#include "DefaultParametrs.h"
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#include <modules/my_task_creator/TaskCreator.h>
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DefaultParametrs::DefaultParametrs()
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{
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mParamMap[0]=SFPair("CTRL_TWP_NUM",0.0);
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mParamMap[1]=SFPair("CTRL_SER_BAUD",1500.0);
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mParamMap[2]=SFPair("CTRL_ATTACK_DIST",800.0);
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mParamMap[3]=SFPair("CTRL_ATTACK_ALT",300.0);
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mParamMap[4]=SFPair("CTRL_UPDATE_FW",0);
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mParamMap[5]=SFPair("CTRL_REBOOT",0);
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mParamMap[6]=SFPair("CTRL_WP_REDY", 1);
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mParamMap[7]=SFPair("CTRL_K_YAW", 1.0);
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mParamMap[8]=SFPair("CTRL_K_PITCH", 3);
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mParamMap[9]=SFPair("CTRL_TEST_MODE",1.0);
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mParamMap[10]=SFPair("CTRL_TEST_ALT",100.0);
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mParamMap[11]=SFPair("CTRL_USE_KPITCH",1.0);
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mParamMap[12]=SFPair("VIDEO_FOVX",71.0422f);
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mParamMap[13]=SFPair("VIDEO_FOVY",47.9715f);
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mParamMap[14]=SFPair("VIDEO_WIDTH",1024);
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mParamMap[15]=SFPair("VIDEO_HEIGHT",768);
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mParamMap[16]=SFPair("VIDEO_ENABLE",1);
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mParamMap[17]=SFPair("CTRL_ATTACK_SPD",30.0);
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mParamMap[18]=SFPair("CTRL_I_YAW", 0.5);
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mParamMap[19]=SFPair("CTRL_D_YAW", 0.0);
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mParamMap[20]=SFPair("CTRL_I_MAX", 5.0);
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mParamMap[21]=SFPair("CAM_SRV_CH", 0.0);
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mParamMap[22]=SFPair("CAM_SRV_MAX", 2000.0);
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mParamMap[23]=SFPair("CAM_SRV_MIN", 1000.0);
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mParamMap[24]=SFPair("CAM_ANG_CRUISE", 45.0);
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mParamMap[25]=SFPair("CAM_ANG_MAX", 120.0);
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mParamMap[26]=SFPair("CAM_ANG_MIN", 0.0);
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mParamMap[27]=SFPair("CTRL_FLAP_RC",6.0);
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mParamMap[28]=SFPair("CTRL_FLAP_VAL",1000.0);
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mParamMap[29]=SFPair("CTRL_SRV_CH",8.0);
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mParamMap[30]=SFPair("TEST_SRV_CH",0.0);
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mParamMap[31]=SFPair("TEST_SRV_AMP",30.0);
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mParamMap[32]=SFPair("TEST_SRV_T",5.0);
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mParamMap[33]=SFPair("TEST_SRV_TRIM",1500.0);
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mParamMap[34]=SFPair("CTRL_LOITER_ALT",100.0);
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mParamMap[35]=SFPair("CAM_SRV_REVERSE", 0.0);
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mParamMap[36]=SFPair("CTRL_SAFE_SPD",30.0);
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mParamMap[37]=SFPair("CTRL_SAFE_PITCH",20.0);
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mParamMap[38]=SFPair("CTRL_SAFE_TIME",10.0);
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mParamMap[39]=SFPair("CTRL_RANGE_TYPE",0.0);
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mParamMap[40]=SFPair("CAM_SRV_KI",0.1);
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mParamMap[41]=SFPair("CAM_SRV_KP",0.0);
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mParamMap[42]=SFPair("CAM_PITCH_DELTA",5.0);
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mParamMap[43]=SFPair("CAM_RATE_MAX",45.0);
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mParamMap[44]=SFPair("CTRL_TECS_DALT",10.0);
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mParamCount=mParamMap.size();
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for(int i=0;i<mParamCount;i++)
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mParams.push_back(mParamMap[i].second);
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}
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DefaultParametrs::~DefaultParametrs()
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{
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}
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float DefaultParametrs::GetValue(uint16_t num)
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{
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float res=0;
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if(num>mParamCount-1)
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return res;
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mMutex.Lock();
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res=mParamMap[num].second;
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mMutex.Unlock();
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return res;
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}
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float DefaultParametrs::GetValue(String name)
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{
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float res=0;
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mMutex.Lock();
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for(int i=0;i<mParamCount;i++)
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{
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if(mParamMap[i].first==name)
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res=mParamMap[i].second;
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}
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mMutex.Unlock();
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return res;
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}
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String DefaultParametrs::GetName(uint16_t num)
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{
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String res;
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if(num>mParamCount-1)
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return res;
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mMutex.Lock();
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res=mParamMap[num].first;
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mMutex.Unlock();
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return res;
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}
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void DefaultParametrs::SetParamsVecot(std::vector<float> p)
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{
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mParams=p;
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for(int i=0;i<mParamCount;i++)
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{
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SFPair nv;
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nv=mParamMap[i];
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nv.second=p[i];
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mParamMap[i]=nv;
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}
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}
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void DefaultParametrs::SetParam(uint16_t idx,float p)
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{
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if(idx>mParamCount-1)
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return;
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mMutex.Lock();
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mParamMap[idx].second=p;
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mParams.at(idx)=p;
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mMutex.Unlock();
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}
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uint16_t DefaultParametrs::SetParam(String name,float p)
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{
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uint16_t idx=0xffff;
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mMutex.Lock();
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for(int i=0;i<mParamCount;i++)
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{
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if(mParamMap[i].first==name)
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{
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mParamMap[i].second=p;
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idx=i;
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mParams.at(idx)=p;
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break;
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}
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}
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mMutex.Unlock();
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return idx;
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}
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