// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- // Internal defines, don't edit and expect things to work // ------------------------------------------------------- #define DEBUG 0 #define LOITER_RANGE 30 // for calculating power outside of loiter radius // GPS baud rates // -------------- #define NO_GPS 38400 #define NMEA_GPS 38400 #define EM406_GPS 57600 #define UBLOX_GPS 38400 #define ARDU_IMU 38400 #define MTK_GPS 38400 #define SIM_GPS 38400 // 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 // Radio channels // Note channels are from 0! // // XXX these should be CH_n defines from RC.h at some point. #define CH_1 0 #define CH_2 1 #define CH_3 2 #define CH_4 3 #define CH_5 4 #define CH_6 5 #define CH_7 6 #define CH_8 7 #define CH_ROLL CH_1 #define CH_PITCH CH_2 #define CH_THROTTLE CH_3 #define CH_RUDDER CH_4 #define CH_YAW CH_4 #define CH_AUX CH_5 #define CH_AUX2 CH_6 // motors #define RIGHT CH_1 #define LEFT CH_2 #define FRONT CH_3 #define BACK CH_4 #define RIGHTFRONT CH_7 #define LEFTBACK CH_8 #define MAX_SERVO_OUTPUT 2700 #define SONAR 0 #define BARO 1 #define WP_START_BYTE 0x130 // where in memory home WP is stored + all other WP #define WP_SIZE 14 // GCS enumeration #define GCS_PROTOCOL_STANDARD 0 // standard APM protocol #define GCS_PROTOCOL_SPECIAL 1 // special test protocol (?) #define GCS_PROTOCOL_LEGACY 2 // legacy ArduPilot protocol #define GCS_PROTOCOL_XPLANE 3 // X-Plane HIL simulation #define GCS_PROTOCOL_IMU 4 // ArdiPilot IMU output #define GCS_PROTOCOL_JASON 5 // Jason's special secret GCS protocol #define GCS_PROTOCOL_NONE -1 // No GCS output #define PLUS_FRAME 0 #define X_FRAME 1 #define TRI_FRAME 2 #define HEXA_FRAME 3 // Auto Pilot modes // ---------------- #define ACRO 0 // rate control #define STABILIZE 1 // hold level position #define ALT_HOLD 2 // AUTO control #define FBW 3 // AUTO control #define AUTO 4 // AUTO control #define POSITION_HOLD 5 // Hold a single location #define RTL 6 // AUTO control #define TAKEOFF 7 // controlled decent rate #define LAND 8 // controlled decent rate #define NUM_MODES 9 // Command IDs - Must #define CMD_BLANK 0x00 // there is no command stored in the mem location requested #define CMD_WAYPOINT 0x10 #define CMD_LOITER 0x11 #define CMD_LOITER_N_TURNS 0x12 #define CMD_LOITER_TIME 0x13 #define CMD_RTL 0x14 #define CMD_LAND 0x15 #define CMD_TAKEOFF 0x16 #define CMD_ALTITUDE 0x17 #define CMD_R_WAYPOINT 0x18 // Command IDs - May #define CMD_DELAY 0x20 #define CMD_CLIMB 0x21 // NOT IMPLEMENTED #define CMD_LAND_OPTIONS 0x22 // pitch in deg, airspeed m/s, throttle %, track WP 1 or 0 #define CMD_ANGLE 0x23 // move servo N to PWM value // Command IDs - Now //#define CMD_AP_MODE 0x30 #define CMD_RESET_INDEX 0x31 #define CMD_GOTO_INDEX 0x32 // NOT IMPLEMENTED #define