#pragma once

// Internal defines, don't edit and expect things to work
// -------------------------------------------------------

#define TRUE 1
#define FALSE 0

#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
    GCS_FAILSAFE_HB_AUTO    = 3  // failsafe if we stop receiving heartbeat
                                 // while in AUTO mode
};


// 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

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,
    AVOID_ADSB    = 14,
    GUIDED        = 15,
    INITIALISING  = 16,
    QSTABILIZE    = 17,
    QHOVER        = 18,
    QLOITER       = 19,
    QLAND         = 20,
    QRTL          = 21
};

enum mode_reason_t {
    MODE_REASON_UNKNOWN=0,
    MODE_REASON_TX_COMMAND,
    MODE_REASON_GCS_COMMAND,
    MODE_REASON_RADIO_FAILSAFE,
    MODE_REASON_BATTERY_FAILSAFE,
    MODE_REASON_GCS_FAILSAFE,
    MODE_REASON_EKF_FAILSAFE,
    MODE_REASON_GPS_GLITCH,
    MODE_REASON_MISSION_END,
    MODE_REASON_FENCE_BREACH,
    MODE_REASON_AVOIDANCE,
    MODE_REASON_AVOIDANCE_RECOVERY,
};

// 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,
    MIXING_UPUP_SWP = 5,
    MIXING_UPDN_SWP = 6,
    MIXING_DNUP_SWP = 7,
    MIXING_DNDN_SWP = 8,
};

/*
 * 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
enum log_messages {
    LOG_CTUN_MSG,
    LOG_NTUN_MSG,
    LOG_PERFORMANCE_MSG,
    LOG_STARTUP_MSG,
    TYPE_AIRSTART_MSG,
    TYPE_GROUNDSTART_MSG,
    LOG_RC_MSG,
    LOG_SONAR_MSG,
    LOG_ARM_DISARM_MSG,
    LOG_STATUS_MSG,
    LOG_OPTFLOW_MSG,
    LOG_QTUN_MSG,
    LOG_PARAMTUNE_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_IMU_RAW                (1UL<<19)

// 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

// 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)

// 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
};

enum {
    CRASH_DETECT_ACTION_BITMASK_DISABLED = 0,
    CRASH_DETECT_ACTION_BITMASK_DISARM = (1<<0),
    // note: next enum will be (1<<1), then (1<<2), then (1<<3)
};

enum {
    USE_REVERSE_THRUST_NEVER                    = 0,
    USE_REVERSE_THRUST_AUTO_ALWAYS              = (1<<0),
    USE_REVERSE_THRUST_AUTO_LAND_APPROACH       = (1<<1),
    USE_REVERSE_THRUST_AUTO_LOITER_TO_ALT       = (1<<2),
    USE_REVERSE_THRUST_AUTO_LOITER_ALL          = (1<<3),
    USE_REVERSE_THRUST_AUTO_WAYPOINT            = (1<<4),
    USE_REVERSE_THRUST_LOITER                   = (1<<5),
    USE_REVERSE_THRUST_RTL                      = (1<<6),
    USE_REVERSE_THRUST_CIRCLE                   = (1<<7),
    USE_REVERSE_THRUST_CRUISE                   = (1<<8),
    USE_REVERSE_THRUST_FBWB                     = (1<<9),
    USE_REVERSE_THRUST_GUIDED                   = (1<<10),
};