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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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# ifndef _DEFINES_H
# define _DEFINES_H
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// Internal defines, don't edit and expect things to work
// -------------------------------------------------------
# define TRUE 1
# define FALSE 0
# define ToRad(x) (x*0.01745329252) // *pi/180
# define ToDeg(x) (x*57.2957795131) // *180/pi
# define DEBUG 0
# define LOITER_RANGE 60 // for calculating power outside of loiter radius
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# define SERVO_MAX 4500 // This value represents 45 degrees and is just an arbitrary representation of servo max travel.
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// failsafe
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// ----------------------
# define FAILSAFE_NONE 0
# define FAILSAFE_SHORT 1
# define FAILSAFE_LONG 2
# define FAILSAFE_GCS 3
# define FAILSAFE_SHORT_TIME 1500 // Miliiseconds
# define FAILSAFE_LONG_TIME 20000 // Miliiseconds
// active altitude sensor
// ----------------------
# define SONAR 0
# define BARO 1
# define T6 1000000
# define T7 10000000
// GPS type codes - use the names, not the numbers
# define GPS_PROTOCOL_NONE -1
# define GPS_PROTOCOL_NMEA 0
# define GPS_PROTOCOL_SIRF 1
# define GPS_PROTOCOL_UBLOX 2
# define GPS_PROTOCOL_IMU 3
# define GPS_PROTOCOL_MTK 4
# define GPS_PROTOCOL_HIL 5
# define GPS_PROTOCOL_MTK16 6
# define GPS_PROTOCOL_AUTO 7
# define CH_ROLL CH_1
# define CH_PITCH CH_2
# define CH_THROTTLE CH_3
# define CH_RUDDER CH_4
# define CH_YAW CH_4
// HIL enumerations
# define HIL_MODE_DISABLED 0
# define HIL_MODE_ATTITUDE 1
# define HIL_MODE_SENSORS 2
// Auto Pilot modes
// ----------------
# define MANUAL 0
# define CIRCLE 1 // When flying sans GPS, and we loose the radio, just circle
# define STABILIZE 2
# define FLY_BY_WIRE_A 5 // Fly By Wire A has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical = manual throttle
# define FLY_BY_WIRE_B 6 // Fly By Wire B has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical => desired airspeed
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# define FLY_BY_WIRE_C 7 // Fly By Wire C has left stick horizontal => desired roll angle, left stick vertical => desired climb rate, right stick vertical => desired airspeed
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// Fly By Wire B and Fly By Wire C require airspeed sensor
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# define AUTO 10
# define RTL 11
# define LOITER 12
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//#define TAKEOFF 13 // This is not used by APM. It appears here for consistency with ACM
//#define LAND 14 // This is not used by APM. It appears here for consistency with ACM
# define GUIDED 15
# define INITIALISING 16 // in startup routines
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// Commands - Note that APM now uses a subset of the MAVLink protocol commands. See enum MAV_CMD in the GCS_Mavlink library
# define CMD_BLANK 0 // there is no command stored in the mem location requested
# define NO_COMMAND 0
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# define WAIT_COMMAND 999
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// Command/Waypoint/Location Options Bitmask
//--------------------
# define MASK_OPTIONS_RELATIVE_ALT (1<<0) // 1 = Relative altitude
//repeating events
# define NO_REPEAT 0
# define CH_5_TOGGLE 1
# define CH_6_TOGGLE 2
# define CH_7_TOGGLE 3
# define CH_8_TOGGLE 4
# define RELAY_TOGGLE 5
# define STOP_REPEAT 10
# define MAV_CMD_CONDITION_YAW 23
// GCS Message ID's
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/// NOTE: to ensure we never block on sending MAVLink messages
/// please keep each MSG_ to a single MAVLink message. If need be
/// create new MSG_ IDs for additional messages on the same
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/// stream
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enum ap_message {
MSG_HEARTBEAT ,
