#pragma once #include // bit options for DEV_OPTIONS parameter enum DevOptions { DevOptionADSBMAVLink = 1, DevOptionVFR_HUDRelativeAlt = 2, DevOptionSetAttitudeTarget_ThrustAsThrust = 4, }; // 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_PARAMTUNE_MSG, LOG_HELI_MSG, LOG_GUIDEDTARGET_MSG, LOG_SYSIDD_MSG, LOG_SYSIDS_MSG, LOG_FINI_MSG, LOG_FINO_MSG, LOG_PIDD_MSG, LOG_PIVN_MSG, LOG_PIVE_MSG, LOG_PIVD_MSG, LOG_PIVY_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_INAV (1<<14) // deprecated #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 // 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 // Removed in 4.0+, now use fs_options #define FS_THR_ENABLED_ALWAYS_LAND 3 #define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_RTL 4 #define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_LAND 5 // GCS failsafe definitions (FS_GCS_ENABLE parameter) #define FS_GCS_DISABLED 0 #define FS_GCS_ENABLED_ALWAYS_RTL 1 #define FS_GCS_ENABLED_CONTINUE_MISSION 2 // Removed in 4.0+, now use fs_options #define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL 3 #define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4 #define FS_GCS_ENABLED_ALWAYS_LAND 5 // EKF failsafe definitions (FS_EKF_ACTION parameter) #define FS_EKF_ACTION_LAND 1 // switch to LAND mode on EKF failsafe #define FS_EKF_ACTION_LAND_EVEN_MANUAL 3 // switch to Land mode on EKF failsafe even if in Manual mode // 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)