From fb9499fc6d7dfdea1ed2daa749f14502df15c18c Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 8 Mar 2017 17:16:51 -0500 Subject: [PATCH] Sub: Clean out defines.h --- ArduSub/defines.h | 98 ++--------------------------------------------- 1 file changed, 4 insertions(+), 94 deletions(-) diff --git a/ArduSub/defines.h b/ArduSub/defines.h index be09614e02..49669fd383 100644 --- a/ArduSub/defines.h +++ b/ArduSub/defines.h @@ -118,50 +118,6 @@ enum mode_reason_t { MODE_REASON_LEAK_FAILSAFE }; -// 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 - TUNING_RANGEFINDER_GAIN = 41, // rangefinder gain - TUNING_EKF_VERTICAL_POS = 42, // EKF's baro vs accel (higher rely on accels more, baro impact is reduced). Range should be 0.2 ~ 4.0? 2.0 is default - TUNING_EKF_HORIZONTAL_POS = 43, // EKF's gps vs accel (higher rely on accels more, gps impact is reduced). Range should be 1.0 ~ 3.0? 1.5 is default - TUNING_EKF_ACCEL_NOISE = 44, // EKF's accel noise (lower means trust accels more, gps & baro less). Range should be 0.02 ~ 0.5 0.5 is default (but very robust at that level) - 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 -}; - // Acro Trainer types #define ACRO_TRAINER_DISABLED 0 #define ACRO_TRAINER_LEVELING 1 @@ -185,7 +141,6 @@ enum tuning_func { enum AutoMode { Auto_WP, Auto_Land, - // Auto_RTL, Auto_CircleMoveToEdge, Auto_Circle, Auto_Spline, @@ -211,22 +166,6 @@ enum RTLState { RTL_Land }; -// Alt_Hold states -enum AltHoldModeState { - AltHold_MotorStopped, - AltHold_NotAutoArmed, - AltHold_Flying, - AltHold_Landed -}; - -// Loiter states -enum LoiterModeState { - Loiter_MotorStopped, - Loiter_NotAutoArmed, - Loiter_Flying, - Loiter_Landed -}; - // LAND state #define LAND_STATE_FLY_TO_LOCATION 0 #define LAND_STATE_DESCENDING 1 @@ -239,9 +178,6 @@ enum LoiterModeState { #define LOG_PERFORMANCE_MSG 0x06 #define LOG_OPTFLOW_MSG 0x0C #define LOG_EVENT_MSG 0x0D -#define LOG_PID_MSG 0x0E // deprecated -#define LOG_INAV_MSG 0x11 // deprecated -#define LOG_CAMERA_MSG_DEPRECATED 0x12 // deprecated #define LOG_ERROR_MSG 0x13 #define LOG_DATA_INT16_MSG 0x14 #define LOG_DATA_UINT16_MSG 0x15 @@ -251,7 +187,6 @@ enum LoiterModeState { #define LOG_MOTBATT_MSG 0x1E #define LOG_PARAMTUNE_MSG 0x1F #define LOG_HELI_MSG 0x20 -//#define LOG_PRECLAND_MSG 0x21 // Remove #define LOG_GUIDEDTARGET_MSG 0x22 #define LOG_PROXIMITY_MSG 0x24 @@ -269,7 +204,6 @@ enum LoiterModeState { #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) @@ -283,12 +217,8 @@ enum LoiterModeState { #define DATA_ARMED 10 #define DATA_DISARMED 11 #define DATA_AUTO_ARMED 15 -//#define DATA_LAND_COMPLETE_MAYBE 17 -//#define DATA_LAND_COMPLETE 18 #define DATA_NOT_LANDED 28 #define DATA_LOST_GPS 19 -//#define DATA_FLIP_START 21 -//#define DATA_FLIP_END 22 #define DATA_SET_HOME 25 #define DATA_SET_SIMPLE_ON 26 #define DATA_SET_SIMPLE_OFF 27 @@ -302,24 +232,17 @@ enum LoiterModeState { #define DATA_ACRO_TRAINER_LIMITED 45 #define DATA_GRIPPER_GRAB 46 #define DATA_GRIPPER_RELEASE 47 -//#define DATA_PARACHUTE_DISABLED 49 // Remove -//#define DATA_PARACHUTE_ENABLED 50 // Remove -//#define DATA_PARACHUTE_RELEASED 51 // Remove -//#define DATA_LANDING_GEAR_DEPLOYED 52 // Remove -//#define DATA_LANDING_GEAR_RETRACTED 53 // Remove #define DATA_MOTORS_EMERGENCY_STOPPED 54 #define DATA_MOTORS_EMERGENCY_STOP_CLEARED 55 #define DATA_MOTORS_INTERLOCK_DISABLED 56 #define DATA_MOTORS_INTERLOCK_ENABLED 57 -#define DATA_ROTOR_RUNUP_COMPLETE 58 // Heli only -#define DATA_ROTOR_SPEED_BELOW_CRITICAL 59 // Heli only #define DATA_EKF_ALT_RESET 60 #define DATA_LAND_CANCELLED_BY_PILOT 61 #define DATA_EKF_YAW_RESET 62 -#define DATA_SURFACED 63 // Sub only -#define DATA_NOT_SURFACED 64 // Sub only -#define DATA_BOTTOMED 65 // Sub only -#define DATA_NOT_BOTTOMED 66 // Sub only +#define DATA_SURFACED 63 +#define DATA_NOT_SURFACED 64 +#define DATA_BOTTOMED 65 +#define DATA_NOT_BOTTOMED 66 // Centi-degrees to radians #define DEGX100 5729.57795f @@ -337,13 +260,10 @@ enum LoiterModeState { #define ERROR_SUBSYSTEM_FLIGHT_MODE 10 #define ERROR_SUBSYSTEM_GPS 11 // not used #define ERROR_SUBSYSTEM_CRASH_CHECK 12 -//#define ERROR_SUBSYSTEM_FLIP 13 // Remove -//#define ERROR_SUBSYSTEM_PARACHUTE 15 // Remove #define ERROR_SUBSYSTEM_EKFCHECK 16 #define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV 17 #define ERROR_SUBSYSTEM_BARO 18 #define ERROR_SUBSYSTEM_CPU 19 -//#define ERROR_SUBSYSTEM_FAILSAFE_ADSB 20 // Remove #define ERROR_SUBSYSTEM_TERRAIN 21 #define ERROR_SUBSYSTEM_NAVIGATION 22 #define ERROR_SUBSYSTEM_FAILSAFE_TERRAIN 23 @@ -378,12 +298,6 @@ enum LoiterModeState { // Baro specific error codes #define ERROR_CODE_BARO_GLITCH 2 -// 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 -#define FS_THR_ENABLED_ALWAYS_LAND 3 - // Battery failsafe definitions (FS_BATT_ENABLE parameter) #define FS_BATT_DISABLED 0 // battery failsafe disabled #define FS_BATT_LAND 1 // switch to LAND mode on battery failsafe @@ -433,7 +347,3 @@ enum LoiterModeState { #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)