CMD_GETVAR_INDEX 0x33 #define CMD_SENDVAR_INDEX 0x34 #define CMD_TELEMETRY 0x35 #define CMD_THROTTLE_CRUISE 0x40 #define CMD_AIRSPEED_CRUISE 0x41 #define CMD_RESET_HOME 0x44 #define CMD_KP_GAIN 0x60 #define CMD_KI_GAIN 0x61 #define CMD_KD_GAIN 0x62 #define CMD_KI_MAX 0x63 #define CMD_KFF_GAIN 0x64 #define CMD_RADIO_TRIM 0x70 #define CMD_RADIO_MAX 0x71 #define CMD_RADIO_MIN 0x72 #define CMD_RADIO_MIN 0x72 #define CMD_ELEVON_TRIM 0x73 #define CMD_INDEX 0x75 // sets the current Must index #define CMD_REPEAT 0x80 #define CMD_RELAY 0x81 #define CMD_SERVO 0x82 // move servo N to PWM value //repeating events #define NO_REPEAT 0 #define CH_4_TOGGLE 1 #define CH_5_TOGGLE 2 #define CH_6_TOGGLE 3 #define CH_7_TOGGLE 4 #define RELAY_TOGGLE 5 #define STOP_REPEAT 10 // GCS Message ID's #define MSG_ACKNOWLEDGE 0x00 #define MSG_HEARTBEAT 0x01 #define MSG_ATTITUDE 0x02 #define MSG_LOCATION 0x03 #define MSG_PRESSURE 0x04 #define MSG_STATUS_TEXT 0x05 #define MSG_PERF_REPORT 0x06 #define MSG_COMMAND 0x22 #define MSG_VALUE 0x32 #define MSG_PID 0x42 #define MSG_TRIMS 0x50 #define MSG_MINS 0x51 #define MSG_MAXS 0x52 #define MSG_IMU_OUT 0x53 #define SEVERITY_LOW 1 #define SEVERITY_MEDIUM 2 #define SEVERITY_HIGH 3 #define SEVERITY_CRITICAL 4 // Logging parameters #define LOG_ATTITUDE_MSG 0x01 #define LOG_GPS_MSG 0x02 #define LOG_MODE_MSG 0X03 #define LOG_CONTROL_TUNING_MSG 0X04 #define LOG_NAV_TUNING_MSG 0X05 #define LOG_PERFORMANCE_MSG 0X06 #define LOG_RAW_MSG 0x07 #define LOG_CMD_MSG 0x08 #define LOG_CURRENT_MSG 0x09 #define LOG_STARTUP_MSG 0x0A #define TYPE_AIRSTART_MSG 0x00 #define TYPE_GROUNDSTART_MSG 0x01 #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_RAW (1<<7) #define MASK_LOG_CMD (1<<8) #define MASK_LOG_CUR (1<<9) // 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_WAYPOINT_INDEX 2 #define EVENT_LOADED_WAYPOINT 3 #define EVENT_LOOP 4 #define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_DIV_RATIO #define CURRENT_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*CURR_VOLT_DIV_RATIO #define CURRENT_AMPS(x) (x*(INPUT_VOLTAGE/1024.0))*CURR_AMP_DIV_RATIO #define AIRSPEED_CH 7 // The external ADC channel for the airspeed sensor #define BATTERY_PIN1 0 // These are the pins for the voltage dividers #define BATTERY_PIN2 1 #define BATTERY_PIN3 2 #define BATTERY_PIN4 3 #define VOLTAGE_PIN_0 0 // These are the pins for current sensor: voltage #define CURRENT_PIN_1 1 // and current #define RELAY_PIN 47 // sonar #define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters // Hardware Parameters #define SLIDE_SWITCH_PIN 40 #define PUSHBUTTON_PIN 41 #define A_LED_PIN 37 //36 = B, 37 = A, 35 = C #define B_LED_PIN 36 #define C_LED_PIN 35 // ADC : Voltage reference 3.3v / 12bits(4096 steps) => 0.8mV/ADC step // ADXL335 