// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #ifndef _DEFINES_H #define _DEFINES_H #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 // Flight modes // ------------ #define YAW_HOLD 0 // heading hold at heading in nav_yaw but allow input from pilot #define YAW_ACRO 1 // pilot controlled yaw using rate controller #define YAW_LOOK_AT_NEXT_WP 2 // point towards next waypoint (no pilot input accepted) #define YAW_LOOK_AT_LOCATION 3 // point towards a location held in yaw_look_at_WP (no pilot input accepted) #define YAW_CIRCLE 4 // point towards a location held in yaw_look_at_WP (no pilot input accepted) #define YAW_LOOK_AT_HOME 5 // point towards home (no pilot input accepted) #define YAW_LOOK_AT_HEADING 6 // point towards a particular angle (not pilot input accepted) #define YAW_LOOK_AHEAD 7 // WARNING! CODE IN DEVELOPMENT NOT PROVEN #define YAW_DRIFT 8 // #define YAW_RESETTOARMEDYAW 9 // point towards heading at time motors were armed #define ROLL_PITCH_STABLE 0 // pilot input roll, pitch angles #define ROLL_PITCH_ACRO 1 // pilot inputs roll, pitch rotation rates in body frame #define ROLL_PITCH_AUTO 2 // no pilot input. autopilot roll, pitch is sent to stabilize controller inputs #define ROLL_PITCH_STABLE_OF 3 // pilot inputs roll, pitch angles which are mixed with optical flow based position controller lean anbles #define ROLL_PITCH_DRIFT 4 // #define ROLL_PITCH_LOITER 5 // pilot inputs the desired horizontal velocities #define ROLL_PITCH_SPORT 6 // pilot inputs roll, pitch rotation rates in earth frame #define ROLL_PITCH_AUTOTUNE 7 // description of new roll-pitch mode #define THROTTLE_MANUAL 0 // manual throttle mode - pilot input goes directly to motors #define THROTTLE_MANUAL_TILT_COMPENSATED 1 // mostly manual throttle but with some tilt compensation #define THROTTLE_HOLD 2 // alt hold plus pilot input of climb rate #define THROTTLE_AUTO 3 // auto pilot altitude controller with target altitude held in next_WP.alt #define THROTTLE_LAND 4 // landing throttle controller #define THROTTLE_MANUAL_HELI 5 // pilot manually controlled throttle for traditional helicopters // sonar - for use with CONFIG_SONAR_SOURCE #define SONAR_SOURCE_ADC 1 #define SONAR_SOURCE_ANALOG_PIN 2 // Ch6, Ch7 and Ch8 aux switch control #define AUX_SWITCH_PWM_TRIGGER_HIGH 1800 // pwm value above which the ch7 or ch8 option will be invoked #define AUX_SWITCH_PWM_TRIGGER_LOW 1200 // pwm value below which the ch7 or ch8 option will be disabled #define CH6_PWM_TRIGGER_HIGH 1800 #define CH6_PWM_TRIGGER_LOW 1200 #define AUX_SWITCH_DO_NOTHING 0 // aux switch disabled #define AUX_SWITCH_SET_HOVER 1 // deprecated #define AUX_SWITCH_FLIP 2 // flip #define AUX_SWITCH_SIMPLE_MODE 3 // change to simple mode #define AUX_SWITCH_RTL 4 // change to RTL flight mode #define AUX_SWITCH_SAVE_TRIM 5 // save current position as level #define AUX_SWITCH_ADC_FILTER 6 // deprecated #define AUX_SWITCH_SAVE_WP 7 // save mission waypoint or RTL if in auto mode #define AUX_SWITCH_MULTI_MODE 8 // depending upon CH6 position Flip (if ch6 is low), RTL (if ch6 in middle) or Save WP (if ch6 is high) #define AUX_SWITCH_CAMERA_TRIGGER 9 // trigger camera servo or relay #define AUX_SWITCH_SONAR 10 // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground #define AUX_SWITCH_FENCE 11 // allow enabling or disabling fence in flight #define AUX_SWITCH_RESETTOARMEDYAW 12 // changes yaw to be same as when quad was armed #define AUX_SWITCH_SUPERSIMPLE_MODE 13 // change