min 0
 * @max 3
 * @value 0 Always off
 * @value 1 When autopilot is armed
 * @value 2 When autopilot is prearmed
 * @value 3 Always on
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_LGT_STROB, 1);

/**
 * UAVCAN RIGHT_OF_WAY light operating mode
 *
 * This parameter defines the minimum condition under which the system will command
 * the RIGHT_OF_WAY lights on
 *
 *  0 - Always off
 *  1 - When autopilot is armed
 *  2 - When autopilot is prearmed
 *  3 - Always on
 *
 * @min 0
 * @max 3
 * @value 0 Always off
 * @value 1 When autopilot is armed
 * @value 2 When autopilot is prearmed
 * @value 3 Always on
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_LGT_NAV, 3);

/**
 * UAVCAN LIGHT_ID_LANDING light operating mode
 *
 * This parameter defines the minimum condition under which the system will command
 * the LIGHT_ID_LANDING lights on
 *
 *  0 - Always off
 *  1 - When autopilot is armed
 *  2 - When autopilot is prearmed
 *  3 - Always on
 *
 * @min 0
 * @max 3
 * @value 0 Always off
 * @value 1 When autopilot is armed
 * @value 2 When autopilot is prearmed
 * @value 3 Always on
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_LGT_LAND, 0);

/**
 * UAVCAN BATTERY_MONITOR battery monitor selection
 *
 * This parameter defines that the system will select the battery monitor under the following conditions
 *
 *  0 - default battery monitor
 *  1 - CUAV battery monitor
 *
 * @min 0
 * @max 1
 * @value 0 default battery monitor
 * @value 1 CUAV battery monitor
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_BAT_MON, 0);