hpm6750/controller_yy_app/software/params.c

#include "params.h"
#include "control_throttle.h"
#include "my_math.h"
#include "soft_flash.h"
#include "soft_imu.h"

enum
{
    PARAM_READ = 0,
    PARAM_WRITE = 1
};

/* 参数存储表 */
/* static int16_t param_list_buff[128]; */

/*----------------------- duplicating --------------------*/
struct FEI_CAN_DATA conf_par;
struct VER_DATA ver_par;

// 参数分两套data记录，是因为数据上传转换为float后再下传会有精度损失
struct data_pid pidinf;   // 参数配置
struct data_ver verinf;   // 版本信息
struct data_conf confinf; // 机型参数配置
struct data_cam caminf;   // 拍照参数配置
struct data_par parinf;   // 备用参数
/*--------------------------------------------------------*/

/**
 * @brief
 * @param uint16_t num 设置项序号
 * @param int16_t value 设置的值
 * @param uint8_t wr 读取还是写入，0 为读取，1 为写入
 */
static int16_t _params_read_wirte(ParamsEnumType num, int16_t value, uint8_t wr)
{
    int16_t retval = 0;

    switch (num)
    {
    // 机型参数
    case ParamNum_APType:
        if (wr)
        {
            retval = value;
            if (thr_lock_status == LOCKED)
            {
                confinf._jixing = value;
                write_conf_information = true;
            }
        }
        else
        {
            retval = confinf._jixing;
        }
        break;
    // 电台失联时间
    case ParamNum_RadioLinkLostTimeS:
        if (wr)
        {
            retval = value;
            confinf._lostlink_time = value;
            write_conf_information = true;
        }
        else
        {
            retval = confinf._lostlink_time;
        }
        break;
    // 低电压动作
    case ParamNum_LowVoltAction1:
        if (wr)
        {
            retval = value;
            confinf._lowvolt_flag = value;
            write_conf_information = true;
        }
        else
        {
            retval = confinf._lowvolt_flag;
        }
        break;
    // 低电压阈值
    case ParamNum_LowVoltValue1:
        if (wr)
        {
            retval = value;
            confinf._lowvolt_value = value;
            write_conf_information = true;
        }
        else
        {
            retval = confinf._lowvolt_value;
        }
        break;
    // 盘旋半径
    case ParamNum_APCircleRadiusM:
        if (wr)
        {
            retval = value;
            confinf._circle_radius = value;
            write_conf_information = true;
        }
        else
        {
            retval = confinf._circle_radius;
        }
        break;
    // 返航高度
    case ParamNum_APRthAltM:
        if (wr)
        {
            retval = value;
            confinf._rth_alt = value;
            write_conf_information = true;
        }
        else
        {
            retval = confinf._rth_alt;
        }
        break;
    // 起飞高度
    case ParamNum_APTakeoffAltM:
        if (wr)
        {
            retval = value;
            confinf._takeoff_alt = value;
            write_conf_information = true;
        }
        else
        {
            retval = confinf._takeoff_alt;
        }
        break;
    // 磁偏角
    case ParamNum_MagDeclinationDeg:
        if (wr)
        {
            retval = value;
            confinf._mag_offset = value;
            write_conf_information = true;
        }
        else
        {
            retval = confinf._mag_offset;
        }
        break;
    // 雷达灵敏度
    case ParamNum_LidarObavoidAction:
        if (wr)
        {
            retval = value;
            confinf._enable_infrared = value;
            write_conf_information = true;
        }
        else
        {
            retval = confinf._enable_infrared;
        }
        break;
    // imu 滤波参数
    case ParamNum_ImuFilterLever:
        if (wr)
        {
            retval = value;
            if (thr_lock_status == LOCKED)
            {
                uint8_t calib_value[3] = {0, 0, 0};
                calib_value[0] = value;
                send_calibration_msg_to_imu(FILTER_PARAM_CALIB, calib_value, 1);
            }
        }
        else
        {
            retval = ins.imu_conf.filter_param;
        }
        break;
    // 安装方向
    case ParamNum_ImuAssembleDirection:
        if (wr)
        {
            retval = value;
            if (thr_lock_status == LOCKED)
            {
                uint8_t calib_value[3] = {value, 0, 0};
                send_calibration_msg_to_imu(ASSEMBLE_CALIB, calib_value, 1);
            }
        }
        else
        {
            retval = ins.imu_conf.assemble_direction_param;
        }
        break;
    // 怠速等级
    case ParamNum_APIdleSpeed:
        if (wr)
        {
