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https://github.com/ArduPilot/ardupilot
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Sub: Clean out defines.h
This commit is contained in:
Jacob Walser
Randy Mackay
parent
40a27814e0
commit
fb9499fc6d
@ -118,50 +118,6 @@ enum mode_reason_t {
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MODE_REASON_LEAK_FAILSAFE
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};
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// Tuning enumeration
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enum tuning_func {
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TUNING_NONE = 0, //
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TUNING_STABILIZE_ROLL_PITCH_KP = 1, // stabilize roll/pitch angle controller's P term
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TUNING_STABILIZE_YAW_KP = 3, // stabilize yaw heading controller's P term
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TUNING_RATE_ROLL_PITCH_KP = 4, // body frame roll/pitch rate controller's P term
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TUNING_RATE_ROLL_PITCH_KI = 5, // body frame roll/pitch rate controller's I term
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TUNING_YAW_RATE_KP = 6, // body frame yaw rate controller's P term
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TUNING_THROTTLE_RATE_KP = 7, // throttle rate controller's P term (desired rate to acceleration or motor output)
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TUNING_WP_SPEED = 10, // maximum speed to next way point (0 to 10m/s)
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TUNING_LOITER_POSITION_KP = 12, // loiter distance controller's P term (position error to speed)
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TUNING_HELI_EXTERNAL_GYRO = 13, // TradHeli specific external tail gyro gain
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TUNING_ALTITUDE_HOLD_KP = 14, // altitude hold controller's P term (alt error to desired rate)
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TUNING_RATE_ROLL_PITCH_KD = 21, // body frame roll/pitch rate controller's D term
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TUNING_VEL_XY_KP = 22, // loiter rate controller's P term (speed error to tilt angle)
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TUNING_ACRO_RP_KP = 25, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
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TUNING_YAW_RATE_KD = 26, // body frame yaw rate controller's D term
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TUNING_VEL_XY_KI = 28, // loiter rate controller's I term (speed error to tilt angle)
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TUNING_AHRS_YAW_KP = 30, // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
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TUNING_AHRS_KP = 31, // accelerometer effect on roll/pitch angle (0=low)
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TUNING_ACCEL_Z_KP = 34, // accel based throttle controller's P term
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TUNING_ACCEL_Z_KI = 35, // accel based throttle controller's I term
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TUNING_ACCEL_Z_KD = 36, // accel based throttle controller's D term
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TUNING_DECLINATION = 38, // compass declination in radians
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TUNING_CIRCLE_RATE = 39, // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
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TUNING_ACRO_YAW_KP = 40, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
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TUNING_RANGEFINDER_GAIN = 41, // rangefinder gain
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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
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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
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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)
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TUNING_RC_FEEL_RP = 45, // roll-pitch input smoothing
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TUNING_RATE_PITCH_KP = 46, // body frame pitch rate controller's P term
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TUNING_RATE_PITCH_KI = 47, // body frame pitch rate controller's I term
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TUNING_RATE_PITCH_KD = 48, // body frame pitch rate controller's D term
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TUNING_RATE_ROLL_KP = 49, // body frame roll rate controller's P term
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TUNING_RATE_ROLL_KI = 50, // body frame roll rate controller's I term
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TUNING_RATE_ROLL_KD = 51, // body frame roll rate controller's D term
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TUNING_RATE_PITCH_FF = 52, // body frame pitch rate controller FF term
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TUNING_RATE_ROLL_FF = 53, // body frame roll rate controller FF term
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TUNING_RATE_YAW_FF = 54, // body frame yaw rate controller FF term
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TUNING_RATE_MOT_YAW_HEADROOM = 55, // motors yaw headroom minimum
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TUNING_RATE_YAW_FILT = 56 // yaw rate input filter
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};
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// Acro Trainer types
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#define ACRO_TRAINER_DISABLED 0
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#define ACRO_TRAINER_LEVELING 1
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@ -185,7 +141,6 @@ enum tuning_func {
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enum AutoMode {
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Auto_WP,
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Auto_Land,
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// Auto_RTL,
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Auto_CircleMoveToEdge,
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Auto_Circle,
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Auto_Spline,
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@ -211,22 +166,6 @@ enum RTLState {
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RTL_Land
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};
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// Alt_Hold states
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enum AltHoldModeState {
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AltHold_MotorStopped,
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AltHold_NotAutoArmed,
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AltHold_Flying,
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AltHold_Landed
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};
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// Loiter states
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enum LoiterModeState {
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Loiter_MotorStopped,
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Loiter_NotAutoArmed,
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Loiter_Flying,
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Loiter_Landed
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};
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// LAND state
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#define LAND_STATE_FLY_TO_LOCATION 0
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#define LAND_STATE_DESCENDING 1
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@ -239,9 +178,6 @@ enum LoiterModeState {
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#define LOG_PERFORMANCE_MSG 0x06
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#define LOG_OPTFLOW_MSG 0x0C
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#define LOG_EVENT_MSG 0x0D
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#define LOG_PID_MSG 0x0E // deprecated
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#define LOG_INAV_MSG 0x11 // deprecated
