ardupilot/ArduCopter/defines.h

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

#ifndef _DEFINES_H
#define _DEFINES_H

#include <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

// Flight modes
// ------------
#define YAW_HOLD                        0       // heading hold at heading in nav_yaw but allow input from pilot
#define YAW_ACRO                        1       // pilot controlled yaw using rate controller
#define YAW_LOOK_AT_NEXT_WP             2       // point towards next waypoint (no pilot input accepted)
#define YAW_LOOK_AT_LOCATION            3       // point towards a location held in yaw_look_at_WP (no pilot input accepted)
#define YAW_CIRCLE                      4       // point towards a location held in yaw_look_at_WP (no pilot input accepted)
#define YAW_LOOK_AT_HOME    		    5       // point towards home (no pilot input accepted)
#define YAW_LOOK_AT_HEADING    		    6       // point towards a particular angle (not pilot input accepted)
#define YAW_LOOK_AHEAD					7		// WARNING!  CODE IN DEVELOPMENT NOT PROVEN
#define YAW_TOY                         8       // THOR This is the Yaw mode
#define YAW_RESETTOARMEDYAW				9       // point towards heading at time motors were armed

#define ROLL_PITCH_STABLE           0       // pilot input roll, pitch angles
#define ROLL_PITCH_ACRO             1       // pilot inputs roll, pitch rotation rates
#define ROLL_PITCH_AUTO             2       // no pilot input.  autopilot roll, pitch is sent to stabilize controller inputs
#define ROLL_PITCH_STABLE_OF        3       // pilot inputs roll, pitch angles which are mixed with optical flow based position controller lean anbles
#define ROLL_PITCH_TOY              4       // THOR This is the Roll and Pitch mode
#define ROLL_PITCH_LOITER           5       // pilot inputs the desired horizontal velocities

#define THROTTLE_MANUAL                     0   // manual throttle mode - pilot input goes directly to motors
#define THROTTLE_MANUAL_TILT_COMPENSATED    1   // mostly manual throttle but with some tilt compensation
#define THROTTLE_HOLD                       2   // alt hold plus pilot input of climb rate
#define THROTTLE_AUTO                       3   // auto pilot altitude controller with target altitude held in next_WP.alt
#define THROTTLE_LAND                       4   // landing throttle controller


// sonar - for use with CONFIG_SONAR_SOURCE
#define SONAR_SOURCE_ADC 1
#define SONAR_SOURCE_ANALOG_PIN 2

// Ch7 and Ch8 aux switch control
#define AUX_SWITCH_PWM_TRIGGER  1800        // pwm value above which the ch7 or ch8 option will be invoked
#define CH6_PWM_TRIGGER_HIGH    1800
#define CH6_PWM_TRIGGER_LOW     1200

#define AUX_SWITCH_DO_NOTHING       0       // aux switch disabled
#define AUX_SWITCH_SET_HOVER        1       // deprecated
#define AUX_SWITCH_FLIP             2       // flip
#define AUX_SWITCH_SIMPLE_MODE      3       // change to simple mode
#define AUX_SWITCH_RTL              4       // change to RTL flight mode
#define AUX_SWITCH_SAVE_TRIM        5       // save current position as level
#define AUX_SWITCH_ADC_FILTER       6       // deprecated
#define AUX_SWITCH_SAVE_WP          7       // save mission waypoint or RTL if in auto mode
#define AUX_SWITCH_MULTI_MODE       8       // depending upon CH6 position Flip (if ch6 is low), RTL (if ch6 in middle) or Save WP (if ch6 is high)
#define AUX_SWITCH_CAMERA_TRIGGER   9       // trigger camera servo or relay
#define AUX_SWITCH_SONAR            10      // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground
#define AUX_SWITCH_FENCE            11      // allow enabling or disabling fence in flight
#define AUX_SWITCH_RESETTOARMEDYAW  12      // changes yaw to be same as when quad was armed


// 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 SAVE_TRIM_LEDS 1


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

#define TRUE 1
#define FALSE 0
#define ToRad(x) radians(x)	// *pi/180
#define ToDeg(x) degrees(x)	// *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_MTK19      6
#define GPS_PROTOCOL_AUTO       7

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

// Altitude status definitions
#define REACHED_ALT                     0
#define DESCENDING                      1
#define ASCENDING                       2

