// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef _DEFINES_H
#define _DEFINES_H
// Internal defines, don't edit and expect things to work
// -------------------------------------------------------
#define TRUE 1
#define FALSE 0
#define ToRad(x) radians(x) // *pi/180
#define ToDeg(x) degrees(x) // *180/pi
#define DEBUG 0
#define LOITER_RANGE 60 // for calculating power outside of loiter radius
#define SERVO_MAX 4500 // This value represents 45 degrees and is just an
// arbitrary representation of servo max travel.
// failsafe
// ----------------------
enum failsafe_state {
FAILSAFE_NONE=0,
FAILSAFE_SHORT=1,
FAILSAFE_LONG=2,
FAILSAFE_GCS=3
};
// GCS failsafe types for FS_GCS_ENABL parameter
enum gcs_failsafe {
GCS_FAILSAFE_OFF = 0, // no GCS failsafe
GCS_FAILSAFE_HEARTBEAT = 1, // failsafe if we stop receiving heartbeat
GCS_FAILSAFE_HB_RSSI = 2 // failsafe if we stop receiving
// heartbeat or if RADIO.remrssi
// drops to 0
};
// active altitude sensor
// ----------------------
#define SONAR 0
#define BARO 1
#define PITOT_SOURCE_ADC 1
#define PITOT_SOURCE_ANALOG_PIN 2
#define T6 1000000
#define T7 10000000
// HIL enumerations. Note that HIL_MODE_ATTITUDE and HIL_MODE_SENSORS
// are now the same thing, and are sensors based. The old define is
// kept to allow old APM_Config.h headers to keep working
#define HIL_MODE_DISABLED 0
#define HIL_MODE_SENSORS 1
enum FlightMode {
MANUAL = 0,
CIRCLE = 1,
STABILIZE = 2,
TRAINING = 3,
ACRO = 4,
FLY_BY_WIRE_A = 5,
FLY_BY_WIRE_B = 6,
CRUISE = 7,
AUTOTUNE = 8,
AUTO = 10,
RTL = 11,
LOITER = 12,
GUIDED = 15,
INITIALISING = 16
};
// type of stick mixing enabled
enum StickMixing {
STICK_MIXING_DISABLED = 0,
STICK_MIXING_FBW = 1,
STICK_MIXING_DIRECT = 2
};
enum ChannelMixing {
MIXING_DISABLED = 0,
MIXING_UPUP = 1,
MIXING_UPDN = 2,
MIXING_DNUP = 3,
MIXING_DNDN = 4
};
/*
* The cause for the most recent fence enable
*/
typedef enum GeofenceEnableReason {
NOT_ENABLED = 0, //The fence is not enabled
PWM_TOGGLED, //Fence enabled/disabled by PWM signal
AUTO_TOGGLED, //Fence auto enabled/disabled at takeoff.
GCS_TOGGLED //Fence enabled/disabled by the GCS via Mavlink
} GeofenceEnableReason;
//repeating events
#define NO_REPEAT 0
#define CH_5_TOGGLE 1
#define CH_6_TOGGLE 2
#define CH_7_TOGGLE 3
#define CH_8_TOGGLE 4
#define RELAY_TOGGLE 5
#define STOP_REPEAT 10
// Logging message types. NOTE: If you change the value of one
// of these then existing logs will break! Only add at the end, and
// mark unused ones as 'deprecated', but leave them in
enum log_messages {
LOG_CTUN_MSG,
LOG_NTUN_MSG,
LOG_PERFORMANCE_MSG,
LOG_CMD_MSG_DEPRECATED, // deprecated
LOG_CURRENT_MSG,
LOG_STARTUP_MSG,
TYPE_AIRSTART_MSG,
TYPE_GROUNDSTART_MSG,
LOG_CAMERA_MSG,
LOG_ATTITUDE_MSG,
LOG_MODE_MSG,
LOG_COMPASS_MSG,
LOG_TECS_MSG,
LOG_RC_MSG,
LOG_SONAR_MSG,
LOG_COMPASS2_MSG,
LOG_ARM_DISARM_MSG,
LOG_AIRSPEED_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_MODE (1<<6)
#define MASK_LOG_IMU (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CURRENT (1<<9)
#define MASK_LOG_COMPASS (1<<10)
#define MASK_LOG_TECS (1<<11)
#define MASK_LOG_CAMERA (1<<12)
#define MASK_LOG_RC (1<<13)
#define MASK_LOG_SONAR (1<<14)
#define MASK_LOG_ARM_DISARM (1<<15)
#define MASK_LOG_WHEN_DISARMED (1UL<<16)
// Waypoint Modes
// ----------------
#define ABS_WP 0
#define REL_WP 1
// Command Queues
// ---------------
#define COMMAND_MUST 0
#define COMMAND_MAY 1
#define COMMAND_NOW 2
// Events
// ------
#define EVENT_WILL_REACH_WAYPOINT 1
#define EVENT_SET_NEW_COMMAND_INDEX 2
#define EVENT_LOADED_WAYPOINT 3
#define EVENT_LOOP 4
// Climb rate calculations
#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to
// regress a climb rate from
#define AN4 4
#define AN5 5
#define SPEEDFILT 400 // centimeters/second; the speed below
// which a groundstart will be
// triggered
// fence points are stored at the end of the EEPROM
#define MAX_FENCEPOINTS 20
#define FENCE_WP_SIZE sizeof(Vector2l)
#define FENCE_START_BYTE (HAL_STORAGE_SIZE_AVAILABLE-(MAX_FENCEPOINTS*FENCE_WP_SIZE))
// rally points shoehorned between fence points and waypoints
#define MAX_RALLYPOINTS 10
#define RALLY_START_BYTE (FENCE_START_BYTE-(MAX_RALLYPOINTS*AC_RALLY_WP_SIZE))
// parameters get the first 1280 bytes of EEPROM, mission commands are stored between these params and the rally points
#define MISSION_START_BYTE 0x500
#define MISSION_END_BYTE (RALLY_START_BYTE-1)
// convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps
// to -1)
#define BOOL_TO_SIGN(bvalue) ((bvalue) ? -1 : 1)
// mark a function as not to be inlined
#define NOINLINE __attribute__((noinline))
// InertialSensor driver types
#define CONFIG_INS_OILPAN 1
#define CONFIG_INS_MPU6000 2
#define CONFIG_INS_HIL 3
#define CONFIG_INS_PX4 4
#define CONFIG_INS_FLYMAPLE 5
#define CONFIG_INS_L3G4200D 6
#define CONFIG_INS_VRBRAIN 7
// barometer driver types
#define AP_BARO_BMP085 1
#define AP_BARO_MS5611 2
#define AP_BARO_PX4 3
#define AP_BARO_HIL 4
#define AP_BARO_VRBRAIN 5
// compass driver types
#define AP_COMPASS_HMC5843 1
#define AP_COMPASS_PX4 2
#define AP_COMPASS_HIL 3
#define AP_COMPASS_VRBRAIN 4
// altitude control algorithms
enum {
ALT_CONTROL_DEFAULT = 0,
ALT_CONTROL_NON_AIRSPEED = 1,
ALT_CONTROL_TECS = 2,
ALT_CONTROL_AIRSPEED = 3
};
// attitude controller choice
enum {
ATT_CONTROL_PID = 0,
ATT_CONTROL_APMCONTROL = 1
};
#endif // _DEFINES_H