2016-02-17 21:25:59 -04:00
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#pragma once
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2012-04-30 04:17:14 -03:00
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// Internal defines, don't edit and expect things to work
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// -------------------------------------------------------
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2021-09-18 14:54:27 -03:00
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#define SERVO_MAX 4500.0 // This value represents 45 degrees and is just an arbitrary representation of servo max travel.
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2012-04-30 04:17:14 -03:00
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2013-03-28 20:25:53 -03:00
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// types of failsafe events
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#define FAILSAFE_EVENT_THROTTLE (1<<0)
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#define FAILSAFE_EVENT_GCS (1<<1)
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2021-12-17 21:21:58 -04:00
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// Logging parameters - only 32 messages are available to the vehicle here.
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enum LoggingParameters {
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LOG_THR_MSG,
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LOG_NTUN_MSG,
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LOG_STEERING_MSG,
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LOG_GUIDEDTARGET_MSG,
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};
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2013-04-18 21:23:57 -03:00
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2016-12-20 09:33:06 -04:00
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#define MASK_LOG_ATTITUDE_FAST (1<<0)
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#define MASK_LOG_ATTITUDE_MED (1<<1)
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#define MASK_LOG_GPS (1<<2)
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#define MASK_LOG_PM (1<<3)
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2017-12-07 08:42:06 -04:00
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#define MASK_LOG_THR (1<<4)
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2016-12-20 09:33:06 -04:00
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#define MASK_LOG_NTUN (1<<5)
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2017-10-23 21:38:52 -03:00
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//#define MASK_LOG_MODE (1<<6) // no longer used
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2016-12-20 09:33:06 -04:00
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#define MASK_LOG_IMU (1<<7)
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#define MASK_LOG_CMD (1<<8)
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#define MASK_LOG_CURRENT (1<<9)
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2017-07-13 08:36:44 -03:00
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#define MASK_LOG_RANGEFINDER (1<<10)
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2016-12-20 09:33:06 -04:00
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#define MASK_LOG_COMPASS (1<<11)
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#define MASK_LOG_CAMERA (1<<12)
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#define MASK_LOG_STEERING (1<<13)
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#define MASK_LOG_RC (1<<14)
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2019-05-03 09:32:42 -03:00
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// #define MASK_LOG_ARM_DISARM (1<<15)
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2015-05-06 23:11:43 -03:00
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#define MASK_LOG_IMU_RAW (1UL<<19)
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2021-12-15 15:09:29 -04:00
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#define MASK_LOG_VIDEO_STABILISATION (1UL<<20)
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2022-09-07 03:49:51 -03:00
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#define MASK_LOG_OPTFLOW (1UL<<21)
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2016-08-23 03:04:30 -03:00
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// for mavlink SET_POSITION_TARGET messages
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2017-12-04 21:42:03 -04:00
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#define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1))
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#define MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE ((1<<3) | (1<<4))
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#define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7))
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2016-08-23 03:04:30 -03:00
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#define MAVLINK_SET_POS_TYPE_MASK_FORCE (1<<9)
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#define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10)
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#define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)
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2016-11-21 12:08:24 -04:00
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2017-05-03 11:21:58 -03:00
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// for mavlink SET_ATTITUDE_TARGET messages
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#define MAVLINK_SET_ATT_TYPE_MASK_ROLL_RATE_IGNORE (1<<0)
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#define MAVLINK_SET_ATT_TYPE_MASK_PITCH_RATE_IGNORE (1<<1)
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#define MAVLINK_SET_ATT_TYPE_MASK_YAW_RATE_IGNORE (1<<2)
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#define MAVLINK_SET_ATT_TYPE_MASK_THROTTLE_IGNORE (1<<6)
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#define MAVLINK_SET_ATT_TYPE_MASK_ATTITUDE_IGNORE (1<<7)
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2018-11-13 04:40:40 -04:00
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// radio failsafe enum (FS_THR_ENABLE parameter)
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enum fs_thr_enable {
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FS_THR_DISABLED = 0,
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FS_THR_ENABLED,
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FS_THR_ENABLED_CONTINUE_MISSION,
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};
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// gcs failsafe enum (FS_GCS_ENABLE parameter)
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enum fs_gcs_enable {
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FS_GCS_DISABLED = 0,
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FS_GCS_ENABLED,
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FS_GCS_ENABLED_CONTINUE_MISSION,
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};
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2016-11-21 12:08:24 -04:00
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enum fs_crash_action {
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FS_CRASH_DISABLE = 0,
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FS_CRASH_HOLD = 1,
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FS_CRASH_HOLD_AND_DISARM = 2
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};
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2018-11-01 04:04:58 -03:00
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enum fs_ekf_action {
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FS_EKF_DISABLE = 0,
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2020-11-02 14:38:14 -04:00
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FS_EKF_HOLD = 1,
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FS_EKF_REPORT_ONLY = 2,
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2018-11-01 04:04:58 -03:00
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};
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2018-11-07 18:41:48 -04:00
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#define DISTANCE_HOME_MINCHANGE 0.5f // minimum distance to adjust home location
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2017-07-24 14:05:59 -03:00
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2017-11-27 09:11:45 -04:00
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enum pilot_steer_type_t {
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PILOT_STEER_TYPE_DEFAULT = 0,
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PILOT_STEER_TYPE_TWO_PADDLES = 1,
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PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING = 2,
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PILOT_STEER_TYPE_DIR_UNCHANGED_WHEN_REVERSING = 3,
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};
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2017-12-06 22:37:42 -04:00
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// frame class enum used for FRAME_CLASS parameter
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enum frame_class {
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FRAME_UNDEFINED = 0,
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FRAME_ROVER = 1,
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2018-06-05 05:56:46 -03:00
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FRAME_BOAT = 2,
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FRAME_BALANCEBOT = 3,
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2017-12-06 22:37:42 -04:00
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};
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2022-07-05 15:21:10 -03:00
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// manual mode options
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enum ManualOptions {
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SPEED_SCALING = (1 << 0),
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};
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