ardupilot/ArduCopter/defines.h

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

#ifndef _DEFINES_H
#define _DEFINES_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 YAW_HOLD 			0
#define YAW_ACRO 			1
#define YAW_AUTO 			2
#define YAW_LOOK_AT_HOME 	3

#define ROLL_PITCH_STABLE 	0
#define ROLL_PITCH_ACRO 	1
#define ROLL_PITCH_AUTO		2
#define ROLL_PITCH_STABLE_OF	3

#define THROTTLE_MANUAL 	0
#define THROTTLE_HOLD 		1
#define THROTTLE_AUTO		2


// active altitude sensor
// ----------------------
#define SONAR 0
#define BARO 1

#define SONAR_SOURCE_ADC 1
#define SONAR_SOURCE_ANALOG_PIN 2

// CH 7 control
#define CH7_DO_NOTHING 0
#define CH7_SET_HOVER 1
#define CH7_FLIP 2
#define CH7_SIMPLE_MODE 3
#define CH7_RTL 4
#define CH7_AUTO_TRIM 5
#define CH7_ADC_FILTER 6
#define CH7_SAVE_WP 7

// Frame types
#define QUAD_FRAME 0
#define TRI_FRAME 1
#define HEXA_FRAME 2
#define Y6_FRAME 3
#define OCTA_FRAME 4
#define HELI_FRAME 5
#define OCTA_QUAD_FRAME 6

#define PLUS_FRAME 0
#define X_FRAME 1
#define V_FRAME 2

// LED output
#define NORMAL_LEDS 0
#define AUTO_TRIM_LEDS 1

// COPTER LEDs
#define COPTER_LED_1 AN8  	// Motor LED
#define COPTER_LED_2 AN9  	// Motor LED
#define COPTER_LED_3 AN10 	// Motor LED
#define COPTER_LED_4 AN11 	// Motor LED
#define COPTER_LED_5 AN12	// Motor or Aux LED
#define COPTER_LED_6 AN13 	// Motor or Aux LED
#define COPTER_LED_7 AN14 	// Motor or GPS LED
#define COPTER_LED_8 AN15 	// Motor or GPS LED

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

#define TRUE 1
#define FALSE 0
#define ToRad(x) (x*0.01745329252)	// *pi/180
#define ToDeg(x) (x*57.2957795131)	// *180/pi

#define DEBUG 0
#define LOITER_RANGE 60 // for calculating power outside of loiter radius

#define T6 1000000
#define T7 10000000

// GPS type codes - use the names, not the numbers
#define GPS_PROTOCOL_NONE	-1
#define GPS_PROTOCOL_NMEA	0
#define GPS_PROTOCOL_SIRF	1
#define GPS_PROTOCOL_UBLOX	2
#define GPS_PROTOCOL_IMU	3
#define GPS_PROTOCOL_MTK	4
#define GPS_PROTOCOL_HIL	5
#define GPS_PROTOCOL_MTK16	6
#define GPS_PROTOCOL_AUTO	7

#define CH_ROLL CH_1
#define CH_PITCH CH_2
#define CH_THROTTLE CH_3
#define CH_RUDDER CH_4
#define CH_YAW CH_4

#define RC_CHANNEL_ANGLE 0
#define RC_CHANNEL_RANGE 1
#define RC_CHANNEL_ANGLE_RAW 2

// HIL enumerations
#define HIL_MODE_DISABLED			0
#define HIL_MODE_ATTITUDE			1
#define HIL_MODE_SENSORS			2

#define ASCENDING			1
#define DESCENDING			-1
#define REACHED_ALT			0

// 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 POSITION 8			// AUTO control
#define LAND 9				// AUTO control
#define APPROACH 10			// AUTO control
#define OF_LOITER 11		// Hold a single location using optical flow sensor
#define NUM_MODES 12

#define SIMPLE_1 1
#define SIMPLE_2 2
#define SIMPLE_3 4
#define SIMPLE_4 8
#define SIMPLE_5 16
#define SIMPLE_6 32

