2016-03-17 15:02:55 -03:00
# pragma once
2015-12-30 18:57:56 -04:00
# include <AP_HAL/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
2016-02-28 20:13:06 -04:00
# define BOTTOM_DETECTOR_TRIGGER_SEC 1.0
# define SURFACE_DETECTOR_TRIGGER_SEC 1.0
2017-03-08 22:59:39 -04:00
enum AutoSurfaceState {
AUTO_SURFACE_STATE_GO_TO_LOCATION ,
AUTO_SURFACE_STATE_ASCEND
} ;
2015-12-30 18:57:56 -04:00
// Autopilot Yaw Mode enumeration
enum autopilot_yaw_mode {
2017-02-07 20:42:28 -04:00
AUTO_YAW_HOLD = 0 , // pilot controls the heading
AUTO_YAW_LOOK_AT_NEXT_WP = 1 , // point towards next waypoint (no pilot input accepted)
AUTO_YAW_ROI = 2 , // point towards a location held in roi_WP (no pilot input accepted)
AUTO_YAW_LOOK_AT_HEADING = 3 , // point towards a particular angle (not pilot input accepted)
2017-02-10 13:46:54 -04:00
AUTO_YAW_LOOK_AHEAD = 4 , // point in the direction the vehicle is moving
2017-02-07 20:42:28 -04:00
AUTO_YAW_RESETTOARMEDYAW = 5 , // point towards heading at time motors were armed
2023-07-26 19:23:55 -03:00
AUTO_YAW_CORRECT_XTRACK = 6 , // steer the sub in order to correct for crosstrack error during line following
AUTO_YAW_RATE = 7 // steer the sub with the desired yaw rate
2015-12-30 18:57:56 -04:00
} ;
// Acro Trainer types
# define ACRO_TRAINER_DISABLED 0
# define ACRO_TRAINER_LEVELING 1
# define ACRO_TRAINER_LIMITED 2
// 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
2023-10-11 04:41:54 -03:00
# define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicopters)
2017-02-03 17:33:27 -04:00
# define WP_YAW_BEHAVIOR_CORRECT_XTRACK 4 // point towards intermediate position target during line following
2015-12-30 18:57:56 -04:00
2021-12-17 21:21:57 -04:00
// Logging parameters - only 32 messages are available to the vehicle here.
2018-03-12 13:34:19 -03:00
enum LoggingParameters {
LOG_CONTROL_TUNING_MSG ,
LOG_DATA_INT16_MSG ,
LOG_DATA_UINT16_MSG ,
LOG_DATA_INT32_MSG ,
LOG_DATA_UINT32_MSG ,
LOG_DATA_FLOAT_MSG ,
LOG_GUIDEDTARGET_MSG
} ;
2015-12-30 18:57:56 -04:00
# 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)
# define MASK_LOG_COMPASS (1<<13)
# define MASK_LOG_CAMERA (1<<15)
# define MASK_LOG_MOTBATT (1UL<<17)
# define MASK_LOG_IMU_FAST (1UL<<18)
# define MASK_LOG_IMU_RAW (1UL<<19)
# define MASK_LOG_ANY 0xFFFF
2017-03-24 14:01:15 -03:00
// GCS failsafe
# ifndef FS_GCS
# define FS_GCS DISABLED
# endif
2024-07-09 19:40:58 -03:00
# ifndef FS_GCS_TIMEOUT_S
# define FS_GCS_TIMEOUT_S 5.0 // gcs failsafe triggers after this number of seconds with no GCS heartbeat
2017-03-24 14:01:15 -03:00
# endif
// missing terrain data failsafe
# ifndef FS_TERRAIN_TIMEOUT_MS
# define FS_TERRAIN_TIMEOUT_MS 1000 // 1 second of unhealthy rangefinder and/or missing terrain data will trigger failsafe
# endif
//////////////////////////////////////////////////////////////////////////////
// EKF Failsafe
// EKF failsafe definitions (FS_EKF_ENABLE parameter)
2017-04-08 11:36:16 -03:00
# define FS_EKF_ACTION_DISABLED 0 // Disabled
# define FS_EKF_ACTION_WARN_ONLY 1 // Send warning to gcs
# define FS_EKF_ACTION_DISARM 2 // Disarm
2017-03-24 14:01:15 -03:00