to simple mode in middle, super simple at top #define AUX_SWITCH_ACRO_TRAINER 14 // low = disabled, middle = leveled, high = leveled and limited #define AUX_SWITCH_SPRAYER 15 // enable/disable the crop sprayer #define AUX_SWITCH_AUTO 16 // change to auto flight mode #define AUX_SWITCH_AUTOTUNE 17 // auto tune #define AUX_SWITCH_LAND 18 // change to LAND flight mode // values used by the ap.ch7_opt and ap.ch8_opt flags #define AUX_SWITCH_LOW 0 // indicates auxiliar switch is in the low position (pwm <1200) #define AUX_SWITCH_MIDDLE 1 // indicates auxiliar switch is in the middle position (pwm >1200, <1800) #define AUX_SWITCH_HIGH 2 // indicates auxiliar switch is in the high position (pwm >1800) // Frame types #define UNDEFINED_FRAME 0 #define QUAD_FRAME 1 #define TRI_FRAME 2 #define HEXA_FRAME 3 #define Y6_FRAME 4 #define OCTA_FRAME 5 #define HELI_FRAME 6 #define OCTA_QUAD_FRAME 7 #define SINGLE_FRAME 8 #define PLUS_FRAME 0 #define X_FRAME 1 #define V_FRAME 2 // LED output #define NORMAL_LEDS 0 #define SAVE_TRIM_LEDS 1 // 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 T6 1000000 #define T7 10000000 // GPS type codes - use the names, not the numbers #define GPS_PROTOCOL_NONE -1 #define GPS_PROTOCOL_NMEA 0 #define GPS_PROTOCOL_SIRF 1 #define GPS_PROTOCOL_UBLOX 2 #define GPS_PROTOCOL_IMU 3 #define GPS_PROTOCOL_MTK 4 #define GPS_PROTOCOL_HIL 5 #define GPS_PROTOCOL_MTK19 6 #define GPS_PROTOCOL_AUTO 7 // HIL enumerations #define HIL_MODE_DISABLED 0 #define HIL_MODE_ATTITUDE 1 #define HIL_MODE_SENSORS 2 // Altitude status definitions #define REACHED_ALT 0 #define DESCENDING 1 #define ASCENDING 2 // Auto Pilot modes // ---------------- #define STABILIZE 0 // hold level position #define ACRO 1 // rate control #define ALT_HOLD 2 // AUTO control #define AUTO 3 // AUTO control #define GUIDED 4 // AUTO control #define LOITER 5 // Hold a single location #define RTL 6 // AUTO control #define CIRCLE 7 // AUTO control #define POSITION 8 // AUTO control #define LAND 9 // AUTO control #define OF_LOITER 10 // Hold a single location using optical flow sensor #define DRIFT 11 // DRIFT mode (Note: 12 is no longer used) #define SPORT 13 // earth frame rate control #define NUM_MODES 14 // CH_6 Tuning // ----------- #define CH6_NONE 0 // no tuning performed #define CH6_STABILIZE_ROLL_PITCH_KP 1 // stabilize roll/pitch angle controller's P term #define CH6_RATE_ROLL_PITCH_KP 4 // body frame roll/pitch rate controller's P term #define CH6_RATE_ROLL_PITCH_KI 5 // body frame roll/pitch rate controller's I term #define CH6_RATE_ROLL_PITCH_KD 21 // body frame roll/pitch rate controller's D term #define CH6_STABILIZE_YAW_KP 3 // stabilize yaw heading controller's P term #define CH6_YAW_RATE_KP 6 // body frame yaw rate controller's P term #define CH6_YAW_RATE_KD 26 // body frame yaw rate controller's D term #define CH6_ALTITUDE_HOLD_KP 14 // altitude hold controller's P term (alt error to desired rate) #define CH6_THROTTLE_RATE_KP 7 // throttle rate controller's P term (desired rate to acceleration or motor output) #define CH6_THROTTLE_RATE_KD 37 // throttle rate controller's D term (desired rate to acceleration or motor output) #define CH6_THROTTLE_ACCEL_KP 34 // accel based throttle controller's P term #define CH6_THROTTLE_ACCEL_KI 35 // accel based throttle controller's I term #define CH6_THROTTLE_ACCEL_KD 36 // accel based throttle controller's D term #define CH6_LOITER_POSITION_KP 12 // loiter distance controller's P term (position