ardupilot/ArduCopter/defines.h

210 lines
9.8 KiB
C
Raw Normal View History

#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
// Just so that it's completely clear...
2012-08-16 21:50:03 -03:00
#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)
AUTO_YAW_CIRCLE = 7, // use AC_Circle's provided yaw (used during Loiter-Turns commands)
};
// Frame types
#define UNDEFINED_FRAME 0
#define MULTICOPTER_FRAME 1
#define HELI_FRAME 2
// HIL enumerations
2012-11-10 01:55:51 -04:00
#define HIL_MODE_DISABLED 0
#define HIL_MODE_SENSORS 1
// 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
2016-04-27 08:37:04 -03:00
TUNING_RANGEFINDER_GAIN = 41, // rangefinder gain
TUNING_EKF_VERTICAL_POS = 42, // unused
TUNING_EKF_HORIZONTAL_POS = 43, // unused
TUNING_EKF_ACCEL_NOISE = 44, // unused
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
2019-07-29 04:55:40 -03:00
TUNING_WINCH = 57, // winch control (not actually a value to be tuned)
TUNING_SYSTEM_ID_MAGNITUDE = 58 // magnitude of the system ID signal
};
// 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
2018-08-28 18:05:39 -03:00
#define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicopters)
2014-01-27 23:21:16 -04:00
// Auto modes
enum AutoMode {
Auto_TakeOff,
Auto_WP,
Auto_Land,
Auto_RTL,
Auto_CircleMoveToEdge,
2014-03-22 00:48:54 -03:00
Auto_Circle,
Auto_Spline,
Auto_NavGuided,
2016-11-17 01:19:22 -04:00
Auto_Loiter,
2018-07-25 00:39:43 -03:00
Auto_LoiterToAlt,
2016-11-17 01:19:22 -04:00
Auto_NavPayloadPlace,
2014-01-27 23:21:16 -04:00
};
// Guided modes
enum GuidedMode {
Guided_TakeOff,
Guided_WP,
2014-11-14 17:26:45 -04:00
Guided_Velocity,
Guided_PosVel,
Guided_Angle,
};
2017-07-26 14:14:40 -03:00
// Safe RTL states
enum SmartRTLState {
SmartRTL_WaitForPathCleanup,
SmartRTL_PathFollow,
SmartRTL_PreLandPosition,
SmartRTL_Descend,
SmartRTL_Land
2017-07-26 14:14:40 -03:00
};
2016-11-17 01:19:22 -04:00
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,
DevOptionVFR_HUDRelativeAlt = 2,
};
// Logging parameters
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,
2019-07-29 04:55:40 -03:00
LOG_SYSIDD_MSG,
LOG_SYSIDS_MSG,
};
2012-08-16 21:50:03 -03:00
2012-11-10 01:55:51 -04:00
#define MASK_LOG_ATTITUDE_FAST (1<<0)
#define MASK_LOG_ATTITUDE_MED (1<<1)
2012-08-16 21:50:03 -03:00
#define MASK_LOG_GPS (1<<2)
#define MASK_LOG_PM (1<<3)
#define MASK_LOG_CTUN (1<<4)
#define MASK_LOG_NTUN (1<<5)
2013-11-27 03:46:25 -04:00
#define MASK_LOG_RCIN (1<<6)
#define MASK_LOG_IMU (1<<7)
2012-08-16 21:50:03 -03:00
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CURRENT (1<<9)
#define MASK_LOG_RCOUT (1<<10)
2012-08-16 21:50:03 -03:00
#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)
2014-10-16 21:37:49 -03:00
#define MASK_LOG_ANY 0xFFFF
2012-11-10 01:55:51 -04:00
// 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 // Deprecated in 4.0+, now use fs_options
#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
2016-01-25 19:18:38 -04:00
// 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 // Deprecated in 4.0+, now use fs_options
#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL 3
#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4
#define FS_GCS_ENABLED_ALWAYS_LAND 5
2016-01-25 19:18:38 -04:00
// 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)