2016-02-17 21:26:00 -04:00
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#pragma once
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2011-09-18 00:33:01 -03:00
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2011-09-08 22:29:39 -03:00
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// Internal defines, don't edit and expect things to work
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// -------------------------------------------------------
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#define TRUE 1
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#define FALSE 0
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#define DEBUG 0
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2012-08-16 21:50:16 -03:00
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#define SERVO_MAX 4500 // This value represents 45 degrees and is just an
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// arbitrary representation of servo max travel.
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2011-09-08 22:29:39 -03:00
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2011-09-09 11:18:38 -03:00
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// failsafe
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2011-09-08 22:29:39 -03:00
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// ----------------------
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2013-07-19 01:11:16 -03:00
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enum failsafe_state {
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FAILSAFE_NONE=0,
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FAILSAFE_SHORT=1,
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FAILSAFE_LONG=2,
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FAILSAFE_GCS=3
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};
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2011-09-08 22:29:39 -03:00
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2013-12-19 20:39:00 -04:00
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// GCS failsafe types for FS_GCS_ENABL parameter
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enum gcs_failsafe {
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GCS_FAILSAFE_OFF = 0, // no GCS failsafe
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GCS_FAILSAFE_HEARTBEAT = 1, // failsafe if we stop receiving heartbeat
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2015-05-09 07:50:13 -03:00
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GCS_FAILSAFE_HB_RSSI = 2, // failsafe if we stop receiving
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2013-12-19 20:39:00 -04:00
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// heartbeat or if RADIO.remrssi
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// drops to 0
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2015-05-09 07:50:13 -03:00
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GCS_FAILSAFE_HB_AUTO = 3 // failsafe if we stop receiving heartbeat
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// while in AUTO mode
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2013-12-19 20:39:00 -04:00
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};
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2017-12-06 19:02:11 -04:00
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enum failsafe_action_short {
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FS_ACTION_SHORT_BESTGUESS = 0, // CIRCLE/no change(if already in AUTO|GUIDED|LOITER)
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FS_ACTION_SHORT_CIRCLE = 1,
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FS_ACTION_SHORT_FBWA = 2,
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FS_ACTION_SHORT_DISABLED = 3,
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};
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enum failsafe_action_long {
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FS_ACTION_LONG_CONTINUE = 0,
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FS_ACTION_LONG_RTL = 1,
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FS_ACTION_LONG_GLIDE = 2,
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FS_ACTION_LONG_PARACHUTE = 3,
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2017-09-21 03:53:15 -03:00
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};
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2013-12-19 20:39:00 -04:00
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2012-11-30 05:34:56 -04:00
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enum FlightMode {
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2012-12-04 02:32:37 -04:00
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MANUAL = 0,
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CIRCLE = 1,
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STABILIZE = 2,
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TRAINING = 3,
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2013-07-10 10:25:38 -03:00
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ACRO = 4,
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2012-11-30 05:34:56 -04:00
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FLY_BY_WIRE_A = 5,
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FLY_BY_WIRE_B = 6,
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2013-07-13 07:05:53 -03:00
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CRUISE = 7,
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2014-04-12 01:12:14 -03:00
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AUTOTUNE = 8,
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2012-12-04 02:32:37 -04:00
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AUTO = 10,
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RTL = 11,
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LOITER = 12,
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AVOID_ADSB = 14,
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2012-12-04 02:32:37 -04:00
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GUIDED = 15,
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2015-11-24 04:24:04 -04:00
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INITIALISING = 16,
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2015-12-26 03:45:42 -04:00
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QSTABILIZE = 17,
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2015-12-26 04:51:05 -04:00
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QHOVER = 18,
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2016-03-09 03:20:41 -04:00
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QLOITER = 19,
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2016-04-29 02:31:08 -03:00