// CH_6 Tuning
// -----------
#define CH6_NONE 0
// Attitude
#define CH6_STABILIZE_KP 1
#define CH6_STABILIZE_KI 2
#define CH6_STABILIZE_KD 29
#define CH6_YAW_KP 3
#define CH6_YAW_KI 24
// Rate
#define CH6_ACRO_KP 25
#define CH6_RATE_KP 4
#define CH6_RATE_KI 5
#define CH6_RATE_KD 21
#define CH6_YAW_RATE_KP 6
#define CH6_YAW_RATE_KD 26
// Altitude rate controller
#define CH6_THROTTLE_KP 7
// Extras
#define CH6_TOP_BOTTOM_RATIO 8
#define CH6_RELAY 9
// Navigation
#define CH6_TRAVERSE_SPEED 10	// maximum speed to next way point
#define CH6_NAV_KP 11
#define CH6_LOITER_KP 12
#define CH6_LOITER_KI 27

// Trad Heli specific
#define CH6_HELI_EXTERNAL_GYRO 13

// altitude controller
#define CH6_THR_HOLD_KP 14
#define CH6_Z_GAIN 15
#define CH6_DAMP 16

// optical flow controller
#define CH6_OPTFLOW_KP 17
#define CH6_OPTFLOW_KI 18
#define CH6_OPTFLOW_KD 19

#define CH6_NAV_I 20
#define CH6_LOITER_RATE_KP 22
#define CH6_LOITER_RATE_KI 28
#define CH6_LOITER_RATE_KD 23

#define CH6_AHRS_YAW_KP 30


// nav byte mask
// -------------
#define NAV_LOCATION 1
#define NAV_ALTITUDE 2
#define NAV_DELAY    4


// Commands - Note that APM now uses a subset of the MAVLink protocol commands.  See enum MAV_CMD in the GCS_Mavlink library
#define CMD_BLANK 0 // there is no command stored in the mem location requested
#define NO_COMMAND 0


#define LOITER_MODE 1
#define WP_MODE 2
#define CIRCLE_MODE 3
#define NO_NAV_MODE 4

// Waypoint options
#define MASK_OPTIONS_RELATIVE_ALT 		1
#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

//repeating events
#define NO_REPEAT 0
#define CH_5_TOGGLE 1
#define CH_6_TOGGLE 2
#define CH_7_TOGGLE 3
#define CH_8_TOGGLE 4
#define RELAY_TOGGLE 5
#define STOP_REPEAT 10

//#define MAV_CMD_CONDITION_YAW 23

//  GCS Message ID's
/// NOTE: to ensure we never block on sending MAVLink messages
/// please keep each MSG_ to a single MAVLink message. If need be
/// create new MSG_ IDs for additional messages on the same
/// stream
enum ap_message {
    MSG_HEARTBEAT,
    MSG_ATTITUDE,
    MSG_LOCATION,
    MSG_EXTENDED_STATUS1,
    MSG_EXTENDED_STATUS2,
    MSG_NAV_CONTROLLER_OUTPUT,
    MSG_CURRENT_WAYPOINT,
    MSG_VFR_HUD,
    MSG_RADIO_OUT,
    MSG_RADIO_IN,
    MSG_RAW_IMU1,
    MSG_RAW_IMU2,
    MSG_RAW_IMU3,
    MSG_GPS_STATUS,
    MSG_GPS_RAW,
    MSG_SERVO_OUT,
    MSG_NEXT_WAYPOINT,
    MSG_NEXT_PARAM,
    MSG_STATUSTEXT,
    MSG_AHRS,
    MSG_SIMSTATE,
    MSG_HWSTATUS,
    MSG_RETRY_DEFERRED // this must be last
};

enum gcs_severity {
    SEVERITY_LOW=1,
    SEVERITY_MEDIUM,
    SEVERITY_HIGH,
    SEVERITY_CRITICAL
};

//  Logging parameters
#define TYPE_AIRSTART_MSG		0x00
#define TYPE_GROUNDSTART_MSG	0x01
#define LOG_ATTITUDE_MSG		0x01
#define LOG_GPS_MSG				0x02
#define LOG_MODE_MSG			0X03
#define LOG_CONTROL_TUNING_MSG	0X04
#define LOG_NAV_TUNING_MSG		0X05
#define LOG_PERFORMANCE_MSG		0X06
#define LOG_RAW_MSG				0x07
#define LOG_CMD_MSG				0x08
#define LOG_CURRENT_MSG 		0x09
#define LOG_STARTUP_MSG 		0x0A
#define LOG_MOTORS_MSG 			0x0B
#define LOG_OPTFLOW_MSG 		0x0C
#define LOG_DATA_MSG 			0x0D
#define LOG_PID_MSG 			0x0E
#define LOG_INDEX_MSG			0xF0
#define MAX_NUM_LOGS			50