            retval = value;
            if (thr_lock_status == LOCKED)
            {
                if (value >= 1050 && value <= 1300)
                {
                    confinf._idle_speed_level = (value - 1050) / 50 + 1;
                    write_conf_information = true;
                }
            }
        }
        else
        {
            retval = (confinf._idle_speed_level - 1) * 50 + 1050;
        }
        break;
    // 安装 x 补偿
    case ParamNum_Gps1PosCalibX:
        if (wr)
        {
            retval = value;
            if (thr_lock_status == LOCKED)
            {
                int8_t gps_pos_param[6];
                for (uint8_t i = 0; i < 6; ++i)
                {
                    gps_pos_param[i] = ins.imu_conf.gps_pos_param[i];
                }
                gps_pos_param[0] = value;
                send_calibration_msg_to_imu(GPS_POS_CALIB, (uint8_t *)gps_pos_param, 6);
            }
        }
        else
        {
            retval = ins.imu_conf.gps_pos_param[0];
        }
        break;
    // 安装 y 补偿
    case ParamNum_Gps1PosCalibY:
        if (wr)
        {
            retval = value;
            if (thr_lock_status == LOCKED)
            {
                int8_t gps_pos_param[6];
                for (uint8_t i = 0; i < 6; ++i)
                {
                    gps_pos_param[i] = ins.imu_conf.gps_pos_param[i];
                }
                gps_pos_param[1] = value;
                send_calibration_msg_to_imu(GPS_POS_CALIB, (uint8_t *)gps_pos_param, 6);
            }
        }
        else
        {
            retval = ins.imu_conf.gps_pos_param[1];
        }
        break;
    // 安装 z 补偿
    case ParamNum_Gps1PosCalibZ:
        if (wr)
        {
            retval = value;
            if (thr_lock_status == LOCKED)
            {
                int8_t gps_pos_param[6];
                for (uint8_t i = 0; i < 6; ++i)
                {
                    gps_pos_param[i] = ins.imu_conf.gps_pos_param[i];
                }
                gps_pos_param[2] = value;
                send_calibration_msg_to_imu(GPS_POS_CALIB, (uint8_t *)gps_pos_param, 6);
            }
        }
        else
        {
            retval = ins.imu_conf.gps_pos_param[2];
        }
        break;
    // 串口 4 功能复用
    case ParamNum_Port4Multiplexing:
        if (wr)
        {
            retval = value;
            if (thr_lock_status == LOCKED)
            {
                confinf._port4_af_function = value;
                write_conf_information = true;
            }
        }
        else
        {
            retval = confinf._port4_af_function;
        }
        break;
    // 差分双天线安装方向
    case ParamNum_DgpsAssembleDirection:
        if (wr)
        {
            retval = value;
            if (thr_lock_status == LOCKED)
            {
                uint8_t calib_value[3] = {value, 0, 0};
                send_calibration_msg_to_imu(DGPS_DIRECTION_CALIB,
                                            calib_value,
                                            1);
            }
        }
        else
        {
            retval = ins.imu_conf.dgps_direction_param;
        }
        break;
    // 最大倾斜角度
    case ParamNum_APMaxTilteAngleDeg:
        if (wr)
        {
            retval = value;
            parinf._par_maxangle = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_maxangle;
        }
        break;
    // gps 模式推干最大目标水平速度
    case ParamNum_APMaxHorizonalSpeedGpsModeDms:
        if (wr)
        {
            retval = value;
            parinf._par_maxhspeed = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_maxhspeed;
        }
        break;
    // GPS 模式推干最大目标上升速度
    case ParamNum_APMaxClimbSpeedGpsModeDms:
        if (wr)
        {
            retval = value;
            parinf._par_maxupspeed = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_maxupspeed;
        }
        break;
    // GPS 模式推干最大目标下降速度
    case ParamNum_APMaxDeclineSpeedGpsModeDms:
        if (wr)
        {
            retval = value;
            parinf._par_maxdownspeed = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_maxdownspeed;
        }
        break;
    // 悬停油门
    case ParamNum_APHoverThrottle:
        if (wr)
        {
            retval = value;
            parinf._par_hover_throttle = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_hover_throttle;
        }
        break;
    // 一级高度限制
    case ParamNum_AltRestrictionA:
        if (wr)
        {
            retval = value;
