#pragma once #include // Just so that it's completely clear... #define ENABLED 1 #define DISABLED 0 // this avoids a very common config error #define ENABLE ENABLED #define DISABLE DISABLED #define BOTTOM_DETECTOR_TRIGGER_SEC 1.0 #define SURFACE_DETECTOR_TRIGGER_SEC 1.0 enum AutoSurfaceState { AUTO_SURFACE_STATE_GO_TO_LOCATION, AUTO_SURFACE_STATE_ASCEND }; // Autopilot Yaw Mode enumeration enum autopilot_yaw_mode { AUTO_YAW_HOLD = 0, // pilot controls the heading AUTO_YAW_LOOK_AT_NEXT_WP = 1, // point towards next waypoint (no pilot input accepted) AUTO_YAW_ROI = 2, // point towards a location held in roi_WP (no pilot input accepted) AUTO_YAW_LOOK_AT_HEADING = 3, // point towards a particular angle (not pilot input accepted) AUTO_YAW_LOOK_AHEAD = 4, // point in the direction the vehicle is moving AUTO_YAW_RESETTOARMEDYAW = 5, // point towards heading at time motors were armed AUTO_YAW_CORRECT_XTRACK = 6 // steer the sub in order to correct for crosstrack error during line following }; // Auto Pilot Modes enumeration enum control_mode_t : uint8_t { STABILIZE = 0, // manual angle with manual depth/throttle ACRO = 1, // manual body-frame angular rate with manual depth/throttle ALT_HOLD = 2, // manual angle with automatic depth/throttle AUTO = 3, // fully automatic waypoint control using mission commands GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands CIRCLE = 7, // automatic circular flight with automatic throttle SURFACE = 9, // automatically return to surface, pilot maintains horizontal control POSHOLD = 16, // automatic position hold with manual override, with automatic throttle MANUAL = 19, // Pass-through input with no stabilization MOTOR_DETECT = 20 // Automatically detect motors orientation }; // Acro Trainer types #define ACRO_TRAINER_DISABLED 0 #define ACRO_TRAINER_LEVELING 1 #define ACRO_TRAINER_LIMITED 2 // Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter #define WP_YAW_BEHAVIOR_NONE 0 // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received) #define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP 1 // auto pilot will face next waypoint or home during rtl #define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL 2 // auto pilot will face next waypoint except when doing RTL at which time it will stay in it's last #define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicotpers) #define WP_YAW_BEHAVIOR_CORRECT_XTRACK 4 // point towards intermediate position target during line following // Auto modes enum AutoMode { Auto_WP, Auto_CircleMoveToEdge, Auto_Circle, Auto_NavGuided, Auto_Loiter, Auto_TerrainRecover }; // Guided modes enum GuidedMode { Guided_WP, Guided_Velocity, Guided_PosVel, Guided_Angle, }; // RTL states enum RTLState { RTL_InitialClimb, RTL_ReturnHome, RTL_LoiterAtHome, RTL_FinalDescent, RTL_Land }; // Logging parameters - only 32 messages are available to the vehicle here. enum LoggingParameters { LOG_CONTROL_TUNING_MSG, LOG_DATA_INT16_MSG, LOG_DATA_UINT16_MSG, LOG_DATA_INT32_MSG, LOG_DATA_UINT32_MSG, LOG_DATA_FLOAT_MSG, LOG_GUIDEDTARGET_MSG }; #define MASK_LOG_ATTITUDE_FAST (1<<0) #define MASK_LOG_ATTITUDE_MED (1<<1) #define MASK_LOG_GPS (1<<2) #define MASK_LOG_PM (1<<3) #define MASK_LOG_CTUN (1<<4) #define MASK_LOG_NTUN (1<<5) #define MASK_LOG_RCIN (1<<6) #define MASK_LOG_IMU (1<<7) #define MASK_LOG_CMD (1<<8) #define MASK_LOG_CURRENT (1<<9) #define MASK_LOG_RCOUT (1<<10) #define MASK_LOG_OPTFLOW (1<<11) #define MASK_LOG_PID (1<<12) #define MASK_LOG_COMPASS (1<<13) #define MASK_LOG_CAMERA (1<<15) #define MASK_LOG_MOTBATT (1UL<<17) #define MASK_LOG_IMU_FAST (1UL<<18) #define MASK_LOG_IMU_RAW (1UL<<19) #define MASK_LOG_ANY 0xFFFF // 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 this number of milliseconds 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 0 // Disabled #define FS_EKF_ACTION_WARN_ONLY 1 // Send warning to gcs #define FS_EKF_ACTION_DISARM 2 // Disarm #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 // GCS failsafe definitions (FS_GCS_ENABLE parameter) #define FS_GCS_DISABLED 0 // Disabled #define FS_GCS_WARN_ONLY 1 // Only send warning to gcs (only useful with multiple gcs links) #define FS_GCS_DISARM 2 // Disarm #define FS_GCS_HOLD 3 // Switch depth hold mode or poshold mode if available #define FS_GCS_SURFACE 4 // Switch to surface mode // Leak failsafe definitions (FS_LEAK_ENABLE parameter) #define FS_LEAK_DISABLED 0 // Disabled #define FS_LEAK_WARN_ONLY 1 // Only send warning to gcs #define FS_LEAK_SURFACE 2 // Switch to surface mode // Internal pressure failsafe threshold (FS_PRESS_MAX parameter) #define FS_PRESS_MAX_DEFAULT 105000 // Maximum internal pressure in pascal before failsafe is triggered // Internal pressure failsafe definitions (FS_PRESS_ENABLE parameter) #define FS_PRESS_DISABLED 0 #define FS_PRESS_WARN_ONLY 1 // Internal temperature failsafe threshold (FS_TEMP_MAX parameter) #define FS_TEMP_MAX_DEFAULT 62 // Maximum internal pressure in degrees C before failsafe is triggered // Internal temperature failsafe definitions (FS_TEMP_ENABLE parameter) #define FS_TEMP_DISABLED 0 #define FS_TEMP_WARN_ONLY 1 // Crash failsafe options #define FS_CRASH_DISABLED 0 #define FS_CRASH_WARN_ONLY 1 #define FS_CRASH_DISARM 2 // Terrain failsafe actions for AUTO mode #define FS_TERRAIN_DISARM 0 #define FS_TERRAIN_HOLD 1 #define FS_TERRAIN_SURFACE 2 // Pilot input failsafe actions #define FS_PILOT_INPUT_DISABLED 0 #define FS_PILOT_INPUT_WARN_ONLY 1 #define FS_PILOT_INPUT_DISARM 2 // Amount of time to attempt recovery of valid rangefinder data before // initiating terrain failsafe action #define FS_TERRAIN_RECOVER_TIMEOUT_MS 10000 // 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)) #define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7) | (1<<8)) #define MAVLINK_SET_POS_TYPE_MASK_FORCE (1<<9) #define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10) #define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)