// -*- 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 // ---------------------- #define FAILSAFE_NONE 0 #define FAILSAFE_SHORT 1 #define FAILSAFE_LONG 2 #define FAILSAFE_GCS 3 #define FAILSAFE_SHORT_TIME 1500 // Miliiseconds #define FAILSAFE_LONG_TIME 20000 // Miliiseconds // 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 // 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. 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_ATTITUDE 1 #define HIL_MODE_SENSORS 2 enum FlightMode { MANUAL = 0, CIRCLE = 1, STABILIZE = 2, TRAINING = 3, FLY_BY_WIRE_A = 5, FLY_BY_WIRE_B = 6, 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 }; // 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 #define WAIT_COMMAND 255 // Command/Waypoint/Location Options Bitmask //-------------------- #define MASK_OPTIONS_RELATIVE_ALT (1<<0) // 1 = Relative // altitude #define MASK_OPTIONS_LOITER_DIRECTION (1<<2) // 0 = CW // 1 = CCW //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 // 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_SERVO_OUT, MSG_NEXT_WAYPOINT, MSG_NEXT_PARAM, MSG_STATUSTEXT, MSG_FENCE_STATUS, MSG_AHRS, MSG_SIMSTATE, MSG_HWSTATUS, MSG_WIND, MSG_RETRY_DEFERRED // this must be last }; // 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_INDEX_MSG, LOG_CTUN_MSG, LOG_NTUN_MSG, LOG_PERFORMANCE_MSG, LOG_CMD_MSG, LOG_CURRENT_MSG, LOG_STARTUP_MSG, TYPE_AIRSTART_MSG, TYPE_GROUNDSTART_MSG, LOG_CAMERA_MSG, LOG_ATTITUDE_MSG, LOG_MODE_MSG, LOG_COMPASS_MSG, MAX_NUM_LOGS }; #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) // 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 BATTERY_VOLTAGE(x) (x->voltage_average()*g.volt_div_ratio) #define CURRENT_AMPS(x) (x->voltage_average()-g.curr_amp_offset)*g.curr_amp_per_volt #define AN4 4 #define AN5 5 #define SPEEDFILT 400 // centimeters/second; the speed below // which a groundstart will be // triggered // EEPROM addresses #define EEPROM_MAX_ADDR 4096 // parameters get the first 1280 bytes of EEPROM, remainder is for waypoints #define WP_START_BYTE 0x500 // 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 20 #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 // 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_STUB 3 #define CONFIG_INS_PX4 4 // barometer driver types #define AP_BARO_BMP085 1 #define AP_BARO_MS5611 2 #define AP_BARO_PX4 3 #define AP_BARO_HIL 4 // compass driver types #define AP_COMPASS_HMC5843 1 #define AP_COMPASS_PX4 2 #define AP_COMPASS_HIL 3 // altitude control algorithms enum { ALT_CONTROL_DEFAULT=0, ALT_CONTROL_NON_AIRSPEED=1 }; // attitude controller choice enum { ATT_CONTROL_PID = 0, ATT_CONTROL_APMCONTROL = 1 }; #endif // _DEFINES_H