ardupilot/ArduCopter/defines.h

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#ifndef _DEFINES_H
#define _DEFINES_H

#include <AP_HAL_Boards.h>

// Just so that it's completely clear...
#define ENABLED                 1
#define DISABLED                0

// this avoids a very common config error
#define ENABLE ENABLED
#define DISABLE DISABLED

// Flight modes
// ------------
#define AUTO_YAW_HOLD                   0       // pilot controls the heading
#define AUTO_YAW_LOOK_AT_NEXT_WP        1       // point towards next waypoint (no pilot input accepted)
#define AUTO_YAW_ROI                    2       // point towards a location held in roi_WP (no pilot input accepted)
#define AUTO_YAW_LOOK_AT_HEADING        3       // point towards a particular angle (not pilot input accepted)
#define AUTO_YAW_LOOK_AHEAD             4       // point in the direction the copter is moving
#define AUTO_YAW_RESETTOARMEDYAW        5       // point towards heading at time motors were armed

// Ch6, Ch7 and Ch8 aux switch control
#define AUX_SWITCH_PWM_TRIGGER_HIGH 1800   // pwm value above which the ch7 or ch8 option will be invoked
#define AUX_SWITCH_PWM_TRIGGER_LOW  1200   // pwm value below which the ch7 or ch8 option will be disabled
#define CH6_PWM_TRIGGER_HIGH    1800
#define CH6_PWM_TRIGGER_LOW     1200

#define AUX_SWITCH_DO_NOTHING       0       // aux switch disabled
#define AUX_SWITCH_SET_HOVER        1       // deprecated
#define AUX_SWITCH_FLIP             2       // flip
#define AUX_SWITCH_SIMPLE_MODE      3       // change to simple mode
#define AUX_SWITCH_RTL              4       // change to RTL flight mode
#define AUX_SWITCH_SAVE_TRIM        5       // save current position as level
#define AUX_SWITCH_ADC_FILTER       6       // deprecated
#define AUX_SWITCH_SAVE_WP          7       // save mission waypoint or RTL if in auto mode
#define AUX_SWITCH_MULTI_MODE       8       // depending upon CH6 position Flip (if ch6 is low), RTL (if ch6 in middle) or Save WP (if ch6 is high)
#define AUX_SWITCH_CAMERA_TRIGGER   9       // trigger camera servo or relay
#define AUX_SWITCH_SONAR            10      // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground
#define AUX_SWITCH_FENCE            11      // allow enabling or disabling fence in flight
#define AUX_SWITCH_RESETTOARMEDYAW  12      // changes yaw to be same as when quad was armed
#define AUX_SWITCH_SUPERSIMPLE_MODE 13      // change to simple mode in middle, super simple at top
#define AUX_SWITCH_ACRO_TRAINER     14      // low = disabled, middle = leveled, high = leveled and limited
#define AUX_SWITCH_SPRAYER          15      // enable/disable the crop sprayer
#define AUX_SWITCH_AUTO             16      // change to auto flight mode
#define AUX_SWITCH_AUTOTUNE         17      // auto tune
#define AUX_SWITCH_LAND             18      // change to LAND flight mode
#define AUX_SWITCH_EPM              19      // Operate the EPM cargo gripper low=off, middle=neutral, high=on
#define AUX_SWITCH_EKF              20      // Enable NavEKF
#define AUX_SWITCH_PARACHUTE_ENABLE 21      // Parachute enable/disable
#define AUX_SWITCH_PARACHUTE_RELEASE 22     // Parachute release
#define AUX_SWITCH_PARACHUTE_3POS   23      // Parachute disable, enable, release with 3 position switch
#define AUX_SWITCH_MISSIONRESET     24      // Reset auto mission to start from first command
#define AUX_SWITCH_ATTCON_FEEDFWD   25      // enable/disable the roll and pitch rate feed forward
#define AUX_SWITCH_ATTCON_ACCEL_LIM 26      // enable/disable the roll, pitch and yaw accel limiting
#define AUX_SWITCH_RETRACT_MOUNT    27      // Retract Mount

// values used by the ap.ch7_opt and ap.ch8_opt flags
#define AUX_SWITCH_LOW              0       // indicates auxiliar switch is in the low position (pwm <1200)
#define AUX_SWITCH_MIDDLE           1       // indicates auxiliar switch is in the middle position (pwm >1200, <1800)
#define AUX_SWITCH_HIGH             2       // indicates auxiliar switch is in the high position (pwm >1800)