// 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 OF_LOITER 10                    // Hold a single location using optical flow
                                        // sensor
#define TOY_A 11                        // THOR Enum for Toy mode
#define TOY_M 12                        // THOR Enum for Toy mode
#define NUM_MODES 13

// CH_6 Tuning
// -----------
#define CH6_NONE                        0   // no tuning performed
#define CH6_STABILIZE_ROLL_PITCH_KP     1   // stabilize roll/pitch angle controller's P term
#define CH6_RATE_ROLL_PITCH_KP          4   // body frame roll/pitch rate controller's P term
#define CH6_RATE_ROLL_PITCH_KI          5   // body frame roll/pitch rate controller's I term
#define CH6_RATE_ROLL_PITCH_KD          21  // body frame roll/pitch rate controller's D term
#define CH6_STABILIZE_YAW_KP            3   // stabilize yaw heading controller's P term
#define CH6_YAW_RATE_KP                 6   // body frame yaw rate controller's P term
#define CH6_YAW_RATE_KD                 26  // body frame yaw rate controller's D term
#define CH6_ALTITUDE_HOLD_KP            14  // altitude hold controller's P term (alt error to desired rate)
#define CH6_THROTTLE_RATE_KP            7   // throttle rate controller's P term (desired rate to acceleration or motor output)
#define CH6_THROTTLE_RATE_KD            37  // throttle rate controller's D term (desired rate to acceleration or motor output)
#define CH6_THROTTLE_ACCEL_KP           34  // accel based throttle controller's P term
#define CH6_THROTTLE_ACCEL_KI           35  // accel based throttle controller's I term
#define CH6_THROTTLE_ACCEL_KD           36  // accel based throttle controller's D term
#define CH6_LOITER_POSITION_KP          12  // loiter distance controller's P term (position error to speed)
#define CH6_LOITER_RATE_KP              22  // loiter rate controller's P term (speed error to tilt angle)
#define CH6_LOITER_RATE_KI              28  // loiter rate controller's I term (speed error to tilt angle)
#define CH6_LOITER_RATE_KD              23  // loiter rate controller's D term (speed error to tilt angle)
#define CH6_WP_SPEED                    10  // maximum speed to next way point (0 to 10m/s)
#define CH6_ACRO_KP                     25  // acro controller's P term.  converts pilot input to a desired roll, pitch or yaw rate
#define CH6_RELAY                       9   // switch relay on if ch6 high, off if low
#define CH6_HELI_EXTERNAL_GYRO          13  // TradHeli specific external tail gyro gain
#define CH6_OPTFLOW_KP                  17  // optical flow loiter controller's P term (position error to tilt angle)
#define CH6_OPTFLOW_KI                  18  // optical flow loiter controller's I term (position error to tilt angle)
#define CH6_OPTFLOW_KD                  19  // optical flow loiter controller's D term (position error to tilt angle)
#define CH6_AHRS_YAW_KP                 30  // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
#define CH6_AHRS_KP                     31  // accelerometer effect on roll/pitch angle (0=low)
#define CH6_INAV_TC                     32  // inertial navigation baro/accel and gps/accel time constant (1.5 = strong baro/gps correction on accel estimatehas very strong does not correct accel estimate, 7 = very weak correction)
#define CH6_DECLINATION                 38  // compass declination in radians
#define CH6_CIRCLE_RATE                 39  // circle turn rate in degrees (hard coded to about 45 degrees in either direction)


// 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


// Navigation modes held in nav_mode variable
#define NAV_NONE        0
#define NAV_CIRCLE      1
#define NAV_LOITER      2
#define NAV_WP          3

// 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 helicotpers)

// TOY mixing options
#define TOY_LOOKUP_TABLE 0
#define TOY_LINEAR_MIXER 1
#define TOY_EXTERNAL_MIXER 2


// 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

// RTL state
#define RTL_STATE_START             0
#define RTL_STATE_INITIAL_CLIMB     1
#define RTL_STATE_RETURNING_HOME    2
#define RTL_STATE_LOITERING_AT_HOME 3
#define RTL_STATE_FINAL_DESCENT     4
#define RTL_STATE_LAND              5

// LAND state
#define LAND_STATE_FLY_TO_LOCATION  0
#define LAND_STATE_DESCENDING       1

//repeating events
#define RELAY_TOGGLE 5

//  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_RAW,
    MSG_SERVO_OUT,
    MSG_NEXT_WAYPOINT,
    MSG_NEXT_PARAM,
    MSG_STATUSTEXT,
    MSG_LIMITS_STATUS,
    MSG_AHRS,
    MSG_SIMSTATE,
    MSG_HWSTATUS,
    MSG_RETRY_DEFERRED // this must be last
};