Sensitivity(from datasheet) => 330mV/g, 0.8mV/ADC step => 330/0.8 = 412 // Tested value : 418 #define ToRad(x) (x * 0.01745329252) // *pi/180 //#define ToDeg(x) (x * 57.2957795131) // *180/pi // EEPROM addresses #define EEPROM_MAX_ADDR 4096 #define PID_SIZE 8 #define RADIO_SIZE 6 // Radio setup #define EE_RADIO_1 0x00 // all gains stored from here #define EE_RADIO_2 0x06 // all gains stored from here #define EE_RADIO_3 0x0C // all gains stored from here #define EE_RADIO_4 0x12 // all gains stored from here #define EE_RADIO_5 0x18 // all gains stored from here #define EE_RADIO_6 0x1E // all gains stored from here #define EE_RADIO_7 0x24 // all gains stored from here #define EE_RADIO_8 0x2A // all gains stored from here #define EE_RADIO_9 0xD2 // camera pitch #define EE_RADIO_10 0xD8 // camera roll // user gains #define EE_XTRACK_GAIN 0x30 #define EE_XTRACK_ANGLE 0x32 #define EE_PITCH_MAX 0x34 #define EE_DISTANCE_GAIN 0x36 #define EE_ALTITUDE_GAIN 0x38 #define EE_GAIN_1 0x40 // all gains stored from here #define EE_GAIN_2 0x48 // all gains stored from here #define EE_GAIN_3 0x50 // all gains stored from here #define EE_GAIN_4 0x58 // all gains stored from here #define EE_GAIN_5 0x60 // all gains stored from here #define EE_GAIN_6 0x68 // all gains stored from here #define EE_GAIN_7 0x70 // all gains stored from here #define EE_GAIN_8 0x78 // all gains stored from here #define EE_GAIN_9 0x80 // all gains stored from here #define EE_GAIN_10 0x88 // all gains stored from here #define EE_STAB_DAMPENER 0xA0 #define EE_HOLD_YAW_DAMPENER 0xA2 #define EE_MAG_DECLINATION 0xA8 #define EE_MAG_X 0xAA #define EE_MAG_Y 0xAC #define EE_MAG_Z 0xAE #define EE_COMPASS 0xAF #define EE_FRAME 0xB1 #define EE_IMU_OFFSET 0xE0 //mission specific #define EE_CONFIG 0X0F8 #define EE_WP_TOTAL 0x0FB #define EE_WP_INDEX 0x0FC #define EE_WP_RADIUS 0x0FD #define EE_LOITER_RADIUS 0x0FE #define EE_ALT_HOLD_HOME 0x0FF // user configs #define EE_THROTTLE_MIN 0x103 #define EE_THROTTLE_CRUISE 0x105 #define EE_THROTTLE_MAX 0x107 #define EE_THROTTLE_FAILSAFE 0x10D #define EE_THROTTLE_FS_VALUE 0x10E #define EE_THROTTLE_FAILSAFE_ACTION 0x110 #define EE_LOG_BITMASK 0x114 #define EE_FLIGHT_MODES 0x121 // sensors #define EE_ABS_PRESS_GND 0x116 #define EE_GND_TEMP 0x11A #define EE_GND_ALT 0x11C #define EE_AP_OFFSET 0x11E #define EE_CURRENT_SENSOR 0x127 #define EE_CURRENT_MAH 0x0128 // log #define EE_LAST_LOG_PAGE 0xE00 #define EE_LAST_LOG_NUM 0xE02 #define EE_LOG_1_START 0xE04 // bits in log_bitmask #define LOGBIT_ATTITUDE_FAST (1<<0) #define LOGBIT_ATTITUDE_MED (1<<1) #define LOGBIT_GPS (1<<2) #define LOGBIT_PM (1<<3) #define LOGBIT_CTUN (1<<4) #define LOGBIT_NTUN (1<<5) #define LOGBIT_MODE (1<<6) #define LOGBIT_RAW (1<<7) #define LOGBIT_CMD (1<<8) #define LOGBIT_CURRENT (1<<9)