# ifndef FS_EKF_ACTION_DEFAULT
# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_DISABLED // EKF failsafe
# endif
# ifndef FS_EKF_THRESHOLD_DEFAULT
# define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
# endif
2016-04-18 01:38:21 -03:00
// GCS failsafe definitions (FS_GCS_ENABLE parameter)
2017-02-03 17:33:27 -04:00
# define FS_GCS_DISABLED 0 // Disabled
# define FS_GCS_WARN_ONLY 1 // Only send warning to gcs (only useful with multiple gcs links)
# define FS_GCS_DISARM 2 // Disarm
# define FS_GCS_HOLD 3 // Switch depth hold mode or poshold mode if available
# define FS_GCS_SURFACE 4 // Switch to surface mode
2016-08-26 16:27:28 -03:00
// Leak failsafe definitions (FS_LEAK_ENABLE parameter)
2017-02-03 17:33:27 -04:00
# define FS_LEAK_DISABLED 0 // Disabled
2017-10-18 21:36:37 -03:00
# define FS_LEAK_WARN_ONLY 1 // Only send warning to gcs
2017-02-03 17:33:27 -04:00
# define FS_LEAK_SURFACE 2 // Switch to surface mode
2016-08-26 16:27:28 -03:00
2016-09-11 18:49:19 -03:00
// Internal pressure failsafe threshold (FS_PRESS_MAX parameter)
2017-02-03 17:33:27 -04:00
# define FS_PRESS_MAX_DEFAULT 105000 // Maximum internal pressure in pascal before failsafe is triggered
2016-09-11 18:49:19 -03:00
// Internal pressure failsafe definitions (FS_PRESS_ENABLE parameter)
2017-02-03 17:33:27 -04:00
# define FS_PRESS_DISABLED 0
# define FS_PRESS_WARN_ONLY 1
2016-09-11 18:49:19 -03:00
// Internal temperature failsafe threshold (FS_TEMP_MAX parameter)
2017-02-03 17:33:27 -04:00
# define FS_TEMP_MAX_DEFAULT 62 // Maximum internal pressure in degrees C before failsafe is triggered
2016-09-11 18:49:19 -03:00
// Internal temperature failsafe definitions (FS_TEMP_ENABLE parameter)
2017-02-03 17:33:27 -04:00
# define FS_TEMP_DISABLED 0
# define FS_TEMP_WARN_ONLY 1
2017-02-07 20:42:28 -04:00
2017-03-24 17:30:28 -03:00
// Crash failsafe options
# define FS_CRASH_DISABLED 0
# define FS_CRASH_WARN_ONLY 1
# define FS_CRASH_DISARM 2
2017-02-07 20:42:28 -04:00
// Terrain failsafe actions for AUTO mode
2017-02-03 17:33:27 -04:00
# define FS_TERRAIN_DISARM 0
# define FS_TERRAIN_HOLD 1
# define FS_TERRAIN_SURFACE 2
2017-02-07 20:42:28 -04:00
2017-04-14 18:23:59 -03:00
// Pilot input failsafe actions
# define FS_PILOT_INPUT_DISABLED 0
# define FS_PILOT_INPUT_WARN_ONLY 1
# define FS_PILOT_INPUT_DISARM 2
2017-02-07 20:42:28 -04:00
// Amount of time to attempt recovery of valid rangefinder data before
// initiating terrain failsafe action
# define FS_TERRAIN_RECOVER_TIMEOUT_MS 10000
2016-09-11 18:49:19 -03:00
2015-12-30 18:57:56 -04:00
// for mavlink SET_POSITION_TARGET messages
2022-05-02 23:05:48 -03:00
# define MAVLINK_SET_POS_TYPE_MASK_Z_IGNORE (1<<2)
2015-12-30 18:57:56 -04:00
# define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1) | (1<<2))
# define MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE ((1<<3) | (1<<4) | (1<<5))
# define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7) | (1<<8))
# define MAVLINK_SET_POS_TYPE_MASK_FORCE (1<<9)
# define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10)
# define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)