uav_params.h

/*
 * uav_params.h
 * Header file to contain the parameter types for different APs
 *
 *  Created on: 1 Sep 2013
 *      Author: Colin G http://www.diydrones.com/profile/ColinG
 */

#ifndef UAV_PARAMS_H_
#define UAV_PARAMS_H_

// ------------------------------ FIXED WING ------------------------------ //
enum PARAMS_PLANE {
	// Parameter page parameters
	TRIM_AUTO=0,
	ARSPD_RATIO,
	SCALING_SPEED,
	LOG_BITMASK,
	// Parameter count
	PARAM_COUNT_PLANE
};

// Parameter page - plane params
prog_char param_plane_0[] PROGMEM = "TRIM_AUTO";
prog_char param_plane_1[] PROGMEM = "ARSPD_RATIO";
prog_char param_plane_2[] PROGMEM = "SCALING_SPEED";
prog_char param_plane_3[] PROGMEM = "LOG_BITMASK";


//                                          "123456789012"
PROGMEM const prog_char ParamNamesPlane[] = "InFlightTrim\n"
											"Airsd Ratio \n"
											"ScalingSpeed\n"
											"Log Bitmask \n";

const uint8_t ParamScales[] = {99,    0,    0,    0}; // *10^(-x)
const uint8_t ParamDPs[] =    {99,    3,    1,    0}; // 99 in both denotes boolean

PROGMEM const char *paramTable_plane[] = { param_plane_0, param_plane_1, param_plane_2, param_plane_3};

enum PARAMS_PLANE_CTUN {
	// Parameter page parameters
	RLL2SRV_P=0,
	RLL2SRV_I,
	RLL2SRV_D,
	RLL2SRV_IMAX,
	RLL2SRV_RMAX,
	RLL2SRV_T_CONST,
	PTCH2SRV_P,
	PTCH2SRV_I,
	PTCH2SRV_D,
	PTCH2SRV_IMAX,
	PTCH2SRV_RMAX_UP,
	PTCH2SRV_RMAX_DN,
	PTCH2SRV_T_CONST,
	PTCH2SRV_RLL,
	YAW2SRV_SLIP,
	YAW2SRV_DAMP,
	YAW2SRV_RLL,
	YAW2SRV_INT,
	// Parameter count
	PARAM_COUNT_PLANE_CTUN
};

prog_char param_plane_ctun_0[] PROGMEM = "RLL2SRV_P";
prog_char param_plane_ctun_1[] PROGMEM = "RLL2SRV_I";
prog_char param_plane_ctun_2[] PROGMEM = "RLL2SRV_D";
prog_char param_plane_ctun_3[] PROGMEM = "RLL2SRV_IMAX";
prog_char param_plane_ctun_4[] PROGMEM = "RLL2SRV_RMAX";
prog_char param_plane_ctun_5[] PROGMEM = "RLL2SRV_TCONST";
prog_char param_plane_ctun_6[] PROGMEM = "PTCH2SRV_P";
prog_char param_plane_ctun_7[] PROGMEM = "PTCH2SRV_I";
prog_char param_plane_ctun_8[] PROGMEM = "PTCH2SRV_D";
prog_char param_plane_ctun_9[] PROGMEM = "PTCH2SRV_IMAX";
prog_char param_plane_ctun_10[] PROGMEM = "PTCH2SRV_RMAX_UP";
prog_char param_plane_ctun_11[] PROGMEM = "PTCH2SRV_RMAX_DN";
prog_char param_plane_ctun_12[] PROGMEM = "PTCH2SRV_TCONST";
prog_char param_plane_ctun_13[] PROGMEM = "PTCH2SRV_RLL";
prog_char param_plane_ctun_14[] PROGMEM = "YAW2SRV_SLIP";
prog_char param_plane_ctun_15[] PROGMEM = "YAW2SRV_DAMP";
prog_char param_plane_ctun_16[] PROGMEM = "YAW2SRV_RLL";
prog_char param_plane_ctun_17[] PROGMEM = "YAW2SRV_INT";

//                                              "123456789012"
PROGMEM const prog_char ParamNamesPlaneCTUN[] = "Roll P      \n"
												"Roll I      \n"
												"Roll D      \n"
												"Roll Imax   \n"
												"Roll Rmax   \n"
												"Roll T Const\n"
												"Pitch P     \n"
												"Pitch I     \n"
												"Pitch D     \n"
												"Pitch Imax  \n"
												"Pitch RmaxUp\n"
												"Pitch RmaxDn\n"
												"Pitch TConst\n"
												"Pitch 2 Roll\n"
												"Yaw Slip    \n"
												"Yaw Damp    \n"
												"Yaw Roll    \n"
												"Yaw Int     \n";

const uint8_t ParamScalesCTUN[] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; // *10^(-x)
const uint8_t ParamDPsCTUN[] =    {2,2,2,0,2,2,2,2,2,0,2,2,2,2,2,2,2,2}; // 99 in both denotes boolean