//  Logging parameters
#define TYPE_AIRSTART_MSG               0x00
#define TYPE_GROUNDSTART_MSG            0x01
#define LOG_ATTITUDE_MSG                0x01
#define LOG_MODE_MSG                    0x03
#define LOG_CONTROL_TUNING_MSG          0x04
#define LOG_NAV_TUNING_MSG              0x05
#define LOG_PERFORMANCE_MSG             0x06
#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_EVENT_MSG                   0x0D
#define LOG_PID_MSG                     0x0E
#define LOG_COMPASS_MSG                 0x0F
#define LOG_DMP_MSG                     0x10
#define LOG_INAV_MSG                    0x11
#define LOG_CAMERA_MSG                  0x12
#define LOG_ERROR_MSG                   0x13
#define LOG_DATA_INT16_MSG              0x14
#define LOG_DATA_UINT16_MSG             0x15
#define LOG_DATA_INT32_MSG              0x16
#define LOG_DATA_UINT32_MSG             0x17
#define LOG_DATA_FLOAT_MSG              0x18
#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)  // not used
#define MASK_LOG_IMU                    (1<<7)
#define MASK_LOG_CMD                    (1<<8)
#define MASK_LOG_CURRENT                (1<<9)
#define MASK_LOG_MOTORS                 (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)
#define MASK_LOG_CAMERA                 (1<<15)

// DATA - event logging
#define DATA_MAVLINK_FLOAT              1
#define DATA_MAVLINK_INT32              2
#define DATA_MAVLINK_INT16              3
#define DATA_MAVLINK_INT8               4
#define DATA_AP_STATE                   7
#define DATA_INIT_SIMPLE_BEARING        9
#define DATA_ARMED                      10
#define DATA_DISARMED                   11
#define DATA_AUTO_ARMED                 15
#define DATA_TAKEOFF                    16
#define DATA_LAND_COMPLETE              18
#define DATA_LOST_GPS                   19
#define DATA_BEGIN_FLIP                 21
#define DATA_END_FLIP                   22
#define DATA_EXIT_FLIP                  23
#define DATA_SET_HOME                   25
#define DATA_SET_SIMPLE_ON              26
#define DATA_SET_SIMPLE_OFF             27

// battery monitoring macros
#define BATTERY_VOLTAGE(x) (x->voltage_average()*g.volt_div_ratio)
#define CURRENT_AMPS(x) (x->voltage_average()-CURR_AMPS_OFFSET)*g.curr_amp_per_volt

#define BATT_MONITOR_DISABLED               0
#define BATT_MONITOR_VOLTAGE_ONLY           3
#define BATT_MONITOR_VOLTAGE_AND_CURRENT    4

/* ************************************************************** */
/* 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_APM1_PIN 47
#define RELAY_APM2_PIN 13

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

// RADIANS
#define RADX100 0.000174532925f
#define DEGX100 5729.57795f


// EEPROM addresses
#define EEPROM_MAX_ADDR         4096
// parameters get the first 1536 bytes of EEPROM, remainder is for waypoints
#define WP_START_BYTE 0x600 // where in memory home WP is stored + all other
                            // WP
#define WP_SIZE 15

// fence points are stored at the end of the EEPROM
#define MAX_FENCEPOINTS 6
#define FENCE_WP_SIZE sizeof(Vector2l)
#define FENCE_START_BYTE (EEPROM_MAX_ADDR-(MAX_FENCEPOINTS*FENCE_WP_SIZE))

#define MAX_WAYPOINTS  ((FENCE_START_BYTE - 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
#define CONFIG_IMU_SITL    3
#define CONFIG_IMU_PX4     4

#define AP_BARO_BMP085    1
#define AP_BARO_MS5611    2
#define AP_BARO_PX4       3

#define AP_BARO_MS5611_SPI 1
#define AP_BARO_MS5611_I2C 2

// 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
#define ERROR_SUBSYSTEM_FAILSAFE_GCS        8
#define ERROR_SUBSYSTEM_FAILSAFE_FENCE      9
// general error codes
#define ERROR_CODE_ERROR_RESOLVED           0
#define ERROR_CODE_FAILED_TO_INITIALISE     1
// 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



#endif // _DEFINES_H