ardupilot/ArduCopter/defines.h

#pragma once

#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

// Autopilot Yaw Mode enumeration
enum autopilot_yaw_mode {
    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 (no pilot input accepted)
    AUTO_YAW_FIXED =            3,  // point towards a particular angle (no pilot input accepted)
    AUTO_YAW_LOOK_AHEAD =       4,  // point in the direction the copter is moving
    AUTO_YAW_RESETTOARMEDYAW =  5,  // point towards heading at time motors were armed
    AUTO_YAW_RATE =             6,  // turn at a specified rate (held in auto_yaw_rate)
};

// Frame types
#define UNDEFINED_FRAME 0
#define MULTICOPTER_FRAME 1
#define HELI_FRAME 2

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

// Auto Pilot Modes enumeration
enum control_mode_t {
    STABILIZE =     0,  // manual airframe angle with manual throttle
    ACRO =          1,  // manual body-frame angular rate with manual throttle
    ALT_HOLD =      2,  // manual airframe angle with automatic throttle
    AUTO =          3,  // fully automatic waypoint control using mission commands
    GUIDED =        4,  // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
    LOITER =        5,  // automatic horizontal acceleration with automatic throttle
    RTL =           6,  // automatic return to launching point
    CIRCLE =        7,  // automatic circular flight with automatic throttle
    LAND =          9,  // automatic landing with horizontal position control
    DRIFT =        11,  // semi-automous position, yaw and throttle control
    SPORT =        13,  // manual earth-frame angular rate control with manual throttle
    FLIP =         14,  // automatically flip the vehicle on the roll axis
    AUTOTUNE =     15,  // automatically tune the vehicle's roll and pitch gains
    POSHOLD =      16,  // automatic position hold with manual override, with automatic throttle
    BRAKE =        17,  // full-brake using inertial/GPS system, no pilot input
    THROW =        18,  // throw to launch mode using inertial/GPS system, no pilot input
    AVOID_ADSB =   19,  // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
    GUIDED_NOGPS = 20,  // guided mode but only accepts attitude and altitude
    SMART_RTL =    21,  // SMART_RTL returns to home by retracing its steps
    FLOWHOLD  =    22,  // FLOWHOLD holds position with optical flow without rangefinder
    FOLLOW    =    23,  // follow attempts to follow another vehicle or ground station
    ZIGZAG    =    24,  // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
};

enum mode_reason_t {
    MODE_REASON_UNKNOWN=0,
    MODE_REASON_TX_COMMAND,
    MODE_REASON_GCS_COMMAND,
    MODE_REASON_RADIO_FAILSAFE,
    MODE_REASON_BATTERY_FAILSAFE,
    MODE_REASON_GCS_FAILSAFE,
    MODE_REASON_EKF_FAILSAFE,
    MODE_REASON_GPS_GLITCH,
    MODE_REASON_MISSION_END,
    MODE_REASON_THROTTLE_LAND_ESCAPE,
    MODE_REASON_FENCE_BREACH,
    MODE_REASON_TERRAIN_FAILSAFE,
    MODE_REASON_BRAKE_TIMEOUT,
    MODE_REASON_FLIP_COMPLETE,
    MODE_REASON_AVOIDANCE,
    MODE_REASON_AVOIDANCE_RECOVERY,
    MODE_REASON_THROW_COMPLETE,
    MODE_REASON_TERMINATE,
    MODE_REASON_TMODE,
};