            parinf._par_alt_fs_rth = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_alt_fs_rth;
        }
        break;
    // 二级高度限制
    case ParamNum_AltRestrictionB:
        if (wr)
        {
            retval = value;
            parinf._par_alt_fs_land = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_alt_fs_land;
        }
        break;
    // 最大航向锁尾角速度
    case ParamNum_APMaxYawRate:
        if (wr)
        {
            retval = value;
            parinf._par_maxyawrate = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_maxyawrate;
        }
        break;
    // 电压比例校准系数0
    case ParamNum_VoltCalibKp0:
        if (wr)
        {
            retval = value;
            parinf._par_volt_kp[0] = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_volt_kp[0];
        }
        break;
    // 电压比例校准系数1
    case ParamNum_VoltCalibKp1:
        if (wr)
        {
            retval = value;
            parinf._par_volt_kp[1] = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_volt_kp[1];
        }
        break;
    // 电压比例校准系数2
    case ParamNum_VoltCalibKp2:
        if (wr)
        {
            retval = value;
            parinf._par_volt_kp[2] = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_volt_kp[2];
        }
        break;
    // 电压校准偏移系数 0
    case ParamNum_VoltCalibOffset0:
        if (wr)
        {
            retval = value;
            parinf._par_volt_offset[0] = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_volt_offset[0];
        }
        break;
    // 电压校准偏移系数 1
    case ParamNum_VoltCalibOffset1:
        if (wr)
        {
            retval = value;
            parinf._par_volt_offset[1] = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_volt_offset[1];
        }
        break;
    // 电压校准偏移系数 2
    case ParamNum_VoltCalibOffset2:
        if (wr)
        {
            retval = value;
            parinf._par_volt_offset[2] = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_volt_offset[2];
        }
        break;
    // 跟随距离
    case ParamNum_FollowDistM:
        if (wr)
        {
            retval = value;
            parinf._fllow_dist = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._fllow_dist;
        }
        break;
    // 自动模式最大爬升速度
    case ParamNum_APMaxClimbSpeedAutoModeDms:
        if (wr)
        {
            retval = value;
            parinf._par_max_climb_rate_automode = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_max_climb_rate_automode;
        }
        break;
    // 自动模式最大下降速度
    case ParamNum_APMaxDeclineSpeedAutoModeDms:
        if (wr)
        {
            retval = value;
            parinf._par_max_approach_rate_automode = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_max_approach_rate_automode;
        }
        break;
    // 自动模式最小降落速度
    case ParamNum_APMinLandingRateAutoModeDms:
        if (wr)
        {
            retval = value;
            parinf._par_min_landing_rate_automode = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_min_landing_rate_automode;
        }
        break;
    // 飞机最远水平距离
    case ParamNum_MaxHorizonalDistanceM:
        if (wr)
        {
            retval = value;
            parinf._max_horizonal_distance = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._max_horizonal_distance;
        }
        break;
    // 拍照信号类型
    case ParamNum_CameraSignalType:
        if (wr)
        {
            retval = value;
            caminf._signal_type = value;
            write_cam_information = true;
        }
        else
        {
            retval = caminf._signal_type;
        }
        break;
    // 拍照信号持续时间
    case ParamNum_CameraSignalInterval:
        if (wr)
        {
            retval = value;
            caminf._signal_interval = value;
            write_cam_information = true;
        }
        else
        {
            retval = caminf._signal_interval;
        }
        break;
    // 拍照信号pwm on
    case ParamNum_CameraSignalPwmOn:
        if (wr)
        {
            retval = value;
            caminf._signal_pwm_takephoto_on = value;
            write_cam_information = true;
        }
        else
        {
            retval = caminf._signal_pwm_takephoto_on;
        }
        break;
    // 拍照信号 pwm off
    case ParamNum_CameraSignalPwmOff:
        if (wr)
        {
            retval = value;
            caminf._signal_pwm_takephoto_off = value;
            write_cam_information = true;
        }
        else
        {
            retval = caminf._signal_pwm_takephoto_off;
        }
        break;