// Frame types
#define UNDEFINED_FRAME 0
#define QUAD_FRAME 1
#define TRI_FRAME 2
#define HEXA_FRAME 3
#define Y6_FRAME 4
#define OCTA_FRAME 5
#define HELI_FRAME 6
#define OCTA_QUAD_FRAME 7
#define SINGLE_FRAME 8
#define COAX_FRAME 9

// Internal defines, don't edit and expect things to work
// -------------------------------------------------------

#define ToRad(x) radians(x)	// *pi/180
#define ToDeg(x) degrees(x)	// *180/pi

// HIL enumerations
#define HIL_MODE_DISABLED               0
#define HIL_MODE_SENSORS                1

// Auto Pilot modes
// ----------------
#define STABILIZE 0                     // hold level position
#define ACRO 1                          // rate control
#define ALT_HOLD 2                      // AUTO control
#define AUTO 3                          // AUTO control
#define GUIDED 4                        // AUTO control
#define LOITER 5                        // Hold a single location
#define RTL 6                           // AUTO control
#define CIRCLE 7                        // AUTO control
#define LAND 9                          // AUTO control
#define OF_LOITER 10                    // Hold a single location using optical flow sensor
#define DRIFT 11                        // DRIFT mode (Note: 12 is no longer used)
#define SPORT 13                        // earth frame rate control
#define FLIP        14                  // flip the vehicle on the roll axis
#define AUTOTUNE    15                  // autotune the vehicle's roll and pitch gains
#define POSHOLD     16                  // position hold with manual override
#define NUM_MODES   17


// CH_6 Tuning
// -----------
#define CH6_NONE                        0   // no tuning performed
#define CH6_STABILIZE_ROLL_PITCH_KP     1   // stabilize roll/pitch angle controller's P term
#define CH6_RATE_ROLL_PITCH_KP          4   // body frame roll/pitch rate controller's P term
#define CH6_RATE_ROLL_PITCH_KI          5   // body frame roll/pitch rate controller's I term
#define CH6_RATE_ROLL_PITCH_KD          21  // body frame roll/pitch rate controller's D term
#define CH6_STABILIZE_YAW_KP            3   // stabilize yaw heading controller's P term
#define CH6_YAW_RATE_KP                 6   // body frame yaw rate controller's P term
#define CH6_YAW_RATE_KD                 26  // body frame yaw rate controller's D term
#define CH6_ALTITUDE_HOLD_KP            14  // altitude hold controller's P term (alt error to desired rate)
#define CH6_THROTTLE_RATE_KP            7   // throttle rate controller's P term (desired rate to acceleration or motor output)
#define CH6_THROTTLE_ACCEL_KP           34  // accel based throttle controller's P term
#define CH6_THROTTLE_ACCEL_KI           35  // accel based throttle controller's I term
#define CH6_THROTTLE_ACCEL_KD           36  // accel based throttle controller's D term
#define CH6_LOITER_POSITION_KP          12  // loiter distance controller's P term (position error to speed)
#define CH6_LOITER_RATE_KP              22  // loiter rate controller's P term (speed error to tilt angle)
#define CH6_LOITER_RATE_KI              28  // loiter rate controller's I term (speed error to tilt angle)
#define CH6_LOITER_RATE_KD              23  // loiter rate controller's D term (speed error to tilt angle)
#define CH6_WP_SPEED                    10  // maximum speed to next way point (0 to 10m/s)
#define CH6_ACRO_RP_KP                  25  // acro controller's P term.  converts pilot input to a desired roll, pitch or yaw rate
#define CH6_ACRO_YAW_KP                 40  // acro controller's P term.  converts pilot input to a desired roll, pitch or yaw rate
#define CH6_RELAY                       9   // switch relay on if ch6 high, off if low
#define CH6_HELI_EXTERNAL_GYRO          13  // TradHeli specific external tail gyro gain
#define CH6_OPTFLOW_KP                  17  // optical flow loiter controller's P term (position error to tilt angle)
#define CH6_OPTFLOW_KI                  18  // optical flow loiter controller's I term (position error to tilt angle)
#define CH6_OPTFLOW_KD                  19  // optical flow loiter controller's D term (position error to tilt angle)
#define CH6_AHRS_YAW_KP                 30  // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
#define CH6_AHRS_KP                     31  // accelerometer effect on roll/pitch angle (0=low)
#define CH6_INAV_TC                     32  // deprecated -- remove
#define CH6_DECLINATION                 38  // compass declination in radians
#define CH6_CIRCLE_RATE                 39  // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
#define CH6_SONAR_GAIN                  41  // sonar gain
#define CH6_EKF_VERTICAL_POS            42  // EKF's baro vs accel (higher rely on accels more, baro impact is reduced).  Range should be 0.2 ~ 4.0?  2.0 is default
#define CH6_EKF_HORIZONTAL_POS          43  // EKF's gps vs accel (higher rely on accels more, gps impact is reduced).  Range should be 1.0 ~ 3.0?  1.5 is default
#define CH6_EKF_ACCEL_NOISE             44  // EKF's accel noise (lower means trust accels more, gps & baro less).  Range should be 0.02 ~ 0.5  0.5 is default (but very robust at that level)
#define CH6_RC_FEEL_RP                  45  // roll-pitch input smoothing
#define CH6_RATE_PITCH_KP               46  // body frame pitch rate controller's P term
#define CH6_RATE_PITCH_KI               47  // body frame pitch rate controller's I term
#define CH6_RATE_PITCH_KD               48  // body frame pitch rate controller's D term
#define CH6_RATE_ROLL_KP                49  // body frame roll rate controller's P term
#define CH6_RATE_ROLL_KI                50  // body frame roll rate controller's I term
#define CH6_RATE_ROLL_KD                51  // body frame roll rate controller's D term
#define CH6_RATE_PITCH_FF               52  // body frame pitch rate controller FF term
#define CH6_RATE_ROLL_FF                53  // body frame roll rate controller FF term
#define CH6_RATE_YAW_FF                 54  // body frame yaw rate controller FF term

