text: /****************************************************************************
   *
   *   Copyright (c) 2016 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
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * 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.
   *
   ****************************************************************************/
  
  #pragma once
  
  /**
   * @file parameters.h
   *
   * defines the list of parameters that are used within the sensors module
   *
   * @author Beat Kueng <beat-kueng@gmx.net>
   */
  #include <px4_config.h>
  #include <drivers/drv_rc_input.h>
  
  #include <systemlib/param/param.h>
  #include <mathlib/mathlib.h>
  
  #include <uORB/topics/rc_parameter_map.h>
  
  
  namespace sensors
  {
  
  static const unsigned RC_MAX_CHAN_COUNT =
  	input_rc_s::RC_INPUT_MAX_CHANNELS;	/**< maximum number of r/c channels we handle */
  
  struct Parameters {
  	float min[RC_MAX_CHAN_COUNT];
  	float trim[RC_MAX_CHAN_COUNT];
  	float max[RC_MAX_CHAN_COUNT];
  	float rev[RC_MAX_CHAN_COUNT];
  	float dz[RC_MAX_CHAN_COUNT];
  	float scaling_factor[RC_MAX_CHAN_COUNT];
  
  	float diff_pres_offset_pa;
  #ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
  	float diff_pres_analog_scale;
  #endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
  
  	int32_t board_rotation;
  
  	float board_offset[3];
  
  	int32_t rc_map_roll;
  	int32_t rc_map_pitch;
  	int32_t rc_map_yaw;
  	int32_t rc_map_throttle;
  	int32_t rc_map_failsafe;
  
  	int32_t rc_map_mode_sw;
  	int32_t rc_map_return_sw;
  	int32_t rc_map_rattitude_sw;
  	int32_t rc_map_posctl_sw;
  	int32_t rc_map_loiter_sw;
  	int32_t rc_map_acro_sw;
  	int32_t rc_map_offboard_sw;
  	int32_t rc_map_kill_sw;
  	int32_t rc_map_arm_sw;
  	int32_t rc_map_trans_sw;
  	int32_t rc_map_gear_sw;
  	int32_t rc_map_stab_sw;
  	int32_t rc_map_man_sw;
  	int32_t rc_map_flaps;
  
  	int32_t rc_map_aux1;
  	int32_t rc_map_aux2;
  	int32_t rc_map_aux3;
  	int32_t rc_map_aux4;
  	int32_t rc_map_aux5;
  
  	int32_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
  
  	int32_t rc_map_flightmode;
  
  	int32_t rc_fails_thr;
  	float rc_assist_th;
  	float rc_auto_th;
  	float rc_rattitude_th;
  	float rc_posctl_th;
  	float rc_return_th;
  	float rc_loiter_th;
  	float rc_acro_th;
  	float rc_offboard_th;
  	float rc_killswitch_th;
  	float rc_armswitch_th;
  	float rc_trans_th;
  	float rc_gear_th;
  	float rc_stab_th;
  	float rc_man_th;
  
  	bool rc_assist_inv;
  	bool rc_auto_inv;
  	bool rc_rattitude_inv;
  	bool rc_posctl_inv;
  	bool rc_return_inv;
  	bool rc_loiter_inv;
  	bool rc_acro_inv;
  	bool rc_offboard_inv;
  	bool rc_killswitch_inv;
  	bool rc_armswitch_inv;
  	bool rc_trans_inv;
  	bool rc_gear_inv;
  	bool rc_stab_inv;
  	bool rc_man_inv;
  
  	float rc_flt_smp_rate;
  	float rc_flt_cutoff;
  
  	float battery_voltage_scaling;
  	float battery_current_scaling;
  	float battery_current_offset;
  	float battery_v_div;
  	float battery_a_per_v;
  	int32_t battery_source;
  
  	float baro_qnh;
  
  	int32_t air_cmodel;
  	float air_tube_length;
  	float air_tube_diameter_mm;
  };
  
  struct ParameterHandles {
  	param_t min[RC_MAX_CHAN_COUNT];
  	param_t trim[RC_MAX_CHAN_COUNT];
  	param_t max[RC_MAX_CHAN_COUNT];
  	param_t rev[RC_MAX_CHAN_COUNT];
  	param_t dz[RC_MAX_CHAN_COUNT];
  
  	param_t diff_pres_offset_pa;
  #ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
  	param_t diff_pres_analog_scale;
  #endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
  
  	param_t rc_map_roll;
  	param_t rc_map_pitch;
  	param_t rc_map_yaw;
  	param_t rc_map_throttle;
  	param_t rc_map_failsafe;
  
  	param_t rc_map_mode_sw;
  	param_t rc_map_return_sw;
  	param_t rc_map_rattitude_sw;
  	param_t rc_map_posctl_sw;
  	param_t rc_map_loiter_sw;
  	param_t rc_map_acro_sw;
  	param_t rc_map_offboard_sw;
  	param_t rc_map_kill_sw;
  	param_t rc_map_arm_sw;
  	param_t rc_map_trans_sw;
  	param_t rc_map_gear_sw;
  	param_t rc_map_flaps;
  	param_t rc_map_stab_sw;
  	param_t rc_map_man_sw;
  
  	param_t rc_map_aux1;
  	param_t rc_map_aux2;
  	param_t rc_map_aux3;
  	param_t rc_map_aux4;
  	param_t rc_map_aux5;
  
  	param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
  	param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];	/**< param handles for the parameters which are bound
  							  to a RC channel, equivalent float values in the
  							  _parameters struct are not existing
  							  because these parameters are never read. */
  
  	param_t rc_map_flightmode;
  
  	param_t rc_fails_thr;
  	param_t rc_assist_th;
  	param_t rc_auto_th;
  	param_t rc_rattitude_th;
  	param_t rc_posctl_th;
  	param_t rc_return_th;
  	param_t rc_loiter_th;
  	param_t rc_acro_th;
  	param_t rc_offboard_th;
  	param_t rc_killswitch_th;
  	param_t rc_armswitch_th;
  	param_t rc_trans_th;
  	param_t rc_gear_th;
  	param_t rc_stab_th;
  	param_t rc_man_th;
  
  	param_t rc_flt_smp_rate;
  	param_t rc_flt_cutoff;
  
  	param_t battery_voltage_scaling;
  	param_t battery_current_scaling;
  	param_t battery_current_offset;
  	param_t battery_v_div;
  	param_t battery_a_per_v;
  	param_t battery_source;
  
  	param_t board_rotation;
  
  	param_t board_offset[3];
  
  	param_t baro_qnh;
  
  	param_t air_cmodel;
  	param_t air_tube_length;
  	param_t air_tube_diameter_mm;
  
  };
  
  /**
   * initialize ParameterHandles struct
   */
  void initialize_parameter_handles(ParameterHandles &parameter_handles);
  
  
  /**
   * Read out the parameters using the handles into the parameters struct.
   * @return 0 on success, <0 on error
   */
  int update_parameters(const ParameterHandles &parameter_handles, Parameters &parameters);
  
  } /* namespace sensors */
  