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QLAND = 20,
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QRTL = 21
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2012-11-30 05:34:56 -04:00
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};
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2011-09-08 22:29:39 -03:00
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2016-08-13 04:54:37 -03:00
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enum mode_reason_t {
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MODE_REASON_UNKNOWN=0,
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MODE_REASON_TX_COMMAND,
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MODE_REASON_GCS_COMMAND,
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MODE_REASON_RADIO_FAILSAFE,
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MODE_REASON_BATTERY_FAILSAFE,
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MODE_REASON_GCS_FAILSAFE,
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MODE_REASON_EKF_FAILSAFE,
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MODE_REASON_GPS_GLITCH,
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MODE_REASON_MISSION_END,
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MODE_REASON_FENCE_BREACH,
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MODE_REASON_AVOIDANCE,
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MODE_REASON_AVOIDANCE_RECOVERY,
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2017-02-26 19:18:38 -04:00
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MODE_REASON_SOARING_FBW_B_WITH_MOTOR_RUNNING,
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MODE_REASON_SOARING_THERMAL_DETECTED,
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MODE_REASON_SOARING_IN_THERMAL,
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MODE_REASON_SOARING_THERMAL_ESTIMATE_DETERIORATED
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2016-08-13 04:54:37 -03:00
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};
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2013-04-01 18:52:56 -03:00
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// type of stick mixing enabled
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enum StickMixing {
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STICK_MIXING_DISABLED = 0,
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STICK_MIXING_FBW = 1,
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STICK_MIXING_DIRECT = 2
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};
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2011-09-08 22:29:39 -03:00
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2013-04-28 07:49:53 -03:00
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enum ChannelMixing {
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MIXING_DISABLED = 0,
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MIXING_UPUP = 1,
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MIXING_UPDN = 2,
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MIXING_DNUP = 3,
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2016-09-13 22:44:03 -03:00
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MIXING_DNDN = 4,
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MIXING_UPUP_SWP = 5,
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MIXING_UPDN_SWP = 6,
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MIXING_DNUP_SWP = 7,
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MIXING_DNDN_SWP = 8,
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2013-04-05 01:22:00 -03:00
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};
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2014-02-13 18:49:42 -04:00
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/*
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* The cause for the most recent fence enable
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*/
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typedef enum GeofenceEnableReason {
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NOT_ENABLED = 0, //The fence is not enabled
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PWM_TOGGLED, //Fence enabled/disabled by PWM signal
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AUTO_TOGGLED, //Fence auto enabled/disabled at takeoff.
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GCS_TOGGLED //Fence enabled/disabled by the GCS via Mavlink
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} GeofenceEnableReason;
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2011-09-08 22:29:39 -03:00
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2018-03-02 20:46:46 -04:00
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// PID broadcast bitmask
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enum tuning_pid_bits {
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TUNING_BITS_ROLL = (1 << 0),
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TUNING_BITS_PITCH = (1 << 1),
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TUNING_BITS_YAW = (1 << 2),
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TUNING_BITS_STEER = (1 << 3),
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TUNING_BITS_LAND = (1 << 4),
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TUNING_BITS_END // dummy just used for static checking
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};
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2018-03-03 01:37:11 -04:00
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static_assert(TUNING_BITS_END <= (1 << 24) + 1, "Tuning bit mask is too large to be set by MAVLink");
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2011-09-08 22:29:39 -03:00
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2015-04-29 22:05:17 -03:00
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// Logging message types
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2013-01-12 07:16:50 -04:00
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enum log_messages {
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2013-04-19 10:37:21 -03:00
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LOG_CTUN_MSG,
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LOG_NTUN_MSG,
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2013-01-12 07:16:50 -04:00
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LOG_STARTUP_MSG,
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TYPE_AIRSTART_MSG,
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TYPE_GROUNDSTART_MSG,
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2013-11-25 17:44:17 -04:00
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LOG_RC_MSG,
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2013-10-30 19:23:21 -03:00