// Acro Trainer types
#define ACRO_TRAINER_DISABLED   0
#define ACRO_TRAINER_LEVELING   1
#define ACRO_TRAINER_LIMITED    2

// RC Feel roll/pitch definitions
#define RC_FEEL_RP_VERY_SOFT        0
#define RC_FEEL_RP_SOFT             25
#define RC_FEEL_RP_MEDIUM           50
#define RC_FEEL_RP_CRISP            75
#define RC_FEEL_RP_VERY_CRISP       100

// Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter
#define WP_YAW_BEHAVIOR_NONE                          0   // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received)
#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP               1   // auto pilot will face next waypoint or home during rtl
#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL    2   // auto pilot will face next waypoint except when doing RTL at which time it will stay in it's last
#define WP_YAW_BEHAVIOR_LOOK_AHEAD                    3   // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicotpers)


// Waypoint options
#define WP_OPTION_ALT_CHANGE                    2
#define WP_OPTION_YAW                           4
#define WP_OPTION_ALT_REQUIRED                  8
#define WP_OPTION_RELATIVE                      16
//#define WP_OPTION_					32
//#define WP_OPTION_					64
#define WP_OPTION_NEXT_CMD                      128

// Auto modes
enum AutoMode {
    Auto_TakeOff,
    Auto_WP,
    Auto_Land,
    Auto_RTL,
    Auto_CircleMoveToEdge,
    Auto_Circle,
    Auto_Spline,
    Auto_NavGuided
};

// Guided modes
enum GuidedMode {
    Guided_TakeOff,
    Guided_WP,
    Guided_Velocity
};

// RTL states
enum RTLState {
    InitialClimb,
    ReturnHome,
    LoiterAtHome,
    FinalDescent,
    Land
};

// Flip states
enum FlipState {
    Flip_Start,
    Flip_Roll,
    Flip_Recover,
    Flip_Abandon
};

// LAND state
#define LAND_STATE_FLY_TO_LOCATION  0
#define LAND_STATE_DESCENDING       1

//  Logging parameters
#define TYPE_AIRSTART_MSG               0x00
#define TYPE_GROUNDSTART_MSG            0x01
#define LOG_ATTITUDE_MSG                0x01
#define LOG_MODE_MSG                    0x03
#define LOG_CONTROL_TUNING_MSG          0x04
#define LOG_NAV_TUNING_MSG              0x05
#define LOG_PERFORMANCE_MSG             0x06
#define LOG_CURRENT_MSG                 0x09
#define LOG_STARTUP_MSG                 0x0A
#define LOG_OPTFLOW_MSG                 0x0C
#define LOG_EVENT_MSG                   0x0D
#define LOG_PID_MSG                     0x0E    // deprecated
#define LOG_COMPASS_MSG                 0x0F
#define LOG_INAV_MSG                    0x11    // deprecated
#define LOG_CAMERA_MSG_DEPRECATED       0x12    // deprecated
#define LOG_ERROR_MSG                   0x13
#define LOG_DATA_INT16_MSG              0x14
#define LOG_DATA_UINT16_MSG             0x15
#define LOG_DATA_INT32_MSG              0x16
#define LOG_DATA_UINT32_MSG             0x17
#define LOG_DATA_FLOAT_MSG              0x18
#define LOG_AUTOTUNE_MSG                0x19
#define LOG_AUTOTUNEDETAILS_MSG         0x1A
#define LOG_COMPASS2_MSG                0x1B
#define LOG_COMPASS3_MSG                0x1C