error to speed) #define CH6_LOITER_RATE_KP 22 // loiter rate controller's P term (speed error to tilt angle) #define CH6_LOITER_RATE_KI 28 // loiter rate controller's I term (speed error to tilt angle) #define CH6_LOITER_RATE_KD 23 // loiter rate controller's D term (speed error to tilt angle) #define CH6_WP_SPEED 10 // maximum speed to next way point (0 to 10m/s) #define CH6_ACRO_RP_KP 25 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate #define CH6_ACRO_YAW_KP 40 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate #define CH6_RELAY 9 // switch relay on if ch6 high, off if low #define CH6_HELI_EXTERNAL_GYRO 13 // TradHeli specific external tail gyro gain #define CH6_OPTFLOW_KP 17 // optical flow loiter controller's P term (position error to tilt angle) #define CH6_OPTFLOW_KI 18 // optical flow loiter controller's I term (position error to tilt angle) #define CH6_OPTFLOW_KD 19 // optical flow loiter controller's D term (position error to tilt angle) #define CH6_AHRS_YAW_KP 30 // ahrs's compass effect on yaw angle (0 = very low, 1 = very high) #define CH6_AHRS_KP 31 // accelerometer effect on roll/pitch angle (0=low) #define CH6_INAV_TC 32 // inertial navigation baro/accel and gps/accel time constant (1.5 = strong baro/gps correction on accel estimatehas very strong does not correct accel estimate, 7 = very weak correction) #define CH6_DECLINATION 38 // compass declination in radians #define CH6_CIRCLE_RATE 39 // circle turn rate in degrees (hard coded to about 45 degrees in either direction) #define CH6_SONAR_GAIN 41 // sonar gain // Acro Trainer types #define ACRO_TRAINER_DISABLED 0 #define ACRO_TRAINER_LEVELING 1 #define ACRO_TRAINER_LIMITED 2 // Commands - Note that APM now uses a subset of the MAVLink protocol // commands. See enum MAV_CMD in the GCS_Mavlink library #define CMD_BLANK 0 // there is no command stored in the mem location // requested #define NO_COMMAND 0 // Navigation modes held in nav_mode variable #define NAV_NONE 0 #define NAV_CIRCLE 1 #define NAV_LOITER 2 #define NAV_WP 3 // 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) // Waypoint options #define MASK_OPTIONS_RELATIVE_ALT 1 #define WP_OPTION_ALT_CHANGE 2 #define WP_OPTION_YAW 4 #define WP_OPTION_ALT_REQUIRED 8 #define WP_OPTION_RELATIVE 16 //#define WP_OPTION_ 32 //#define WP_OPTION_ 64 #define WP_OPTION_NEXT_CMD 128 // RTL state #define RTL_STATE_START 0 #define RTL_STATE_INITIAL_CLIMB 1 #define RTL_STATE_RETURNING_HOME 2 #define RTL_STATE_LOITERING_AT_HOME 3 #define RTL_STATE_FINAL_DESCENT 4 #define RTL_STATE_LAND 5 // LAND state #define LAND_STATE_FLY_TO_LOCATION 0 #define LAND_STATE_DESCENDING 1 //repeating events #define RELAY_TOGGLE 5 // GCS Message ID's /// NOTE: to ensure we never block on sending MAVLink messages /// please keep each MSG_ to a single MAVLink message. If need be /// create new MSG_ IDs for additional messages on the same /// stream enum ap_message { MSG_HEARTBEAT, MSG_ATTITUDE, MSG_LOCATION, MSG_EXTENDED_STATUS1, MSG_EXTENDED_STATUS2, MSG_NAV_CONTROLLER_OUTPUT, MSG_CURRENT_WAYPOINT, MSG_VFR_HUD, MSG_RADIO_OUT, MSG_RADIO_IN, MSG_RAW_IMU1, MSG_RAW_IMU2, MSG_RAW_IMU3, MSG_GPS_RAW, MSG_SYSTEM_TIME, MSG_SERVO_OUT, MSG_NEXT_WAYPOINT, MSG_NEXT_PARAM, MSG_STATUSTEXT, MSG_LIMITS_STATUS, MSG_AHRS, MSG_SIMSTATE, MSG_HWSTATUS, MSG_RETRY_DEFERRED // this must be last }; // Logging parameters #define TYPE_AIRSTART_MSG 0x00 #define TYPE_GROUNDSTART_MSG 0x01 #define LOG_ATTITUDE_MSG 0x01 #define LOG_MODE_MSG 