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# pragma once
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# include <AP_HAL/AP_HAL_Boards.h>
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// Just so that it's completely clear...
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# define ENABLED 1
# define DISABLED 0
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// this avoids a very common config error
# define ENABLE ENABLED
# define DISABLE DISABLED
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// 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)
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AUTO_YAW_ROI = 2 , // point towards a location held in roi (no pilot input accepted)
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AUTO_YAW_FIXED = 3 , // point towards a particular angle (no pilot input accepted)
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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
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AUTO_YAW_RATE = 6 , // turn at a specified rate (held in auto_yaw_rate)
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AUTO_YAW_CIRCLE = 7 , // use AC_Circle's provided yaw (used during Loiter-Turns commands)
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} ;
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// Frame types
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# define UNDEFINED_FRAME 0
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# define MULTICOPTER_FRAME 1
# define HELI_FRAME 2
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// HIL enumerations
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# define HIL_MODE_DISABLED 0
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# define HIL_MODE_SENSORS 1
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// Tuning enumeration
enum tuning_func {
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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
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TUNING_RANGEFINDER_GAIN = 41 , // rangefinder gain
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TUNING_EKF_VERTICAL_POS = 42 , // unused
TUNING_EKF_HORIZONTAL_POS = 43 , // unused
TUNING_EKF_ACCEL_NOISE = 44 , // unused
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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
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TUNING_RATE_YAW_FILT = 56 , // yaw rate input filter
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UNUSED = 57 , // was winch control
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TUNING_SYSTEM_ID_MAGNITUDE = 58 // magnitude of the system ID signal
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} ;
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// 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
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# 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
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# define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicopters)
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// Auto modes
enum AutoMode {
Auto_TakeOff ,
Auto_WP ,
Auto_Land ,
Auto_RTL ,
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Auto_CircleMoveToEdge ,
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Auto_Circle ,
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Auto_Spline ,
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Auto_NavGuided ,
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Auto_Loiter ,
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Auto_LoiterToAlt ,
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Auto_NavPayloadPlace ,
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} ;
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// Guided modes
enum GuidedMode {
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Guided_TakeOff ,
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Guided_WP ,
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Guided_Velocity ,
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Guided_PosVel ,
Guided_Angle ,
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} ;
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// Airmode
enum class AirMode {
AIRMODE_NONE ,
AIRMODE_DISABLED ,
AIRMODE_ENABLED ,
} ;
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// Safe RTL states
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enum SmartRTLState {
SmartRTL_WaitForPathCleanup ,
SmartRTL_PathFollow ,
SmartRTL_PreLandPosition ,
SmartRTL_Descend ,
SmartRTL_Land
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} ;
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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 ,
} ;
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// bit options for DEV_OPTIONS parameter
enum DevOptions {
DevOptionADSBMAVLink = 1 ,
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DevOptionVFR_HUDRelativeAlt = 2 ,
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DevOptionSetAttitudeTarget_ThrustAsThrust = 4 ,
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} ;
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// Logging parameters
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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_MOTBATT_MSG ,
LOG_PARAMTUNE_MSG ,
LOG_HELI_MSG ,
LOG_PRECLAND_MSG ,
LOG_GUIDEDTARGET_MSG ,
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LOG_SYSIDD_MSG ,
LOG_SYSIDS_MSG ,
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} ;
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# define MASK_LOG_ATTITUDE_FAST (1<<0)
# define MASK_LOG_ATTITUDE_MED (1<<1)
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# define MASK_LOG_GPS (1<<2)
# define MASK_LOG_PM (1<<3)
# define MASK_LOG_CTUN (1<<4)
# define MASK_LOG_NTUN (1<<5)
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# define MASK_LOG_RCIN (1<<6)
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# define MASK_LOG_IMU (1<<7)
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# define MASK_LOG_CMD (1<<8)
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# define MASK_LOG_CURRENT (1<<9)
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# define MASK_LOG_RCOUT (1<<10)
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# define MASK_LOG_OPTFLOW (1<<11)
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# define MASK_LOG_PID (1<<12)
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# define MASK_LOG_COMPASS (1<<13)
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# define MASK_LOG_INAV (1<<14) // deprecated
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# define MASK_LOG_CAMERA (1<<15)
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# define MASK_LOG_MOTBATT (1UL<<17)
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# define MASK_LOG_IMU_FAST (1UL<<18)
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# define MASK_LOG_IMU_RAW (1UL<<19)
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# define MASK_LOG_ANY 0xFFFF
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// Radio failsafe definitions (FS_THR parameter)
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# define FS_THR_DISABLED 0
# define FS_THR_ENABLED_ALWAYS_RTL 1
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# define FS_THR_ENABLED_CONTINUE_MISSION 2 // Deprecated in 4.0+, now use fs_options
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# 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
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// GCS failsafe definitions (FS_GCS_ENABLE parameter)
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# define FS_GCS_DISABLED 0
# define FS_GCS_ENABLED_ALWAYS_RTL 1
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# define FS_GCS_ENABLED_CONTINUE_MISSION 2 // Deprecated in 4.0+, now use fs_options
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# define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL 3
# define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4
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# define FS_GCS_ENABLED_ALWAYS_LAND 5
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// 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
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// for PILOT_THR_BHV parameter
# define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
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# define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
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# define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)