#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_RCIN                   (1<<6)
#define MASK_LOG_IMU                    (1<<7)
#define MASK_LOG_CMD                    (1<<8)
#define MASK_LOG_CURRENT                (1<<9)
#define MASK_LOG_RCOUT                  (1<<10)
#define MASK_LOG_OPTFLOW                (1<<11)
#define MASK_LOG_PID                    (1<<12) // deprecated
#define MASK_LOG_COMPASS                (1<<13)
#define MASK_LOG_INAV                   (1<<14) // deprecated
#define MASK_LOG_CAMERA                 (1<<15)

// DATA - event logging
#define DATA_MAVLINK_FLOAT              1
#define DATA_MAVLINK_INT32              2
#define DATA_MAVLINK_INT16              3
#define DATA_MAVLINK_INT8               4
#define DATA_AP_STATE                   7
#define DATA_INIT_SIMPLE_BEARING        9
#define DATA_ARMED                      10
#define DATA_DISARMED                   11
#define DATA_AUTO_ARMED                 15
#define DATA_TAKEOFF                    16
#define DATA_LAND_COMPLETE              18
#define DATA_NOT_LANDED                 28
#define DATA_LOST_GPS                   19
#define DATA_FLIP_START                 21
#define DATA_FLIP_END                   22
#define DATA_SET_HOME                   25
#define DATA_SET_SIMPLE_ON              26
#define DATA_SET_SIMPLE_OFF             27
#define DATA_SET_SUPERSIMPLE_ON         29
#define DATA_AUTOTUNE_INITIALISED       30
#define DATA_AUTOTUNE_OFF               31
#define DATA_AUTOTUNE_RESTART           32
#define DATA_AUTOTUNE_SUCCESS           33
#define DATA_AUTOTUNE_FAILED            34
#define DATA_AUTOTUNE_REACHED_LIMIT     35
#define DATA_AUTOTUNE_PILOT_TESTING     36
#define DATA_AUTOTUNE_SAVEDGAINS        37
#define DATA_SAVE_TRIM                  38
#define DATA_SAVEWP_ADD_WP              39
#define DATA_SAVEWP_CLEAR_MISSION_RTL   40
#define DATA_FENCE_ENABLE               41
#define DATA_FENCE_DISABLE              42
#define DATA_ACRO_TRAINER_DISABLED      43
#define DATA_ACRO_TRAINER_LEVELING      44
#define DATA_ACRO_TRAINER_LIMITED       45
#define DATA_EPM_ON                     46
#define DATA_EPM_OFF                    47
#define DATA_EPM_NEUTRAL                48
#define DATA_PARACHUTE_DISABLED         49
#define DATA_PARACHUTE_ENABLED          50
#define DATA_PARACHUTE_RELEASED         51

// Centi-degrees to radians
#define DEGX100 5729.57795f

// fence points are stored at the end of the EEPROM
#define MAX_FENCEPOINTS 6
#define FENCE_WP_SIZE sizeof(Vector2l)
#define FENCE_START_BYTE (HAL_STORAGE_SIZE_AVAILABLE-(MAX_FENCEPOINTS*FENCE_WP_SIZE))

// rally points shoehorned between fence points and waypoints
#define MAX_RALLYPOINTS 6
#define RALLY_START_BYTE (FENCE_START_BYTE-(MAX_RALLYPOINTS*AC_RALLY_WP_SIZE))
#define RALLY_LIMIT_KM_DEFAULT 2.0  // we'll set a per-vehicle default for this

// parameters get the first 1536 bytes of EEPROM
// mission commands are stored between these params and the rally points, or fence points if rally disabled
#define MISSION_START_BYTE   0x600
#if AC_RALLY == ENABLED
  #define MISSION_END_BYTE   (RALLY_START_BYTE-1)
#else
  #define MISSION_END_BYTE   (FENCE_START_BYTE-1)
#endif

// mark a function as not to be inlined
#define NOINLINE __attribute__((noinline))