// Tuning enumeration
enum tuning_func {
    TUNING_NONE =                        0, //
    TUNING_STABILIZE_ROLL_PITCH_KP =     1, // stabilize roll/pitch angle controller's P term
    TUNING_STABILIZE_YAW_KP =            3, // stabilize yaw heading controller's P term
    TUNING_RATE_ROLL_PITCH_KP =          4, // body frame roll/pitch rate controller's P term
    TUNING_RATE_ROLL_PITCH_KI =          5, // body frame roll/pitch rate controller's I term
    TUNING_YAW_RATE_KP =                 6, // body frame yaw rate controller's P term
    TUNING_THROTTLE_RATE_KP =            7, // throttle rate controller's P term (desired rate to acceleration or motor output)
    TUNING_WP_SPEED =                   10, // maximum speed to next way point (0 to 10m/s)
    TUNING_LOITER_POSITION_KP =         12, // loiter distance controller's P term (position error to speed)
    TUNING_HELI_EXTERNAL_GYRO =         13, // TradHeli specific external tail gyro gain
    TUNING_ALTITUDE_HOLD_KP =           14, // altitude hold controller's P term (alt error to desired rate)
    TUNING_RATE_ROLL_PITCH_KD =         21, // body frame roll/pitch rate controller's D term
    TUNING_VEL_XY_KP =                  22, // loiter rate controller's P term (speed error to tilt angle)
    TUNING_ACRO_RP_KP =                 25, // acro controller's P term.  converts pilot input to a desired roll, pitch or yaw rate
    TUNING_YAW_RATE_KD =                26, // body frame yaw rate controller's D term
    TUNING_VEL_XY_KI =                  28, // loiter rate controller's I term (speed error to tilt angle)
    TUNING_AHRS_YAW_KP =                30, // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
    TUNING_AHRS_KP =                    31, // accelerometer effect on roll/pitch angle (0=low)
    TUNING_ACCEL_Z_KP =                 34, // accel based throttle controller's P term
    TUNING_ACCEL_Z_KI =                 35, // accel based throttle controller's I term
    TUNING_ACCEL_Z_KD =                 36, // accel based throttle controller's D term
    TUNING_DECLINATION =                38, // compass declination in radians
    TUNING_CIRCLE_RATE =                39, // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
    TUNING_ACRO_YAW_KP =                40, // acro controller's P term.  converts pilot input to a desired roll, pitch or yaw rate
    TUNING_RANGEFINDER_GAIN =           41, // rangefinder gain
    TUNING_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
    TUNING_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
    TUNING_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)
    TUNING_RC_FEEL_RP =                 45, // roll-pitch input smoothing
    TUNING_RATE_PITCH_KP =              46, // body frame pitch rate controller's P term
    TUNING_RATE_PITCH_KI =              47, // body frame pitch rate controller's I term
    TUNING_RATE_PITCH_KD =              48, // body frame pitch rate controller's D term
    TUNING_RATE_ROLL_KP =               49, // body frame roll rate controller's P term
    TUNING_RATE_ROLL_KI =               50, // body frame roll rate controller's I term
    TUNING_RATE_ROLL_KD =               51, // body frame roll rate controller's D term
    TUNING_RATE_PITCH_FF =              52, // body frame pitch rate controller FF term
    TUNING_RATE_ROLL_FF =               53, // body frame roll rate controller FF term
    TUNING_RATE_YAW_FF =                54, // body frame yaw rate controller FF term
    TUNING_RATE_MOT_YAW_HEADROOM =      55, // motors yaw headroom minimum
    TUNING_RATE_YAW_FILT =              56, // yaw rate input filter
    TUNING_WINCH =                      57  // winch control (not actually a value to be tuned)
};

// 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
#define WP_YAW_BEHAVIOR_LOOK_AHEAD                    3   // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicopters)

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

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

// RTL states
enum RTLState {
    RTL_InitialClimb,
    RTL_ReturnHome,
    RTL_LoiterAtHome,
    RTL_FinalDescent,
    RTL_Land
};

// Safe RTL states
enum SmartRTLState {
    SmartRTL_WaitForPathCleanup,
    SmartRTL_PathFollow,
    SmartRTL_PreLandPosition,
    SmartRTL_Descend,
    SmartRTL_Land
};

// Alt_Hold states
enum AltHoldModeState {
    AltHold_MotorStopped,
    AltHold_Takeoff,
    AltHold_Flying,
    AltHold_Landed
};

// Loiter states
enum LoiterModeState {
    Loiter_MotorStopped,
    Loiter_Takeoff,
    Loiter_Flying,
    Loiter_Landed
};

// Sport states
enum SportModeState {
    Sport_MotorStopped,
    Sport_Takeoff,
    Sport_Flying,
    Sport_Landed
};

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

enum LandStateType {
    LandStateType_FlyToLocation = 0,
    LandStateType_Descending = 1
};

enum PayloadPlaceStateType {
    PayloadPlaceStateType_FlyToLocation,
    PayloadPlaceStateType_Calibrating_Hover_Start,
    PayloadPlaceStateType_Calibrating_Hover,
    PayloadPlaceStateType_Descending_Start,
    PayloadPlaceStateType_Descending,
    PayloadPlaceStateType_Releasing_Start,
    PayloadPlaceStateType_Releasing,
    PayloadPlaceStateType_Released,
    PayloadPlaceStateType_Ascending_Start,
    PayloadPlaceStateType_Ascending,
    PayloadPlaceStateType_Done,
};

// bit options for DEV_OPTIONS parameter
enum DevOptions {
    DevOptionADSBMAVLink = 1,
};

//  Logging parameters
enum LoggingParameters {
     TYPE_AIRSTART_MSG,
     TYPE_GROUNDSTART_MSG,
     LOG_CONTROL_TUNING_MSG,
     LOG_OPTFLOW_MSG,
     LOG_EVENT_MSG,
     LOG_ERROR_MSG,
     LOG_DATA_INT16_MSG,
     LOG_DATA_UINT16_MSG,
     LOG_DATA_INT32_MSG,
     LOG_DATA_UINT32_MSG,
     LOG_DATA_FLOAT_MSG,
     LOG_AUTOTUNE_MSG,
     LOG_AUTOTUNEDETAILS_MSG,
     LOG_MOTBATT_MSG,
     LOG_PARAMTUNE_MSG,
     LOG_HELI_MSG,
     LOG_PRECLAND_MSG,
     LOG_GUIDEDTARGET_MSG,
};