#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_MODE			(1<<6)
#define MASK_LOG_RAW			(1<<7)
#define MASK_LOG_CMD			(1<<8)
#define MASK_LOG_CUR			(1<<9)
#define MASK_LOG_MOTORS			(1<<10)
#define MASK_LOG_OPTFLOW		(1<<11)
#define MASK_LOG_PID			(1<<12)

// Waypoint Modes
// ----------------
#define ABS_WP 0
#define REL_WP 1

// Command Queues
// ---------------
#define COMMAND_MUST 0
#define COMMAND_MAY 1
#define COMMAND_NOW 2

// Events
// ------
#define EVENT_WILL_REACH_WAYPOINT 1
#define EVENT_SET_NEW_WAYPOINT_INDEX 2
#define EVENT_LOADED_WAYPOINT 3
#define EVENT_LOOP 4

// Climb rate calculations
#define	ALTITUDE_HISTORY_LENGTH 8	//Number of (time,altitude) points to regress a climb rate from

#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*g.volt_div_ratio
#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt

//#define BARO_FILTER_SIZE 8

/* ************************************************************** */
/* Expansion PIN's that people can use for various things. */

// AN0 - 7 are located at edge of IMU PCB "above" pressure sensor and Expansion port
// AN0 - 5 are also located next to voltage dividers and sliding SW2 switch
// AN0 - 3 has 10kOhm resistor in serial, include 3.9kOhm to make it as voltage divider
// AN4 - 5 are direct GPIO pins from atmega1280 and they are the latest pins next to SW2 switch
// Look more ArduCopter Wiki for voltage dividers and other ports
#define AN0  54  // resistor, vdiv use, divider 1 closest to relay
#define AN1  55  // resistor, vdiv use, divider 2
#define AN2  56  // resistor, vdiv use, divider 3
#define AN3  57  // resistor, vdiv use, divider 4 closest to SW2
#define AN4  58  // direct GPIO pin, default as analog input, next to SW2 switch
#define AN5  59  // direct GPIO pin, default as analog input, next to SW2 switch
#define AN6  60  // direct GPIO pin, default as analog input, close to Pressure sensor, Expansion Ports
#define AN7  61  // direct GPIO pin, default as analog input, close to Pressure sensor, Expansion Ports

// AN8 - 15 are located at edge of IMU PCB "above" pressure sensor and Expansion port
// AN8 - 15 PINs are not connected anywhere, they are located as last 8 pins on edge of the board above Expansion Ports
// even pins (8,10,12,14) are at edge of board, Odd pins (9,11,13,15) are on inner row
#define AN8  62  // NC
#define AN9  63  // NC
#define AN10  64 // NC
#define AN11  65 // NC
#define AN12  66 // NC
#define AN13  67 // NC
#define AN14  68 // NC
#define AN15  69 // NC

#define RELAY_PIN 47

#define PIEZO_PIN AN5           //Last pin on the back ADC connector



// sonar
//#define SonarToCm(x) (x*1.26)   // Sonar raw value to centimeters

// RADIANS
#define RADX100 0.000174532925
#define DEGX100 5729.57795


// EEPROM addresses
#define EEPROM_MAX_ADDR		4096
// parameters get the first 1280 bytes of EEPROM, remainder is for waypoints
#define WP_START_BYTE 0x500 // where in memory home WP is stored + all other WP
#define WP_SIZE 15

#define ONBOARD_PARAM_NAME_LENGTH 15
#define MAX_WAYPOINTS  ((EEPROM_MAX_ADDR - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe

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

// IMU selection
#define CONFIG_IMU_OILPAN 1
#define CONFIG_IMU_MPU6000 2

// APM Hardware selection
#define APM_HARDWARE_APM1 1
#define APM_HARDWARE_APM2 2

#define AP_BARO_BMP085    1
#define AP_BARO_MS5611    2

#define LOGGING_SIMPLE    1
#define LOGGING_VERBOSE   2

// Channel Config selection

#define CHANNEL_CONFIG_DEFAULT 1
#define CHANNEL_CONFIG_CUSTOM  2

#endif // _DEFINES_H