0x03 #define LOG_CONTROL_TUNING_MSG 0x04 #define LOG_NAV_TUNING_MSG 0x05 #define LOG_PERFORMANCE_MSG 0x06 #define LOG_CMD_MSG 0x08 #define LOG_CURRENT_MSG 0x09 #define LOG_STARTUP_MSG 0x0A #define LOG_MOTORS_MSG 0x0B #define LOG_OPTFLOW_MSG 0x0C #define LOG_EVENT_MSG 0x0D #define LOG_PID_MSG 0x0E #define LOG_COMPASS_MSG 0x0F #define LOG_INAV_MSG 0x11 #define LOG_CAMERA_MSG 0x12 #define LOG_ERROR_MSG 0x13 #define LOG_DATA_INT16_MSG 0x14 #define LOG_DATA_UINT16_MSG 0x15 #define LOG_DATA_INT32_MSG 0x16 #define LOG_DATA_UINT32_MSG 0x17 #define LOG_DATA_FLOAT_MSG 0x18 #define LOG_AUTOTUNE_MSG 0x19 #define LOG_AUTOTUNEDETAILS_MSG 0x1A #define LOG_INDEX_MSG 0xF0 #define MAX_NUM_LOGS 50 #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) // not used #define MASK_LOG_IMU (1<<7) #define MASK_LOG_CMD (1<<8) #define MASK_LOG_CURRENT (1<<9) #define MASK_LOG_MOTORS (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) #define MASK_LOG_CAMERA (1<<15) // DATA - event logging #define DATA_MAVLINK_FLOAT 1 #define DATA_MAVLINK_INT32 2 #define DATA_MAVLINK_INT16 3 #define DATA_MAVLINK_INT8 4 #define DATA_AP_STATE 7 #define DATA_INIT_SIMPLE_BEARING 9 #define DATA_ARMED 10 #define DATA_DISARMED 11 #define DATA_AUTO_ARMED 15 #define DATA_TAKEOFF 16 #define DATA_LAND_COMPLETE 18 #define DATA_NOT_LANDED 28 #define DATA_LOST_GPS 19 #define DATA_BEGIN_FLIP 21 #define DATA_END_FLIP 22 #define DATA_EXIT_FLIP 23 #define DATA_SET_HOME 25 #define DATA_SET_SIMPLE_ON 26 #define DATA_SET_SIMPLE_OFF 27 #define DATA_SET_SUPERSIMPLE_ON 29 #define DATA_AUTOTUNE_INITIALISED 30 #define DATA_AUTOTUNE_OFF 31 #define DATA_AUTOTUNE_RESTART 32 #define DATA_AUTOTUNE_COMPLETE 33 #define DATA_AUTOTUNE_ABANDONED 34 #define DATA_AUTOTUNE_REACHED_LIMIT 35 #define DATA_AUTOTUNE_TESTING 36 #define DATA_AUTOTUNE_SAVEDGAINS 37 #define DATA_SAVE_TRIM 38 #define DATA_SAVEWP_ADD_WP 39 #define DATA_SAVEWP_CLEAR_MISSION_RTL 40 #define DATA_FENCE_ENABLE 41 #define DATA_FENCE_DISABLE 42 #define DATA_ACRO_TRAINER_DISABLED 43 #define DATA_ACRO_TRAINER_LEVELING 44 #define DATA_ACRO_TRAINER_LIMITED 45 /* ************************************************************** */ /* Expansion PIN's that people can use for various things. */ // AN0 - 7 are located at edge of IMU PCB "above" pressure sensor and // Expansion port // AN0 - 5 are also located next to voltage dividers and sliding SW2 switch // AN0 - 3 has 10kOhm resistor in serial, include 3.9kOhm to make it as // voltage divider // AN4 - 5 are direct GPIO pins from atmega1280 and they are the latest pins // next to SW2 switch // Look more ArduCopter Wiki for voltage dividers and other ports #define AN0 54 // resistor, vdiv use, divider 1 closest to relay #define AN1 55 // resistor, vdiv use, divider 2 #define AN2 56 // resistor, vdiv use, divider 3 #define AN3 57 // resistor, vdiv use, divider 4 closest to SW2 #define AN4 58 // direct GPIO pin, default as analog input, next to SW2 // switch #define AN5 59 // direct GPIO pin, default as analog input, next to SW2 // switch #define AN6 60 // direct GPIO pin, default as analog input, close to // Pressure sensor, Expansion Ports #define AN7 61 // direct GPIO pin, default as analog input, close to // Pressure sensor, Expansion Ports // AN8 - 15 are located at edge of IMU PCB "above" pressure sensor and // Expansion port // AN8 - 15 PINs are not connected anywhere, they are located as last 8 pins // on edge of the board above Expansion Ports // even pins (8,10,12,14) are at