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Sub: Consolidate failsafe settings in defines.h

This commit is contained in:
Jacob Walser 2017-03-24 13:01:15 -04:00
parent 5809e2465b
commit 16fedbb9c9
2 changed files with 37 additions and 37 deletions
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34
ArduSub/config.h
View File

@ -139,40 +139,6 @@
# define MAV_SYSTEM_ID 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//
#ifndef FS_BATT_VOLTAGE_DEFAULT
# define FS_BATT_VOLTAGE_DEFAULT 0 // default battery voltage below which failsafe will be triggered
#endif
#ifndef FS_BATT_MAH_DEFAULT
# define FS_BATT_MAH_DEFAULT 0 // default battery capacity (in mah) below which failsafe will be triggered
#endif
// GCS failsafe
#ifndef FS_GCS
# define FS_GCS DISABLED
#endif
#ifndef FS_GCS_TIMEOUT_MS
# define FS_GCS_TIMEOUT_MS 2500 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
#endif
// missing terrain data failsafe
#ifndef FS_TERRAIN_TIMEOUT_MS
#define FS_TERRAIN_TIMEOUT_MS 1000 // 1 second of unhealthy rangefinder and/or missing terrain data will trigger failsafe
#endif
//////////////////////////////////////////////////////////////////////////////
// EKF Failsafe
#ifndef FS_EKF_ACTION_DEFAULT
# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_DISABLED // EKF failsafe
#endif
#ifndef FS_EKF_THRESHOLD_DEFAULT
# define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
#endif
#ifndef EKF_ORIGIN_MAX_DIST_M
# define EKF_ORIGIN_MAX_DIST_M 50000 // EKF origin and waypoints (including home) must be within 50km
#endif

40
ArduSub/defines.h
View File

@ -237,6 +237,43 @@ enum RTLState {
// Baro specific error codes
#define ERROR_CODE_BARO_GLITCH 2
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//
#ifndef FS_BATT_VOLTAGE_DEFAULT
# define FS_BATT_VOLTAGE_DEFAULT 0 // default battery voltage below which failsafe will be triggered
#endif
#ifndef FS_BATT_MAH_DEFAULT
# define FS_BATT_MAH_DEFAULT 0 // default battery capacity (in mah) below which failsafe will be triggered
#endif
// GCS failsafe
#ifndef FS_GCS
# define FS_GCS DISABLED
#endif
#ifndef FS_GCS_TIMEOUT_MS
# define FS_GCS_TIMEOUT_MS 2500 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
#endif
// missing terrain data failsafe
#ifndef FS_TERRAIN_TIMEOUT_MS
#define FS_TERRAIN_TIMEOUT_MS 1000 // 1 second of unhealthy rangefinder and/or missing terrain data will trigger failsafe
#endif
//////////////////////////////////////////////////////////////////////////////
// EKF Failsafe
// EKF failsafe definitions (FS_EKF_ENABLE parameter)
#define FS_EKF_ACTION_DISABLED 1 // Disabled, not implemented yet in Sub
#ifndef FS_EKF_ACTION_DEFAULT
# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_DISABLED // EKF failsafe
#endif
#ifndef FS_EKF_THRESHOLD_DEFAULT
# define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
#endif
// Battery failsafe definitions (FS_BATT_ENABLE parameter)
#define FS_BATT_DISABLED 0 // battery failsafe disabled
#define FS_BATT_SURFACE 1 // switch to SURFACE mode on battery failsafe
@ -275,9 +312,6 @@ enum RTLState {
// initiating terrain failsafe action
#define FS_TERRAIN_RECOVER_TIMEOUT_MS 10000
// EKF failsafe definitions (FS_EKF_ENABLE parameter)
#define FS_EKF_ACTION_DISABLED 1 // Disabled, not implemented yet in Sub
// 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))