mirror of https://github.com/ArduPilot/ardupilot
uncrustify ArduCopter/defines.h
This commit is contained in:
uncrustify
Pat Hickey
parent
d0e48755ab
commit
b9ba41c12a
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@ -4,8 +4,8 @@
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#define _DEFINES_H
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// Just so that it's completely clear...
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#define ENABLED 1
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#define DISABLED 0
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#define ENABLED 1
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#define DISABLED 0
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// this avoids a very common config error
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#define ENABLE ENABLED
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@ -13,22 +13,23 @@
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// Flight modes
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// ------------
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#define YAW_HOLD 0
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#define YAW_ACRO 1
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#define YAW_AUTO 2
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#define YAW_LOOK_AT_HOME 3
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#define YAW_TOY 4 // THOR This is the Yaw mode
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#define YAW_HOLD 0
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#define YAW_ACRO 1
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#define YAW_AUTO 2
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#define YAW_LOOK_AT_HOME 3
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#define YAW_TOY 4 // THOR This is the Yaw mode
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#define ROLL_PITCH_STABLE 0
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#define ROLL_PITCH_ACRO 1
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#define ROLL_PITCH_AUTO 2
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#define ROLL_PITCH_STABLE_OF 3
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#define ROLL_PITCH_TOY 4 // THOR This is the Roll and Pitch mode
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#define ROLL_PITCH_STABLE 0
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#define ROLL_PITCH_ACRO 1
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#define ROLL_PITCH_AUTO 2
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#define ROLL_PITCH_STABLE_OF 3
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#define ROLL_PITCH_TOY 4 // THOR This is the Roll and Pitch
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// mode
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#define THROTTLE_MANUAL 0
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#define THROTTLE_HOLD 1
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#define THROTTLE_AUTO 2
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#define THROTTLE_MANUAL 0
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#define THROTTLE_HOLD 1
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#define THROTTLE_AUTO 2
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// active altitude sensor
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@ -79,8 +80,8 @@
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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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@ -89,15 +90,15 @@
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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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@ -110,29 +111,30 @@
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#define RC_CHANNEL_ANGLE_RAW 2
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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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#define ASCENDING 1
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#define DESCENDING -1
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#define REACHED_ALT 0
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#define ASCENDING 1
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#define DESCENDING -1
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#define REACHED_ALT 0
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// Auto Pilot modes
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// ----------------
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#define STABILIZE 0 // hold level position
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#define ACRO 1 // rate control
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#define ALT_HOLD 2 // AUTO control
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#define AUTO 3 // AUTO control
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#define GUIDED 4 // AUTO control
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#define LOITER 5 // Hold a single location
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#define RTL 6 // AUTO control
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#define CIRCLE 7 // AUTO control
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#define POSITION 8 // AUTO control
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#define LAND 9 // AUTO control
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#define OF_LOITER 10 // Hold a single location using optical flow sensor
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#define TOY_A 11 // THOR Enum for Toy mode
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#define TOY_M 12 // THOR Enum for Toy mode
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#define STABILIZE 0 // hold level position
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#define ACRO 1 // rate control
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#define ALT_HOLD 2 // AUTO control
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#define AUTO 3 // AUTO control
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#define GUIDED 4 // AUTO control
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#define LOITER 5 // Hold a single location
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#define RTL 6 // AUTO control
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#define CIRCLE 7 // AUTO control
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#define POSITION 8 // AUTO control
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#define LAND 9 // AUTO control
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#define OF_LOITER 10 // Hold a single location using optical flow
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// sensor
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#define TOY_A 11 // THOR Enum for Toy mode
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#define TOY_M 12 // THOR Enum for Toy mode
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#define NUM_MODES 13
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#define SIMPLE_1 1
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@ -148,7 +150,7 @@
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// Attitude
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#define CH6_STABILIZE_KP 1
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#define CH6_STABILIZE_KI 2
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#define CH6_STABILIZE_KD 29 // duplicate with CH6_DAMP
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#define CH6_STABILIZE_KD 29 // duplicate with CH6_DAMP
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#define CH6_YAW_KP 3
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#define CH6_YAW_KI 24
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// Rate
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@ -164,7 +166,7 @@
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#define CH6_TOP_BOTTOM_RATIO 8
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#define CH6_RELAY 9
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// Navigation
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#define CH6_TRAVERSE_SPEED 10 // maximum speed to next way point
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#define CH6_TRAVERSE_SPEED 10 // maximum speed to next way point
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#define CH6_NAV_KP 11
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#define CH6_LOITER_KP 12
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#define CH6_LOITER_KI 27
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// altitude controller
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#define CH6_THR_HOLD_KP 14
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#define CH6_Z_GAIN 15
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#define CH6_DAMP 16 // duplicate with CH6_YAW_RATE_KD
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#define CH6_DAMP 16 // duplicate with CH6_YAW_RATE_KD
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// optical flow controller
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#define CH6_OPTFLOW_KP 17
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@ -187,8 +189,8 @@
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#define CH6_LOITER_RATE_KI 28
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#define CH6_LOITER_RATE_KD 23
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#define CH6_AHRS_YAW_KP 30
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#define CH6_AHRS_KP 31
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#define CH6_AHRS_YAW_KP 30
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#define CH6_AHRS_KP 31
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// nav byte mask
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@ -198,8 +200,10 @@
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#define NAV_DELAY 4
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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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@ -207,7 +211,8 @@