edge of board, Odd pins (9,11,13,15) are on // inner row #define AN8 62 // NC #define AN9 63 // NC #define AN10 64 // NC #define AN11 65 // NC #define AN12 66 // NC #define AN13 67 // NC #define AN14 68 // NC #define AN15 69 // NC #define RELAY_APM1_PIN 47 #define RELAY_APM2_PIN 13 #define PIEZO_PIN AN5 //Last pin on the back ADC connector // RADIANS #define RADX100 0.000174532925f #define DEGX100 5729.57795f // EEPROM addresses #define EEPROM_MAX_ADDR 4096 // parameters get the first 1536 bytes of EEPROM, remainder is for waypoints #define WP_START_BYTE 0x600 // where in memory home WP is stored + all other // WP #define WP_SIZE 15 // fence points are stored at the end of the EEPROM #define MAX_FENCEPOINTS 6 #define FENCE_WP_SIZE sizeof(Vector2l) #define FENCE_START_BYTE (EEPROM_MAX_ADDR-(MAX_FENCEPOINTS*FENCE_WP_SIZE)) #define MAX_WAYPOINTS ((FENCE_START_BYTE - WP_START_BYTE) / WP_SIZE) - 1 // - // 1 // to // be // safe // mark a function as not to be inlined #define NOINLINE __attribute__((noinline)) // IMU selection #define CONFIG_IMU_OILPAN 1 #define CONFIG_IMU_MPU6000 2 #define CONFIG_IMU_SITL 3 #define CONFIG_IMU_PX4 4 #define CONFIG_IMU_FLYMAPLE 5 #define AP_BARO_BMP085 1 #define AP_BARO_MS5611 2 #define AP_BARO_PX4 3 #define AP_BARO_MS5611_SPI 1 #define AP_BARO_MS5611_I2C 2 // Error message sub systems and error codes #define ERROR_SUBSYSTEM_MAIN 1 #define ERROR_SUBSYSTEM_RADIO 2 #define ERROR_SUBSYSTEM_COMPASS 3 #define ERROR_SUBSYSTEM_OPTFLOW 4 #define ERROR_SUBSYSTEM_FAILSAFE_RADIO 5 #define ERROR_SUBSYSTEM_FAILSAFE_BATT 6 #define ERROR_SUBSYSTEM_FAILSAFE_GPS 7 #define ERROR_SUBSYSTEM_FAILSAFE_GCS 8 #define ERROR_SUBSYSTEM_FAILSAFE_FENCE 9 #define ERROR_SUBSYSTEM_FLIGHT_MODE 10 #define ERROR_SUBSYSTEM_GPS 11 #define ERROR_SUBSYSTEM_CRASH_CHECK 12 // general error codes #define ERROR_CODE_ERROR_RESOLVED 0 #define ERROR_CODE_FAILED_TO_INITIALISE 1 // subsystem specific error codes -- radio #define ERROR_CODE_RADIO_LATE_FRAME 2 // subsystem specific error codes -- failsafe_thr, batt, gps #define ERROR_CODE_FAILSAFE_RESOLVED 0 #define ERROR_CODE_FAILSAFE_OCCURRED 1 // subsystem specific error codes -- compass #define ERROR_CODE_COMPASS_FAILED_TO_READ 2 // subsystem specific error codes -- gps #define ERROR_CODE_GPS_GLITCH 2 // subsystem specific error codes -- main #define ERROR_CODE_MAIN_INS_DELAY 1 // subsystem specific error codes -- crash checker #define ERROR_CODE_CRASH_CHECK_CRASH 1 // Arming Check Enable/Disable bits #define ARMING_CHECK_NONE 0x00 #define ARMING_CHECK_ALL 0x01 #define ARMING_CHECK_BARO 0x02 #define ARMING_CHECK_COMPASS 0x04 #define ARMING_CHECK_GPS 0x08 #define ARMING_CHECK_INS 0x10 #define ARMING_CHECK_PARAMETERS 0x20 #define ARMING_CHECK_RC 0x40 #define ARMING_CHECK_VOLTAGE 0x80 // 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 #define FS_THR_ENABLED_ALWAYS_LAND 3 // Battery failsafe definitions (FS_BATT_ENABLE parameter) #define FS_BATT_DISABLED 0 // battery failsafe disabled #define FS_BATT_LAND 1 // switch to LAND mode on battery failsafe #define FS_BATT_RTL 2 // switch to RTL mode on battery failsafe // GPS Failsafe definitions (FS_GPS_ENABLE parameter) #define FS_GPS_DISABLED 0 // GPS failsafe disabled #define FS_GPS_LAND 1 // switch to LAND mode on GPS Failsafe #define FS_GPS_ALTHOLD 2 // switch to ALTHOLD mode on GPS failsafe #define FS_GPS_LAND_EVEN_STABILIZE 3 // switch to LAND mode on GPS failsafe even if in a manual flight mode like Stabilize #endif // _DEFINES_H