mirror of https://github.com/ArduPilot/ardupilot
uncrustify ArduPlane/defines.h
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uncrustify
Pat Hickey
parent
321e7c96c4
commit
8ecd6c4dc1
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@ -8,21 +8,22 @@
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#define TRUE 1
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#define FALSE 0
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#define ToRad(x) (x*0.01745329252) // *pi/180
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#define ToDeg(x) (x*57.2957795131) // *180/pi
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#define ToRad(x) (x*0.01745329252) // *pi/180
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#define ToDeg(x) (x*57.2957795131) // *180/pi
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#define DEBUG 0
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#define LOITER_RANGE 60 // for calculating power outside of loiter radius
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#define SERVO_MAX 4500 // This value represents 45 degrees and is just an arbitrary representation of servo max travel.
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#define SERVO_MAX 4500 // This value represents 45 degrees and is just an
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// arbitrary representation of servo max travel.
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// failsafe
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// ----------------------
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#define FAILSAFE_NONE 0
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#define FAILSAFE_SHORT 1
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#define FAILSAFE_LONG 2
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#define FAILSAFE_GCS 3
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#define FAILSAFE_SHORT_TIME 1500 // Miliiseconds
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#define FAILSAFE_LONG_TIME 20000 // Miliiseconds
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#define FAILSAFE_NONE 0
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#define FAILSAFE_SHORT 1
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#define FAILSAFE_LONG 2
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#define FAILSAFE_GCS 3
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#define FAILSAFE_SHORT_TIME 1500 // Miliiseconds
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#define FAILSAFE_LONG_TIME 20000 // Miliiseconds
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// active altitude sensor
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@ -37,15 +38,15 @@
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#define T7 10000000
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// GPS type codes - use the names, not the numbers
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#define GPS_PROTOCOL_NONE -1
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#define GPS_PROTOCOL_NMEA 0
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#define GPS_PROTOCOL_SIRF 1
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#define GPS_PROTOCOL_UBLOX 2
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#define GPS_PROTOCOL_IMU 3
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#define GPS_PROTOCOL_MTK 4
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#define GPS_PROTOCOL_HIL 5
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#define GPS_PROTOCOL_MTK16 6
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#define GPS_PROTOCOL_AUTO 7
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#define GPS_PROTOCOL_NONE -1
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#define GPS_PROTOCOL_NMEA 0
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#define GPS_PROTOCOL_SIRF 1
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#define GPS_PROTOCOL_UBLOX 2
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#define GPS_PROTOCOL_IMU 3
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#define GPS_PROTOCOL_MTK 4
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#define GPS_PROTOCOL_HIL 5
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#define GPS_PROTOCOL_MTK16 6
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#define GPS_PROTOCOL_AUTO 7
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#define CH_ROLL CH_1
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#define CH_PITCH CH_2
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@ -54,37 +55,52 @@
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#define CH_YAW CH_4
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// HIL enumerations
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#define HIL_MODE_DISABLED 0
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#define HIL_MODE_ATTITUDE 1
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#define HIL_MODE_SENSORS 2
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#define HIL_MODE_DISABLED 0
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#define HIL_MODE_ATTITUDE 1
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#define HIL_MODE_SENSORS 2
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// Auto Pilot modes
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// ----------------
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#define MANUAL 0
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#define CIRCLE 1 // When flying sans GPS, and we loose the radio, just circle
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#define CIRCLE 1 // When flying sans GPS, and we loose
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// the radio, just circle
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#define STABILIZE 2
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#define FLY_BY_WIRE_A 5 // Fly By Wire A has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical = manual throttle
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#define FLY_BY_WIRE_B 6 // Fly By Wire B has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical => desired airspeed
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#define FLY_BY_WIRE_C 7 // Fly By Wire C has left stick horizontal => desired roll angle, left stick vertical => desired climb rate, right stick vertical => desired airspeed
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// Fly By Wire B and Fly By Wire C require airspeed sensor
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#define FLY_BY_WIRE_A 5 // Fly By Wire A has left stick horizontal =>
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// desired roll angle, left stick vertical =>
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// desired pitch angle, right stick vertical =
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// manual throttle
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#define FLY_BY_WIRE_B 6 // Fly By Wire B has left stick horizontal =>
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// desired roll angle, left stick vertical =>
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// desired pitch angle, right stick vertical
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// => desired airspeed
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#define FLY_BY_WIRE_C 7 // Fly By Wire C has left stick horizontal =>
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// desired roll angle, left stick vertical =>
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// desired climb rate, right stick vertical =>
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// desired airspeed
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// Fly By Wire B and Fly By Wire C require airspeed sensor
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#define AUTO 10
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#define RTL 11
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#define LOITER 12
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//#define TAKEOFF 13 // This is not used by APM. It appears here for consistency with ACM
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//#define LAND 14 // This is not used by APM. It appears here for consistency with ACM
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//#define TAKEOFF 13 // This is not used by APM. It appears here
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// for consistency with ACM
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//#define LAND 14 // This is not used by APM. It appears here for
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// consistency with ACM
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#define GUIDED 15
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#define INITIALISING 16 // in startup routines
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// Commands - Note that APM now uses a subset of the MAVLink protocol commands. See enum MAV_CMD in the GCS_Mavlink library
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#define CMD_BLANK 0 // there is no command stored in the mem location requested
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// Commands - Note that APM now uses a subset of the MAVLink protocol
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// commands. See enum MAV_CMD in the GCS_Mavlink library