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#define WP_MODE 2
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#define CIRCLE_MODE 3
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#define NO_NAV_MODE 4
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#define TOY_MODE 5 // THOR This mode defines the Virtual WP following mode
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#define TOY_MODE 5 // THOR This mode defines the Virtual
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// WP following mode
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// TOY mixing options
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#define TOY_LOOKUP_TABLE 0
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@ -216,14 +221,14 @@
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// Waypoint options
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#define MASK_OPTIONS_RELATIVE_ALT 1
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#define WP_OPTION_ALT_CHANGE 2
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#define WP_OPTION_YAW 4
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#define WP_OPTION_ALT_REQUIRED 8
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#define WP_OPTION_RELATIVE 16
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#define MASK_OPTIONS_RELATIVE_ALT 1
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#define WP_OPTION_ALT_CHANGE 2
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#define WP_OPTION_YAW 4
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#define WP_OPTION_ALT_REQUIRED 8
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#define WP_OPTION_RELATIVE 16
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//#define WP_OPTION_ 32
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//#define WP_OPTION_ 64
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#define WP_OPTION_NEXT_CMD 128
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#define WP_OPTION_NEXT_CMD 128
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//repeating events
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#define NO_REPEAT 0
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};
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// Logging parameters
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#define TYPE_AIRSTART_MSG 0x00
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#define TYPE_GROUNDSTART_MSG 0x01
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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 LOG_MOTORS_MSG 0x0B
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#define LOG_OPTFLOW_MSG 0x0C
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#define LOG_DATA_MSG 0x0D
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#define LOG_PID_MSG 0x0E
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#define LOG_INDEX_MSG 0xF0
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#define MAX_NUM_LOGS 50
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#define TYPE_AIRSTART_MSG 0x00
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#define TYPE_GROUNDSTART_MSG 0x01
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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 LOG_MOTORS_MSG 0x0B
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#define LOG_OPTFLOW_MSG 0x0C
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#define LOG_DATA_MSG 0x0D
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#define LOG_PID_MSG 0x0E
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#define LOG_INDEX_MSG 0xF0
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#define MAX_NUM_LOGS 50
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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_MOTORS (1<<10)
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#define MASK_LOG_OPTFLOW (1<<11)
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#define MASK_LOG_PID (1<<12)
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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_MOTORS (1<<10)
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#define MASK_LOG_OPTFLOW (1<<11)
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#define MASK_LOG_PID (1<<12)
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// Waypoint Modes
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// ----------------
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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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#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt
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/* ************************************************************** */
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/* Expansion PIN's that people can use for various things. */
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// AN0 - 7 are located at edge of IMU PCB "above" pressure sensor and Expansion port
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// AN0 - 7 are located at edge of IMU PCB "above" pressure sensor and
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// Expansion port
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// AN0 - 5 are also located next to voltage dividers and sliding SW2 switch
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// AN0 - 3 has 10kOhm resistor in serial, include 3.9kOhm to make it as voltage divider
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// AN4 - 5 are direct GPIO pins from atmega1280 and they are the latest pins next to SW2 switch
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// AN0 - 3 has 10kOhm resistor in serial, include 3.9kOhm to make it as
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// voltage divider
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// AN4 - 5 are direct GPIO pins from atmega1280 and they are the latest pins
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// next to SW2 switch
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// Look more ArduCopter Wiki for voltage dividers and other ports
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#define AN0 54 // resistor, vdiv use, divider 1 closest to relay
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#define AN1 55 // resistor, vdiv use, divider 2
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#define AN2 56 // resistor, vdiv use, divider 3
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#define AN3 57 // resistor, vdiv use, divider 4 closest to SW2
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#define AN4 58 // direct GPIO pin, default as analog input, next to SW2 switch
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#define AN5 59 // direct GPIO pin, default as analog input, next to SW2 switch
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#define AN6 60 // direct GPIO pin, default as analog input, close to Pressure sensor, Expansion Ports
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#define AN7 61 // direct GPIO pin, default as analog input, close to Pressure sensor, Expansion Ports
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#define AN4 58 // direct GPIO pin, default as analog input, next to SW2
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// switch
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#define AN5 59 // direct GPIO pin, default as analog input, next to SW2
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// switch
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#define AN6 60 // direct GPIO pin, default as analog input, close to
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// Pressure sensor, Expansion Ports
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#define AN7 61 // direct GPIO pin, default as analog input, close to
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// Pressure sensor, Expansion Ports
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// AN8 - 15 are located at edge of IMU PCB "above" pressure sensor and Expansion port
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// AN8 - 15 PINs are not connected anywhere, they are located as last 8 pins on edge of the board above Expansion Ports
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// even pins (8,10,12,14) are at edge of board, Odd pins (9,11,13,15) are on inner row
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// AN8 - 15 are located at edge of IMU PCB "above" pressure sensor and
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// Expansion port
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// AN8 - 15 PINs are not connected anywhere, they are located as last 8 pins
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// on edge of the board above Expansion Ports
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// even pins (8,10,12,14) are at edge of board, Odd pins (9,11,13,15) are on
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// inner row
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#define AN8 62 // NC
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#define AN9 63 // NC
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#define AN10 64 // NC
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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 1536 bytes of EEPROM, remainder is for waypoints
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#define WP_START_BYTE 0x600 // where in memory home WP is stored + all other WP
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#define WP_START_BYTE 0x600 // 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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#define ONBOARD_PARAM_NAME_LENGTH 15
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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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// mark a function as not to be inlined
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#define NOINLINE __attribute__((noinline))
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