#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_INAV                   (1<<14) // deprecated
#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

// DATA - event logging
#define DATA_AP_STATE                       7
// 8 was DATA_SYSTEM_TIME_SET
#define DATA_INIT_SIMPLE_BEARING            9
#define DATA_ARMED                          10
#define DATA_DISARMED                       11
#define DATA_AUTO_ARMED                     15
#define DATA_LAND_COMPLETE_MAYBE            17
#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_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_GRIPPER_GRAB                   46
#define DATA_GRIPPER_RELEASE                47
#define DATA_PARACHUTE_DISABLED             49
#define DATA_PARACHUTE_ENABLED              50
#define DATA_PARACHUTE_RELEASED             51
#define DATA_LANDING_GEAR_DEPLOYED          52
#define DATA_LANDING_GEAR_RETRACTED         53
#define DATA_MOTORS_EMERGENCY_STOPPED       54
#define DATA_MOTORS_EMERGENCY_STOP_CLEARED  55
#define DATA_MOTORS_INTERLOCK_DISABLED      56
#define DATA_MOTORS_INTERLOCK_ENABLED       57
#define DATA_ROTOR_RUNUP_COMPLETE           58  // Heli only
#define DATA_ROTOR_SPEED_BELOW_CRITICAL     59  // Heli only
#define DATA_EKF_ALT_RESET                  60
#define DATA_LAND_CANCELLED_BY_PILOT        61
#define DATA_EKF_YAW_RESET                  62
#define DATA_AVOIDANCE_ADSB_ENABLE          63
#define DATA_AVOIDANCE_ADSB_DISABLE         64
#define DATA_AVOIDANCE_PROXIMITY_ENABLE     65
#define DATA_AVOIDANCE_PROXIMITY_DISABLE    66
#define DATA_GPS_PRIMARY_CHANGED            67
#define DATA_WINCH_RELAXED                  68
#define DATA_WINCH_LENGTH_CONTROL           69
#define DATA_WINCH_RATE_CONTROL             70
#define DATA_ZIGZAG_STORE_A                 71
#define DATA_ZIGZAG_STORE_B                 72

// 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   // not used
#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_EKFCHECK            16
#define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV    17
#define ERROR_SUBSYSTEM_BARO                18
#define ERROR_SUBSYSTEM_CPU                 19
#define ERROR_SUBSYSTEM_FAILSAFE_ADSB       20
#define ERROR_SUBSYSTEM_TERRAIN             21
#define ERROR_SUBSYSTEM_NAVIGATION          22
#define ERROR_SUBSYSTEM_FAILSAFE_TERRAIN    23
#define ERROR_SUBSYSTEM_EKF_PRIMARY         24
#define ERROR_SUBSYSTEM_THRUST_LOSS_CHECK   25
// general error codes
#define ERROR_CODE_ERROR_RESOLVED           0
#define ERROR_CODE_FAILED_TO_INITIALISE     1
#define ERROR_CODE_UNHEALTHY                4
// 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 -- 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 -- terrain
#define ERROR_CODE_MISSING_TERRAIN_DATA     2
// subsystem specific error codes -- navigation
#define ERROR_CODE_FAILED_TO_SET_DESTINATION    2
#define ERROR_CODE_RESTARTED_RTL            3
#define ERROR_CODE_FAILED_CIRCLE_INIT       4
#define ERROR_CODE_DEST_OUTSIDE_FENCE       5

// parachute failed to deploy because of low altitude or landed
#define ERROR_CODE_PARACHUTE_TOO_LOW        2
#define ERROR_CODE_PARACHUTE_LANDED         3
// EKF check definitions
#define ERROR_CODE_EKFCHECK_BAD_VARIANCE       2
#define ERROR_CODE_EKFCHECK_VARIANCE_CLEARED   0
// Baro specific error codes
#define ERROR_CODE_BARO_GLITCH              2
// GPS specific error coces
#define ERROR_CODE_GPS_GLITCH               2

// 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
#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_RTL      4
#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_LAND     5

// GCS failsafe definitions (FS_GCS_ENABLE parameter)
#define FS_GCS_DISABLED                        0
#define FS_GCS_ENABLED_ALWAYS_RTL              1
#define FS_GCS_ENABLED_CONTINUE_MISSION        2
#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL  3
#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4

// EKF failsafe definitions (FS_EKF_ACTION parameter)
#define FS_EKF_ACTION_LAND                  1       // switch to LAND mode on EKF failsafe
#define FS_EKF_ACTION_ALTHOLD               2       // switch to ALTHOLD mode on EKF failsafe
#define FS_EKF_ACTION_LAND_EVEN_STABILIZE   3       // switch to Land mode on EKF failsafe even if in a manual flight mode like stabilize

// for mavlink SET_POSITION_TARGET messages
#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)

// for PILOT_THR_BHV parameter
#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
#define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
#define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)