    // 横滚姿态感度
    case ParamNum_RollAngleKp:
        if (wr)
        {
            retval = value;
            pidinf._Roll_Angle_P = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._Roll_Angle_P;
        }
        break;

    // 横滚基础感度
    case ParamNum_RollGyroKp:
        if (wr)
        {
            retval = value;
            pidinf._Roll_Gyro_P = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._Roll_Gyro_P;
        }
        break;

    // 横滚姿态增稳系数
    case ParamNum_RollGyroKd:
        if (wr)
        {
            retval = value;
            pidinf._Roll_Gyro_D = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._Roll_Gyro_D;
        }
        break;

    // 俯仰姿态感度
    case ParamNum_PitchAngleKp:
        if (wr)
        {
            retval = value;
            pidinf._Pitch_Angle_P = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._Pitch_Angle_P;
        }
        break;
    // 俯仰基础感度
    case ParamNum_PitchGyroKp:
        if (wr)
        {
            retval = value;
            pidinf._Pitch_Gyro_P = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._Pitch_Gyro_P;
        }
        break;
    // 俯仰姿态增稳系数
    case ParamNum_PitchGyroKd:
        if (wr)
        {
            retval = value;
            pidinf._Pitch_Gyro_D = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._Pitch_Gyro_D;
        }
        break;

    // 航向姿态感度
    case ParamNum_YawAngleKp:
        if (wr)
        {
            retval = value;
            pidinf._Yaw_Angle_P = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._Yaw_Angle_P;
        }
        break;
    // 航向基础感度
    case ParamNum_YawGyroKp:
        if (wr)
        {
            retval = value;
            pidinf._Yaw_Gyro_P = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._Yaw_Gyro_P;
        }
        break;
    // 航向姿态增稳系数
    case ParamNum_YawGyroKd:
        if (wr)
        {
            retval = value;
            pidinf._Yaw_Gyro_D = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._Yaw_Gyro_D;
        }
        break;
    // 定高位置系数
    case ParamNum_AltholdDistKp:
        if (wr)
        {
            retval = value;
            pidinf._AltHold_Dist_P = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._AltHold_Dist_P;
        }
        break;
    // 定高速度系数
    case ParamNum_AltholdSpeedKp:
        if (wr)
        {
            retval = value;
            pidinf._AltHold_Speed_P = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._AltHold_Speed_P;
        }
        break;
    // 定高加速度系数
    case ParamNum_AltholdAccKp:
        if (wr)
        {
            retval = value;
            pidinf._AltHold_Acc_P = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._AltHold_Acc_P;
        }
        break;
    // 定高积分补偿系数
    case ParamNum_AltholdAccKi:
        if (wr)
        {
            retval = value;
            pidinf._AltHold_Acc_I = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._AltHold_Acc_I;
        }
        break;

    // 水平位置系数
    case ParamNum_LoiterDistKp:
        if (wr)
        {
            retval = value;
            pidinf._Loiter_Dist_P = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._Loiter_Dist_P;
        }
        break;
    // 水平速度系数
    case ParamNum_LoiterSpeedKp:
        if (wr)
        {
            retval = value;
            pidinf._Loiter_Speed_P = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._Loiter_Speed_P;
        }
        break;
    // 水平加速度系数
    case ParamNum_LoiterAccKp:
        if (wr)
        {
            retval = value;
            pidinf._Loiter_Acc_P = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._Loiter_Acc_P;
        }
        break;
    // 水平积分补偿系数
    case ParamNum_LoiterAccKi:
        if (wr)
        {
            retval = value;
            pidinf._Loiter_Acc_I = value;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._Loiter_Acc_I;
        }
        break;
    // 最大巡航水平速度
    case ParamNum_APRthSpeedDms:
        if (wr)
        {
            retval = value;
            parinf._par_max_rth_horizontal_speed = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._par_max_rth_horizontal_speed;
        }
        break;