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#define CMD_BLANK 0 // there is no command stored in the mem location
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// requested
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#define NO_COMMAND 0
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#define WAIT_COMMAND 255
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// Command/Waypoint/Location Options Bitmask
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//--------------------
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#define MASK_OPTIONS_RELATIVE_ALT (1<<0) // 1 = Relative altitude
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#define MASK_OPTIONS_RELATIVE_ALT (1<<0) // 1 = Relative
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// altitude
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//repeating events
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#define NO_REPEAT 0
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@ -136,31 +152,31 @@ enum gcs_severity {
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};
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// Logging parameters
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#define LOG_INDEX_MSG 0xF0
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#define LOG_ATTITUDE_MSG 0x01
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#define LOG_GPS_MSG 0x02
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#define LOG_MODE_MSG 0X03
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#define LOG_CONTROL_TUNING_MSG 0X04
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#define LOG_NAV_TUNING_MSG 0X05
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#define LOG_PERFORMANCE_MSG 0X06
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#define LOG_RAW_MSG 0x07
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#define LOG_CMD_MSG 0x08
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#define LOG_CURRENT_MSG 0x09
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#define LOG_STARTUP_MSG 0x0A
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#define TYPE_AIRSTART_MSG 0x00
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#define TYPE_GROUNDSTART_MSG 0x01
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#define MAX_NUM_LOGS 100
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#define LOG_INDEX_MSG 0xF0
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#define LOG_ATTITUDE_MSG 0x01
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#define LOG_GPS_MSG 0x02
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#define LOG_MODE_MSG 0X03
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#define LOG_CONTROL_TUNING_MSG 0X04
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#define LOG_NAV_TUNING_MSG 0X05
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#define LOG_PERFORMANCE_MSG 0X06
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#define LOG_RAW_MSG 0x07
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#define LOG_CMD_MSG 0x08
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#define LOG_CURRENT_MSG 0x09
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#define LOG_STARTUP_MSG 0x0A
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#define TYPE_AIRSTART_MSG 0x00
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#define TYPE_GROUNDSTART_MSG 0x01
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#define MAX_NUM_LOGS 100
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#define MASK_LOG_ATTITUDE_FAST (1<<0)
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#define MASK_LOG_ATTITUDE_MED (1<<1)
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#define MASK_LOG_GPS (1<<2)
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#define MASK_LOG_PM (1<<3)
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#define MASK_LOG_CTUN (1<<4)
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#define MASK_LOG_NTUN (1<<5)
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#define MASK_LOG_MODE (1<<6)
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#define MASK_LOG_RAW (1<<7)
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#define MASK_LOG_CMD (1<<8)
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#define MASK_LOG_CUR (1<<9)
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#define MASK_LOG_ATTITUDE_FAST (1<<0)
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#define MASK_LOG_ATTITUDE_MED (1<<1)
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#define MASK_LOG_GPS (1<<2)
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#define MASK_LOG_PM (1<<3)
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#define MASK_LOG_CTUN (1<<4)
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#define MASK_LOG_NTUN (1<<5)
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#define MASK_LOG_MODE (1<<6)
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#define MASK_LOG_RAW (1<<7)
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#define MASK_LOG_CMD (1<<8)
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#define MASK_LOG_CUR (1<<9)
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// Waypoint Modes
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// ----------------
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@ -181,7 +197,8 @@ enum gcs_severity {
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#define EVENT_LOOP 4
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// Climb rate calculations
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#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to regress a climb rate from
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#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to
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// regress a climb rate from
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#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*g.volt_div_ratio
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@ -194,16 +211,19 @@ enum gcs_severity {
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#define MAX_SONAR_XL 0
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#define MAX_SONAR_LV 1
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#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
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#define AN4 4
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#define AN5 5
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#define AN4 4
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#define AN5 5
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#define SPEEDFILT 400 // centimeters/second; the speed below which a groundstart will be triggered
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#define SPEEDFILT 400 // centimeters/second; the speed below
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// which a groundstart will be
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// triggered
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// EEPROM addresses
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#define EEPROM_MAX_ADDR 4096
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#define EEPROM_MAX_ADDR 4096
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// parameters get the first 1280 bytes of EEPROM, remainder is for waypoints
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#define WP_START_BYTE 0x500 // where in memory home WP is stored + all other WP
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#define WP_START_BYTE 0x500 // where in memory home WP is stored + all other
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// WP
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#define WP_SIZE 15
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// fence points are stored at the end of the EEPROM
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#define FENCE_WP_SIZE sizeof(Vector2l)
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#define FENCE_START_BYTE (EEPROM_MAX_ADDR-(MAX_FENCEPOINTS*FENCE_WP_SIZE))
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#define MAX_WAYPOINTS ((FENCE_START_BYTE - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe
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#define MAX_WAYPOINTS ((FENCE_START_BYTE - WP_START_BYTE) / WP_SIZE) - 1 // -
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// 1
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// to
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// be
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// safe
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#define ONBOARD_PARAM_NAME_LENGTH 15
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// convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps to -1)
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#define BOOL_TO_SIGN(bvalue) ((bvalue)?-1:1)
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// convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps
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// to -1)
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#define BOOL_TO_SIGN(bvalue) ((bvalue) ? -1 : 1)
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// mark a function as not to be inlined
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#define NOINLINE __attribute__((noinline))
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