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#define LOG_CAMERA_MSG_DEPRECATED 0x12 // deprecated
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#define LOG_ERROR_MSG 0x13
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#define LOG_DATA_INT16_MSG 0x14
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#define LOG_DATA_UINT16_MSG 0x15
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@ -251,7 +187,6 @@ enum LoiterModeState {
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#define LOG_MOTBATT_MSG 0x1E
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#define LOG_PARAMTUNE_MSG 0x1F
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#define LOG_HELI_MSG 0x20
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//#define LOG_PRECLAND_MSG 0x21 // Remove
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#define LOG_GUIDEDTARGET_MSG 0x22
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#define LOG_PROXIMITY_MSG 0x24
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@ -269,7 +204,6 @@ enum LoiterModeState {
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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_COMPASS (1<<13)
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#define MASK_LOG_INAV (1<<14) // deprecated
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#define MASK_LOG_CAMERA (1<<15)
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#define MASK_LOG_MOTBATT (1UL<<17)
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#define MASK_LOG_IMU_FAST (1UL<<18)
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@ -283,12 +217,8 @@ enum LoiterModeState {
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#define DATA_ARMED 10
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#define DATA_DISARMED 11
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#define DATA_AUTO_ARMED 15
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//#define DATA_LAND_COMPLETE_MAYBE 17
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//#define DATA_LAND_COMPLETE 18
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#define DATA_NOT_LANDED 28
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#define DATA_LOST_GPS 19
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//#define DATA_FLIP_START 21
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//#define DATA_FLIP_END 22
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#define DATA_SET_HOME 25
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#define DATA_SET_SIMPLE_ON 26
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#define DATA_SET_SIMPLE_OFF 27
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@ -302,24 +232,17 @@ enum LoiterModeState {
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#define DATA_ACRO_TRAINER_LIMITED 45
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#define DATA_GRIPPER_GRAB 46
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#define DATA_GRIPPER_RELEASE 47
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//#define DATA_PARACHUTE_DISABLED 49 // Remove
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//#define DATA_PARACHUTE_ENABLED 50 // Remove
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//#define DATA_PARACHUTE_RELEASED 51 // Remove
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//#define DATA_LANDING_GEAR_DEPLOYED 52 // Remove
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//#define DATA_LANDING_GEAR_RETRACTED 53 // Remove
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#define DATA_MOTORS_EMERGENCY_STOPPED 54
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#define DATA_MOTORS_EMERGENCY_STOP_CLEARED 55
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#define DATA_MOTORS_INTERLOCK_DISABLED 56
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#define DATA_MOTORS_INTERLOCK_ENABLED 57
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#define DATA_ROTOR_RUNUP_COMPLETE 58 // Heli only
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#define DATA_ROTOR_SPEED_BELOW_CRITICAL 59 // Heli only
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#define DATA_EKF_ALT_RESET 60
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#define DATA_LAND_CANCELLED_BY_PILOT 61
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#define DATA_EKF_YAW_RESET 62
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#define DATA_SURFACED 63 // Sub only
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#define DATA_NOT_SURFACED 64 // Sub only
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#define DATA_BOTTOMED 65 // Sub only
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#define DATA_NOT_BOTTOMED 66 // Sub only
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#define DATA_SURFACED 63
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#define DATA_NOT_SURFACED 64
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#define DATA_BOTTOMED 65
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#define DATA_NOT_BOTTOMED 66
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// Centi-degrees to radians
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#define DEGX100 5729.57795f
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@ -337,13 +260,10 @@ enum LoiterModeState {
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#define ERROR_SUBSYSTEM_FLIGHT_MODE 10
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#define ERROR_SUBSYSTEM_GPS 11 // not used
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#define ERROR_SUBSYSTEM_CRASH_CHECK 12
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//#define ERROR_SUBSYSTEM_FLIP 13 // Remove
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//#define ERROR_SUBSYSTEM_PARACHUTE 15 // Remove
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#define ERROR_SUBSYSTEM_EKFCHECK 16
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#define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV 17
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#define ERROR_SUBSYSTEM_BARO 18
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#define ERROR_SUBSYSTEM_CPU 19
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//#define ERROR_SUBSYSTEM_FAILSAFE_ADSB 20 // Remove
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#define ERROR_SUBSYSTEM_TERRAIN 21
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#define ERROR_SUBSYSTEM_NAVIGATION 22
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#define ERROR_SUBSYSTEM_FAILSAFE_TERRAIN 23
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@ -378,12 +298,6 @@ enum LoiterModeState {
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// Baro specific error codes
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#define ERROR_CODE_BARO_GLITCH 2
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// Radio failsafe definitions (FS_THR parameter)
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#define FS_THR_DISABLED 0
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#define FS_THR_ENABLED_ALWAYS_RTL 1
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#define FS_THR_ENABLED_CONTINUE_MISSION 2
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#define FS_THR_ENABLED_ALWAYS_LAND 3
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// Battery failsafe definitions (FS_BATT_ENABLE parameter)
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#define FS_BATT_DISABLED 0 // battery failsafe disabled
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#define FS_BATT_LAND 1 // switch to LAND mode on battery failsafe
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@ -433,7 +347,3 @@ enum LoiterModeState {
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#define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10)
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#define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)
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// for PILOT_THR_BHV parameter
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#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
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#define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
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#define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)
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