PROGMEM const char *paramTable_plane_ctun[] = { param_plane_ctun_0, param_plane_ctun_1,
		param_plane_ctun_2, param_plane_ctun_3, param_plane_ctun_4, param_plane_ctun_5,
		param_plane_ctun_6, param_plane_ctun_7, param_plane_ctun_8, param_plane_ctun_9,
		param_plane_ctun_10, param_plane_ctun_11, param_plane_ctun_12, param_plane_ctun_13,
		param_plane_ctun_14, param_plane_ctun_15, param_plane_ctun_16, param_plane_ctun_17 };

enum PARAMS_PLANE_NTUN {
	// Parameter page parameters
	NAVL1_PERIOD=0,
	NAVL1_DAMPING,
	WP_RADIUS,
	LIM_ROLL_CD,
	// Parameter count
	PARAM_COUNT_PLANE_NTUN
};

prog_char param_plane_ntun_0[] PROGMEM = "NAVL1_PERIOD";
prog_char param_plane_ntun_1[] PROGMEM = "NAVL1_DAMPING";
prog_char param_plane_ntun_2[] PROGMEM = "WP_RADIUS";
prog_char param_plane_ntun_3[] PROGMEM = "LIM_ROLL_CD";

//                                              "123456789012"
PROGMEM const prog_char ParamNamesPlaneNTUN[] = "L1 Period   \n"
												"L1 Damping  \n"
												"WP Radius   \n"
												"Lim Roll CD \n";

const uint8_t ParamScalesNTUN[] = {0,0,0,2}; // *10^(-x)
const uint8_t ParamDPsNTUN[] =    {2,2,2,2}; // 99 in both denotes boolean

PROGMEM const char *paramTable_plane_ntun[] = { param_plane_ntun_0, param_plane_ntun_1,
		param_plane_ntun_2, param_plane_ntun_3 };

enum PARAMS_PLANE_TECS {
	// Parameter page parameters
	ARSPD_FBW_MIN=0,
	ARSPD_FBW_MAX,
	THR_MIN,
	TRIM_THROTTLE,
	THR_MAX,
	LIM_PITCH_MIN,
	LIM_PITCH_MAX,
	TECS_SINK_MIN,
	TECS_SINK_MAX,
	TECS_CLMB_MAX,
	TECS_TIME_CONST,
	TECS_PTCH_DAMP,
	// Parameter count
	PARAM_COUNT_PLANE_TECS
};

prog_char param_plane_tecs_0[] PROGMEM = "ARSPD_FBW_MIN";
prog_char param_plane_tecs_1[] PROGMEM = "ARSPD_FBW_MAX";
prog_char param_plane_tecs_2[] PROGMEM = "THR_MIN";
prog_char param_plane_tecs_3[] PROGMEM = "TRIM_THROTTLE";
prog_char param_plane_tecs_4[] PROGMEM = "THR_MAX";
prog_char param_plane_tecs_5[] PROGMEM = "LIM_PITCH_MIN";
prog_char param_plane_tecs_6[] PROGMEM = "LIM_PITCH_MAX";
prog_char param_plane_tecs_7[] PROGMEM = "TECS_SINK_MIN";
prog_char param_plane_tecs_8[] PROGMEM = "TECS_SINK_MAX";
prog_char param_plane_tecs_9[] PROGMEM = "TECS_CLMB_MAX";
prog_char param_plane_tecs_10[] PROGMEM = "TECS_TIME_CONST";
prog_char param_plane_tecs_11[] PROGMEM = "TECS_PTCH_DAMP";

//                                              "123456789012"
PROGMEM const prog_char ParamNamesPlaneTECS[] = "Airspeed Min\n"
												"Airspeed Max\n"
												"Throttle Min\n"
												"Thrtl Cruise\n"
												"Throttle Max\n"
												"Pitch Min   \n"
												"Pitch Max   \n"
												"TECS SinkMin\n"
												"TECS SinkMax\n"
												"TECS ClmbMax\n"
												"TECS T Const\n"
												"Tecs PchDamp\n";

const uint8_t ParamScalesTECS[] = {0,0,0,0,0,2,2,0,0,0,0,0}; // *10^(-x)
const uint8_t ParamDPsTECS[] =    {0,0,0,0,0,1,1,2,2,2,2,2}; // 99 in both denotes boolean