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LOG_SONAR_MSG,
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2013-11-27 22:19:34 -04:00
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LOG_ARM_DISARM_MSG,
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LOG_STATUS_MSG,
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LOG_OPTFLOW_MSG,
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2016-04-16 07:26:43 -03:00
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LOG_QTUN_MSG,
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2017-02-26 19:18:38 -04:00
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LOG_PARAMTUNE_MSG,
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LOG_THERMAL_MSG,
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2017-03-13 03:22:41 -03:00
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LOG_VARIO_MSG,
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LOG_PIQR_MSG,
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LOG_PIQP_MSG,
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LOG_PIQY_MSG,
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LOG_PIQA_MSG,
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2017-07-06 02:56:13 -03:00
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LOG_AETR_MSG,
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2013-01-12 07:16:50 -04:00
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};
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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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#define MASK_LOG_CTUN (1<<4)
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#define MASK_LOG_NTUN (1<<5)
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2017-10-23 21:39:45 -03:00
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//#define MASK_LOG_MODE (1<<6) // no longer used
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2013-01-26 04:29:29 -04:00
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#define MASK_LOG_IMU (1<<7)
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2012-08-16 21:50:16 -03:00
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#define MASK_LOG_CMD (1<<8)
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2013-01-26 04:19:42 -04:00
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#define MASK_LOG_CURRENT (1<<9)
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2013-04-19 10:54:40 -03:00
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#define MASK_LOG_COMPASS (1<<10)
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2013-06-26 05:36:53 -03:00
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#define MASK_LOG_TECS (1<<11)
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2013-07-09 23:23:36 -03:00
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#define MASK_LOG_CAMERA (1<<12)
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2013-11-25 17:44:17 -04:00
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#define MASK_LOG_RC (1<<13)
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2013-10-30 19:23:21 -03:00
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#define MASK_LOG_SONAR (1<<14)
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2013-11-27 22:19:34 -04:00
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#define MASK_LOG_ARM_DISARM (1<<15)
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2015-05-06 23:11:52 -03:00
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#define MASK_LOG_IMU_RAW (1UL<<19)
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2011-09-08 22:29:39 -03:00
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2012-08-28 00:15:04 -03:00
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// altitude control algorithms
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enum {
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2013-06-26 05:36:53 -03:00
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ALT_CONTROL_DEFAULT = 0,
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ALT_CONTROL_NON_AIRSPEED = 1,
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2013-07-14 22:12:24 -03:00
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ALT_CONTROL_TECS = 2,
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ALT_CONTROL_AIRSPEED = 3
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2012-08-28 00:15:04 -03:00
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};
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2015-06-03 16:22:24 -03:00
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enum {
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CRASH_DETECT_ACTION_BITMASK_DISABLED = 0,
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CRASH_DETECT_ACTION_BITMASK_DISARM = (1<<0),
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// note: next enum will be (1<<1), then (1<<2), then (1<<3)
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};
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2016-01-30 03:22:21 -04:00
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enum {
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USE_REVERSE_THRUST_NEVER = 0,
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USE_REVERSE_THRUST_AUTO_ALWAYS = (1<<0),
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USE_REVERSE_THRUST_AUTO_LAND_APPROACH = (1<<1),
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USE_REVERSE_THRUST_AUTO_LOITER_TO_ALT = (1<<2),
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USE_REVERSE_THRUST_AUTO_LOITER_ALL = (1<<3),
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USE_REVERSE_THRUST_AUTO_WAYPOINT = (1<<4),
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USE_REVERSE_THRUST_LOITER = (1<<5),
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USE_REVERSE_THRUST_RTL = (1<<6),
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USE_REVERSE_THRUST_CIRCLE = (1<<7),
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USE_REVERSE_THRUST_CRUISE = (1<<8),
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USE_REVERSE_THRUST_FBWB = (1<<9),
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USE_REVERSE_THRUST_GUIDED = (1<<10),
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};
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2018-08-20 21:38:41 -03:00
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enum FlightOptions {
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2018-09-01 21:01:32 -03:00
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DIRECT_RUDDER_ONLY = (1 << 0),
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CRUISE_TRIM_THROTTLE = (1 << 1),
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2018-08-20 21:38:41 -03:00
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};
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