    // 陀螺刹车系数
    case ParamNum_GyroBrakeRatio:
        if (wr)
        {
            retval = value;
            pidinf._Loiter_Brake_Gyro = retval;
            write_pid_information = true;
        }
        else
        {
            retval = pidinf._Loiter_Brake_Gyro;
        }
        break;
    /* 2 级低电压动作 */
    case ParamNum_LowVoltAction2:
        if (wr)
        {
            retval = value;
            confinf._lowvolt_flag2 = value;
            write_conf_information = true;
        }
        else
        {
            retval = confinf._lowvolt_flag2;
        }
        break;
    /* 2 级低电压阈值 */
    case ParamNum_LowVoltValue2:
        if (wr)
        {
            retval = value;
            confinf._lowvolt_value2 = value;
            write_conf_information = true;
        }
        else
        {
            retval = confinf._lowvolt_value2;
        }
        break;
    /* 遥控器失控悬停等待时间 */
    case ParamNum_RcFailLoiterTimeS:
        if (wr)
        {
            retval = value;
            confinf._rc_fail_loiter_time = value;
            write_conf_information = true;
        }
        else
        {
            retval = confinf._rc_fail_loiter_time;
        }
        break;
        /* Gps 2 安装 X 补偿 */
    case ParamNum_Gps2PosCalibX:
        if (wr)
        {
            retval = value;
            if (thr_lock_status == LOCKED)
            {
                int8_t gps_pos_param[6];
                for (uint8_t i = 0; i < 6; ++i)
                {
                    gps_pos_param[i] = ins.imu_conf.gps_pos_param[i];
                }
                gps_pos_param[3] = value;
                send_calibration_msg_to_imu(GPS_POS_CALIB, (uint8_t *)gps_pos_param, 6);
            }
        }
        else
        {
            retval = ins.imu_conf.gps_pos_param[3];
        }
        break;
    /* Gps 2 安装 Y 补偿 */
    case ParamNum_Gps2PosCalibY:
        if (wr)
        {
            retval = value;
            if (thr_lock_status == LOCKED)
            {
                int8_t gps_pos_param[6];
                for (uint8_t i = 0; i < 6; ++i)
                {
                    gps_pos_param[i] = ins.imu_conf.gps_pos_param[i];
                }
                gps_pos_param[4] = value;
                send_calibration_msg_to_imu(GPS_POS_CALIB, (uint8_t *)gps_pos_param, 6);
            }
        }
        else
        {
            retval = ins.imu_conf.gps_pos_param[4];
        }
        break;
    /* Gps 2 安装 Z 补偿 */
    case ParamNum_Gps2PosCalibZ:
        if (wr)
        {
            retval = value;
            if (thr_lock_status == LOCKED)
            {
                int8_t gps_pos_param[6];
                for (uint8_t i = 0; i < 6; ++i)
                {
                    gps_pos_param[i] = ins.imu_conf.gps_pos_param[i];
                }
                gps_pos_param[5] = value;
                send_calibration_msg_to_imu(GPS_POS_CALIB, (uint8_t *)gps_pos_param, 6);
            }
        }
        else
        {
            retval = ins.imu_conf.gps_pos_param[5];
        }
        break;

    /* 跟随前向距离 */
    case ParamNum_VehicleFollowForwardDistDM:
        if (wr)
        {
            retval = value;
            parinf._vehicle_forward_dist_dm = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._vehicle_forward_dist_dm;
        }
        break;

    /* 跟随右向距离 */
    case ParamNum_VehicleFollowRightDistDM:
        if (wr)
        {
            retval = value;
            parinf._vehicle_right_dist_dm = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._vehicle_right_dist_dm;
        }
        break;

    /* 跟随机头夹角 */
    case ParamNum_VehicleFollowIncYawAngleDeg:
        if (wr)
        {
            retval = value;
            parinf._vehicle_yaw_included_angle =
                constrain_int16(value, -180, 180);
            write_par_information = true;
        }
        else
        {
            retval = parinf._vehicle_yaw_included_angle;
        }
        break;

    /* 跟随天向距离 */
    case ParamNum_VehicleFollowUpDistDM:
        if (wr)
        {
            retval = value;
            parinf._vehicle_up_dist = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._vehicle_up_dist;
        }
        break;