PROGMEM const char *paramTable_plane_tecs[] = { param_plane_tecs_0, param_plane_tecs_1,
		param_plane_tecs_2, param_plane_tecs_3, param_plane_tecs_4, param_plane_tecs_5,
		param_plane_tecs_6, param_plane_tecs_7, param_plane_tecs_8, param_plane_tecs_9,
		param_plane_tecs_10, param_plane_tecs_11};

// ------------------------------ ROVERS ------------------------------ //
enum PARAMS_ROVER {
	// Parameter page parameters
	ROVER_THR_MIN=0,
	ROVER_CRUISE_THROTTLE,
	ROVER_THR_MAX,
	ROVER_THR_SLEWRATE,
	STEER2SRV_P,
	STEER2SRV_I,
	STEER2SRV_D,
	STEER2SRV_IMAX,
	STEER2SRV_TCONST,
	TURN_MAX_G,
	ROVER_NAVL1_PERIOD,
	SPEED_TURN_GAIN,
	SPEED_TURN_DIST,
	SKID_STEER_OUT,
	SKID_STEER_IN,
	FS_ACTION,
	FS_TIMEOUT,
	FS_THR_ENABLE,
	FS_THR_VALUE,
	// Parameter count
	PARAM_COUNT_ROVER
};

const uint8_t ParamScalesRover[] = {0,0,0,0,0,0,0,0,0,0,0,0,0,99,99,0,0,99,0}; // *10^(-x)
const uint8_t ParamDPsRover[] =    {0,0,0,0,2,2,2,0,2,2,2,0,2,99,99,0,0,99,0}; // 99 in both denotes boolean

// Parameter page - rover params
prog_char param_rover_0[] PROGMEM = "THR_MIN";
prog_char param_rover_1[] PROGMEM = "CRUISE_THROTTLE";
prog_char param_rover_2[] PROGMEM = "THR_MAX";
prog_char param_rover_3[] PROGMEM = "THR_SLEWRATE";
prog_char param_rover_4[] PROGMEM = "STEER2SRV_P";
prog_char param_rover_5[] PROGMEM = "STEER2SRV_I";
prog_char param_rover_6[] PROGMEM = "STEER2SRV_D";
prog_char param_rover_7[] PROGMEM = "STEER2SRV_IMAX";
prog_char param_rover_8[] PROGMEM = "STEER2SRV_TCONST";
prog_char param_rover_9[] PROGMEM = "TURN_MAX_G";
prog_char param_rover_10[] PROGMEM = "NAVL1_PERIOD";
prog_char param_rover_11[] PROGMEM = "SPEED_TURN_GAIN";
prog_char param_rover_12[] PROGMEM = "SPEED_TURN_DIST";
prog_char param_rover_13[] PROGMEM = "SKID_STEER_OUT";
prog_char param_rover_14[] PROGMEM = "SKID_STEER_IN";
prog_char param_rover_15[] PROGMEM = "FS_ACTION";
prog_char param_rover_16[] PROGMEM = "FS_TIMEOUT";
prog_char param_rover_17[] PROGMEM = "FS_THR_ENABLE";
prog_char param_rover_18[] PROGMEM = "FS_THR_VALUE";

//                                           "123456789012"
PROGMEM const prog_char ParamNamesRover[]  = "Throttle min\n"
		 "Cruise Thr  \n"
		 "Throttle max\n"
		 "Thr Slewrate\n"
		 "Steering P  \n"
		 "Steering I  \n"
		 "Steering D  \n"
		 "SteeringImax\n"
		 "SteeringTcon\n"
		 "Turn Max G  \n"
		 "Nav L1Period\n"
		 "Spd TurnGain\n"
		 "Spd TurnDist\n"
		 "Skid str in \n"
		 "Skid str out\n"
		 "FS Action   \n"
		 "FS Timeout  \n"
		 "FS Thr en   \n"
		 "FS Thr value\n";

PROGMEM const char *paramTable_rover[] = { param_rover_0, param_rover_1,
		param_rover_2, param_rover_3, param_rover_4, param_rover_5,
		param_rover_6, param_rover_7, param_rover_8, param_rover_9,
		param_rover_10, param_rover_11, param_rover_12, param_rover_13,
		param_rover_14, param_rover_15, param_rover_16, param_rover_17, param_rover_18 };

// ------------------------------ ROTARY WING ------------------------------ //
enum PARAMS_COPTER {
	// Parameters
	THR_MID=0,
	SONAR_ENABLE,
	SONAR_TYPE,
	SONAR_GAIN,
	BATT_CAPACITY,
	FS_BATT_ENABLE,
	FS_GPS_ENABLE,
	FS_GCS_ENABLE,
	MAG_ENABLE,
	LAND_SPEED,
	COPTER_THR_MIN,
	COPTER_THR_MAX,
	// Parameter count
	PARAM_COUNT_COPTER
};

const uint8_t ParamScalesCopter[] = {0,99,0,0,0,99,99,99,99,0,0,0}; // *10^(-x)
const uint8_t ParamDPsCopter[] =    {0,99,0,0,0,99,99,99,99,0,0,0}; // 99 in both denotes boolean