// Error message sub systems and error codes
#define ERROR_SUBSYSTEM_MAIN                1
#define ERROR_SUBSYSTEM_RADIO               2
#define ERROR_SUBSYSTEM_COMPASS             3
#define ERROR_SUBSYSTEM_OPTFLOW             4
#define ERROR_SUBSYSTEM_FAILSAFE_RADIO      5
#define ERROR_SUBSYSTEM_FAILSAFE_BATT       6
#define ERROR_SUBSYSTEM_FAILSAFE_GPS        7
#define ERROR_SUBSYSTEM_FAILSAFE_GCS        8
#define ERROR_SUBSYSTEM_FAILSAFE_FENCE      9
#define ERROR_SUBSYSTEM_FLIGHT_MODE         10
#define ERROR_SUBSYSTEM_GPS                 11
#define ERROR_SUBSYSTEM_CRASH_CHECK         12
#define ERROR_SUBSYSTEM_FLIP                13
#define ERROR_SUBSYSTEM_AUTOTUNE            14
#define ERROR_SUBSYSTEM_PARACHUTE           15
#define ERROR_SUBSYSTEM_EKF_CHECK           16
#define ERROR_SUBSYSTEM_FAILSAFE_EKF        17
#define ERROR_SUBSYSTEM_BARO                18
// general error codes
#define ERROR_CODE_ERROR_RESOLVED           0
#define ERROR_CODE_FAILED_TO_INITIALISE     1
// subsystem specific error codes -- radio
#define ERROR_CODE_RADIO_LATE_FRAME         2
// subsystem specific error codes -- failsafe_thr, batt, gps
#define ERROR_CODE_FAILSAFE_RESOLVED        0
#define ERROR_CODE_FAILSAFE_OCCURRED        1
// subsystem specific error codes -- compass
#define ERROR_CODE_COMPASS_FAILED_TO_READ   2
// subsystem specific error codes -- gps
#define ERROR_CODE_GPS_GLITCH               2
// subsystem specific error codes -- main
#define ERROR_CODE_MAIN_INS_DELAY           1
// subsystem specific error codes -- crash checker
#define ERROR_CODE_CRASH_CHECK_CRASH        1
#define ERROR_CODE_CRASH_CHECK_LOSS_OF_CONTROL 2
// subsystem specific error codes -- flip
#define ERROR_CODE_FLIP_ABANDONED           2
// subsystem specific error codes -- autotune
#define ERROR_CODE_AUTOTUNE_BAD_GAINS       2
// parachute failed to deploy because of low altitude
#define ERROR_CODE_PARACHUTE_TOO_LOW        2
// EKF check definitions
#define ERROR_CODE_EKF_CHECK_BAD_COMPASS    2
#define ERROR_CODE_EKF_CHECK_BAD_COMPASS_CLEARED    0
// Baro specific error codes
#define ERROR_CODE_BARO_GLITCH              2

// Arming Check Enable/Disable bits
#define ARMING_CHECK_NONE                   0x00
#define ARMING_CHECK_ALL                    0x01
#define ARMING_CHECK_BARO                   0x02
#define ARMING_CHECK_COMPASS                0x04
#define ARMING_CHECK_GPS                    0x08
#define ARMING_CHECK_INS                    0x10
#define ARMING_CHECK_PARAMETERS             0x20
#define ARMING_CHECK_RC                     0x40
#define ARMING_CHECK_VOLTAGE                0x80

// Radio failsafe definitions (FS_THR parameter)
#define FS_THR_DISABLED                    0
#define FS_THR_ENABLED_ALWAYS_RTL          1
#define FS_THR_ENABLED_CONTINUE_MISSION    2
#define FS_THR_ENABLED_ALWAYS_LAND         3

// Battery failsafe definitions (FS_BATT_ENABLE parameter)
#define FS_BATT_DISABLED                    0       // battery failsafe disabled
#define FS_BATT_LAND                        1       // switch to LAND mode on battery failsafe
#define FS_BATT_RTL                         2       // switch to RTL mode on battery failsafe

// GPS Failsafe definitions (FS_GPS_ENABLE parameter)
#define FS_GPS_DISABLED                     0       // GPS failsafe disabled
#define FS_GPS_LAND                         1       // switch to LAND mode on GPS Failsafe
#define FS_GPS_ALTHOLD                      2       // switch to ALTHOLD mode on GPS failsafe
#define FS_GPS_LAND_EVEN_STABILIZE          3       // switch to LAND mode on GPS failsafe even if in a manual flight mode like Stabilize


enum Serial2Protocol {
    SERIAL2_MAVLINK     = 1,
    SERIAL2_FRSKY_DPORT = 2,
    SERIAL2_FRSKY_SPORT = 3 // not supported yet
};

#endif // _DEFINES_H