MSG_ATTITUDE ,
MSG_LOCATION ,
MSG_EXTENDED_STATUS1 ,
MSG_EXTENDED_STATUS2 ,
MSG_NAV_CONTROLLER_OUTPUT ,
MSG_CURRENT_WAYPOINT ,
MSG_VFR_HUD ,
MSG_RADIO_OUT ,
MSG_RADIO_IN ,
MSG_RAW_IMU1 ,
MSG_RAW_IMU2 ,
MSG_RAW_IMU3 ,
MSG_GPS_STATUS ,
MSG_GPS_RAW ,
MSG_SERVO_OUT ,
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MSG_NEXT_WAYPOINT ,
MSG_NEXT_PARAM ,
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MSG_STATUSTEXT ,
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MSG_RETRY_DEFERRED // this must be last
} ;
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enum gcs_severity {
SEVERITY_LOW = 1 ,
SEVERITY_MEDIUM ,
SEVERITY_HIGH ,
SEVERITY_CRITICAL
} ;
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// Logging parameters
# define LOG_INDEX_MSG 0xF0
# define LOG_ATTITUDE_MSG 0x01
# define LOG_GPS_MSG 0x02
# define LOG_MODE_MSG 0X03
# define LOG_CONTROL_TUNING_MSG 0X04
# define LOG_NAV_TUNING_MSG 0X05
# define LOG_PERFORMANCE_MSG 0X06
# define LOG_RAW_MSG 0x07
# define LOG_CMD_MSG 0x08
# define LOG_CURRENT_MSG 0x09
# define LOG_STARTUP_MSG 0x0A
# define TYPE_AIRSTART_MSG 0x00
# define TYPE_GROUNDSTART_MSG 0x01
# define MAX_NUM_LOGS 50
# define MASK_LOG_ATTITUDE_FAST (1<<0)
# define MASK_LOG_ATTITUDE_MED (1<<1)
# define MASK_LOG_GPS (1<<2)
# define MASK_LOG_PM (1<<3)
# define MASK_LOG_CTUN (1<<4)
# define MASK_LOG_NTUN (1<<5)
# define MASK_LOG_MODE (1<<6)
# define MASK_LOG_RAW (1<<7)
# define MASK_LOG_CMD (1<<8)
# define MASK_LOG_CUR (1<<9)
// Waypoint Modes
// ----------------
# define ABS_WP 0
# define REL_WP 1
// Command Queues
// ---------------
# define COMMAND_MUST 0
# define COMMAND_MAY 1
# define COMMAND_NOW 2
// Events
// ------
# define EVENT_WILL_REACH_WAYPOINT 1
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# define EVENT_SET_NEW_COMMAND_INDEX 2
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# define EVENT_LOADED_WAYPOINT 3
# define EVENT_LOOP 4
// Climb rate calculations
# define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to regress a climb rate from
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# define BATTERY_VOLTAGE(x) (x*(g.input_voltage / 1024.0))*g.volt_div_ratio
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# define CURRENT_AMPS(x) ((x*(g.input_voltage / 1024.0))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt
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# define AIRSPEED_CH 7 // The external ADC channel for the airspeed sensor
# define BATTERY_PIN1 0 // These are the pins for the voltage dividers
# define BATTERY_PIN2 1
# define BATTERY_PIN3 2
# define BATTERY_PIN4 3
# define VOLTAGE_PIN_0 0 // These are the pins for current sensor: voltage
# define CURRENT_PIN_1 1 // and current
# define RELAY_PIN 47
// sonar
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# define MAX_SONAR_XL 0
# define MAX_SONAR_LV 1
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# define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
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# define AN4 4
# define AN5 5
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// Hardware Parameters
# define SLIDE_SWITCH_PIN 40
# define PUSHBUTTON_PIN 41
# define A_LED_PIN 37 //36 = B, 37 = A, 35 = C
# define B_LED_PIN 36
# define C_LED_PIN 35
# define SPEEDFILT 400 // centimeters/second; the speed below which a groundstart will be triggered
// EEPROM addresses
# define EEPROM_MAX_ADDR 4096
// parameters get the first 1KiB of EEPROM, remainder is for waypoints
# define WP_START_BYTE 0x400 // where in memory home WP is stored + all other WP
# define WP_SIZE 15
# define ONBOARD_PARAM_NAME_LENGTH 15
# define MAX_WAYPOINTS ((EEPROM_MAX_ADDR - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe
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// convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps to -1)
# define BOOL_TO_SIGN(bvalue) ((bvalue)?-1:1)
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// mark a function as not to be inlined
# define NOINLINE __attribute__((noinline))
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# endif // _DEFINES_H