// Parameters for copters
prog_char param_copter_0[] PROGMEM = "THR_MID";
prog_char param_copter_1[] PROGMEM = "SONAR_ENABLE";
prog_char param_copter_2[] PROGMEM = "SONAR_TYPE";
prog_char param_copter_3[] PROGMEM = "SONAR_GAIN";
prog_char param_copter_4[] PROGMEM = "BATT_CAPACITY";
prog_char param_copter_5[] PROGMEM = "FS_BATT_ENABLE";
prog_char param_copter_6[] PROGMEM = "FS_GPS_ENABLE";
prog_char param_copter_7[] PROGMEM = "FS_GCS_ENABLE";
prog_char param_copter_8[] PROGMEM = "MAG_ENABLE";
prog_char param_copter_9[] PROGMEM = "LAND_SPEED";
prog_char param_copter_10[] PROGMEM = "THR_MIN";
prog_char param_copter_11[] PROGMEM = "THR_MAX";

//                                           "123456789012"
PROGMEM const prog_char ParamNamesCopter[] = "Throttle Hov\n"
		 "Sonar Enable\n"
		 "Sonar Type  \n"
		 "Sonar Gain  \n"
		 "Battery Cap \n"
		 "FS Batt En. \n"
		 "FS GPS En.  \n"
		 "FS GCS En.  \n"
		 "Mag Enable  \n"
		 "Land Speed  \n"
		 "Throttle Min\n"
		 "Throttle Max\n";

PROGMEM const char *paramTable_copter[] = { param_copter_0, param_copter_1,
		param_copter_2, param_copter_3, param_copter_4, param_copter_5,
		param_copter_6, param_copter_7, param_copter_8, param_copter_9,
		param_copter_10, param_copter_11 };

// PIDs
enum RATE_PIDS_COPTER {
	// PID Parameters
	RATE_RLL_P=0,
	RATE_RLL_I,
	RATE_RLL_D,
	RATE_RLL_IMAX,
	RATE_PIT_P,
	RATE_PIT_I,
	RATE_PIT_D,
	RATE_PIT_IMAX,
	RATE_YAW_P,
	RATE_YAW_I,
	RATE_YAW_D,
	RATE_YAW_IMAX,
	THR_RATE_P,
	THR_RATE_I,
	THR_RATE_D,
	THR_RATE_IMAX,
	// Parameter count
	RATE_PID_COUNT_COPTER
};

// PIDs for copters
prog_char rate_pid_copter_0[] PROGMEM = "RATE_RLL_P";
prog_char rate_pid_copter_1[] PROGMEM = "RATE_RLL_I";
prog_char rate_pid_copter_2[] PROGMEM = "RATE_RLL_D";
prog_char rate_pid_copter_3[] PROGMEM = "RATE_RLL_IMAX";
prog_char rate_pid_copter_4[] PROGMEM = "RATE_PIT_P";
prog_char rate_pid_copter_5[] PROGMEM = "RATE_PIT_I";
prog_char rate_pid_copter_6[] PROGMEM = "RATE_PIT_D";
prog_char rate_pid_copter_7[] PROGMEM = "RATE_PIT_IMAX";
prog_char rate_pid_copter_8[] PROGMEM = "RATE_YAW_P";
prog_char rate_pid_copter_9[] PROGMEM = "RATE_YAW_I";
prog_char rate_pid_copter_10[] PROGMEM = "RATE_YAW_D";
prog_char rate_pid_copter_11[] PROGMEM = "RATE_YAW_IMAX";
prog_char rate_pid_copter_12[] PROGMEM = "THR_RATE_P";
prog_char rate_pid_copter_13[] PROGMEM = "THR_RATE_I";
prog_char rate_pid_copter_14[] PROGMEM = "THR_RATE_D";
prog_char rate_pid_copter_15[] PROGMEM = "THR_RATE_IMAX";

PROGMEM const char *paramTable_rate_pid_copter[] = { rate_pid_copter_0, rate_pid_copter_1,
		rate_pid_copter_2, rate_pid_copter_3, rate_pid_copter_4, rate_pid_copter_5,
		rate_pid_copter_6, rate_pid_copter_7, rate_pid_copter_8, rate_pid_copter_9,
		rate_pid_copter_10, rate_pid_copter_11, rate_pid_copter_12, rate_pid_copter_13,
		rate_pid_copter_14, rate_pid_copter_15 };


#endif /* UAV_PARAMS_H_ */