    /* 基站磁偏角 */
    case ParamNum_BaseDgpsYawDeclination:
        if (wr)
        {
            if (thr_lock_status == LOCKED)
            {
                retval = value;
                parinf._vehicle_base_dgps_yaw_dec =
                    constrain_int16(value, -90 * 10, 90 * 10);
                write_par_information = true;
            }
        }
        else
        {
            retval = parinf._vehicle_base_dgps_yaw_dec;
        }
        break;

    case ParamNum_ImitatingFlightSensibility:
        if (wr)
        {
            retval = value;
            confinf._imitate_sensibility = constrain_int16(value, 0, 100);
            write_conf_information = true;
        }
        else
        {
            retval = constrain_int16(confinf._imitate_sensibility, 0, 100);
        }
        break;

    case ParamNum_ObstacleHoldDistCm:
        if (wr)
        {
            retval = value;
            parinf._obstacle_dist_cm = constrain_int16(value, 200, 800);
            write_par_information = true;
        }
        else
        {
            retval = constrain_int16(parinf._obstacle_dist_cm, 200, 800);
        }
        break;

    case ParamNum_SbusOAfCofig:
        if (wr)
        {
            retval = value;
            parinf._sbuso_af_config = value;
            write_par_information = true;
        }
        else
        {
            retval = parinf._sbuso_af_config;
        }
        break;

    case ParamNum_LinklostAction:
        if (wr)
        {
            retval = value;
            if (value <= 1)
            {
                parinf._linklost_action = value;
                write_par_information = true;
            }
        }
        else
        {
            retval = parinf._linklost_action;
        }
        break;

    case ParamNum_MaxHorJet:
        if (wr)
        {
            retval = value;
            if (value >= 4 && value <= 50)
            {
                parinf._max_hor_jet = value;
                write_par_information = true;
            }
        }
        else
        {
            if (parinf._max_hor_jet < 4 || parinf._max_hor_jet > 50)
            {
                retval = 50;
            }
            else
            {
                retval = parinf._max_hor_jet;
            }
        }
        break;

    case ParamNum_BmsLowCapcityPercentage:
        if (wr)
        {
            retval = value;
            if (value >= 0 && value <= 80)
            {
                parinf._bms_low_capacity_percentage = value;
                write_par_information = true;
            }
        }
        else
        {
            if (parinf._max_hor_jet < 0 || parinf._max_hor_jet > 80)
            {
                retval = 20;
            }
            else
            {
                retval = parinf._bms_low_capacity_percentage;
            }
        }
        break;

    case ParamNUm_TPAFCONF:
        if (wr)
        {
            retval = value;
            if (value <= 1)
            {
                parinf._tp_afconfig = value;
                write_par_information = true;
            }
        }
        else
        {
            if (parinf._tp_afconfig > 1)
            {
                retval = 0;
            }
            else
            {
                retval = parinf._tp_afconfig;
            }
        }
        break;

    case ParamNum_ServoFailsafe:
        if (wr)
        {
            retval = value;
            if (value <= 2)
            {
                parinf._motor_failsafe_action = value;
                write_par_information = true;
            }
        }
        else
        {
            if (parinf._motor_failsafe_action > 2)
            {
                retval = 0;
            }
            else
            {
                retval = parinf._motor_failsafe_action;
            }
        }
        break;

    case ParamNum_BmsLowCapcityPercentage2:
        if (wr)
        {
            retval = value;
            if (value >= 0 && value <= 80)
            {
                parinf._bms_low_capacity_percentage2 = value;
                write_par_information = true;
            }
        }
        else
        {
            if (parinf._max_hor_jet < 0 || parinf._max_hor_jet > 80)
            {
                retval = 20;
            }
            else
            {
                retval = parinf._bms_low_capacity_percentage2;
            }
        }
        break;

    default:
        break;
    }

    return retval;
}

void params_set_value(uint16_t param_num, int16_t param_value)
{
    _params_read_wirte((ParamsEnumType)param_num, param_value, PARAM_WRITE);
}

int16_t params_get_value(uint16_t param_num)
{
    int16_t retval =
        _params_read_wirte((ParamsEnumType)param_num, 0, PARAM_READ);

    return retval;
}