#pragma once #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 #define BOTTOM_DETECTOR_TRIGGER_SEC 1.0 #define SURFACE_DETECTOR_TRIGGER_SEC 1.0 enum AutoSurfaceState { AUTO_SURFACE_STATE_GO_TO_LOCATION, AUTO_SURFACE_STATE_ASCEND }; // Autopilot Yaw Mode enumeration enum autopilot_yaw_mode { AUTO_YAW_HOLD = 0, // pilot controls the heading AUTO_YAW_LOOK_AT_NEXT_WP = 1, // point towards next waypoint (no pilot input accepted) AUTO_YAW_ROI = 2, // point towards a location held in roi_WP (no pilot input accepted) AUTO_YAW_LOOK_AT_HEADING = 3, // point towards a particular angle (not pilot input accepted) AUTO_YAW_LOOK_AHEAD = 4, // point in the direction the vehicle is moving AUTO_YAW_RESETTOARMEDYAW = 5, // point towards heading at time motors were armed AUTO_YAW_CORRECT_XTRACK = 6 // steer the sub in order to correct for crosstrack error during line following }; // Auto Pilot Modes enumeration enum control_mode_t { STABILIZE = 0, // manual angle with manual depth/throttle ACRO = 1, // manual body-frame angular rate with manual depth/throttle ALT_HOLD = 2, // manual angle with automatic depth/throttle AUTO = 3, // not implemented in sub // fully automatic waypoint control using mission commands GUIDED = 4, // not implemented in sub // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands CIRCLE = 7, // not implemented in sub // automatic circular flight with automatic throttle SURFACE = 9, // automatically return to surface, pilot maintains horizontal control POSHOLD = 16, // automatic position hold with manual override, with automatic throttle MANUAL = 19 // Pass-through input with no stabilization }; 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_THROTTLE_SURFACE_ESCAPE, MODE_REASON_FENCE_BREACH, MODE_REASON_TERRAIN_FAILSAFE, MODE_REASON_SURFACE_COMPLETE, MODE_REASON_LEAK_FAILSAFE, MODE_REASON_BAD_DEPTH }; // Acro Trainer types #define ACRO_TRAINER_DISABLED 0 #define ACRO_TRAINER_LEVELING 1 #define ACRO_TRAINER_LIMITED 2 // RC Feel roll/pitch definitions #define RC_FEEL_RP_VERY_SOFT 0 #define RC_FEEL_RP_SOFT 25 #define RC_FEEL_RP_MEDIUM 50 #define RC_FEEL_RP_CRISP 75 #define RC_FEEL_RP_VERY_CRISP 100 // 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) #define WP_YAW_BEHAVIOR_CORRECT_XTRACK 4 // point towards intermediate position target during line following // Auto modes enum AutoMode { Auto_WP, Auto_CircleMoveToEdge, Auto_Circle, Auto_Spline, Auto_NavGuided, Auto_Loiter, Auto_TerrainRecover }; // Guided modes enum GuidedMode { Guided_WP, Guided_Velocity, Guided_PosVel, Guided_Angle, }; // RTL states enum RTLState { RTL_InitialClimb, RTL_ReturnHome, RTL_LoiterAtHome, RTL_FinalDescent, RTL_Land }; // Logging parameters #define TYPE_AIRSTART_MSG 0x00 #define TYPE_GROUNDSTART_MSG 0x01 #define LOG_CONTROL_TUNING_MSG 0x04 #define LOG_NAV_TUNING_MSG 0x05 #define LOG_PERFORMANCE_MSG 0x06 #define LOG_OPTFLOW_MSG 0x0C #define LOG_EVENT_MSG 0x0D #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_MOTBATT_MSG 0x1E #define LOG_PARAMTUNE_MSG 0x1F #define LOG_GUIDEDTARGET_MSG 0x22 #define LOG_PROXIMITY_MSG 0x24 #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_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 // DATA - event logging #define DATA_AP_STATE 7 #define DATA_SYSTEM_TIME_SET 8 #define DATA_ARMED 10 #define DATA_DISARMED 11 #define DATA_LOST_GPS 19 #define DATA_SET_HOME 25 #define DATA_SAVE_TRIM 38 #define DATA_SAVEWP_ADD_WP 39 #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 #define DATA_GRIPPER_GRAB 46 #define DATA_GRIPPER_RELEASE 47 #define DATA_EKF_ALT_RESET 60 #define DATA_SURFACE_CANCELLED_BY_PILOT 61 #define DATA_EKF_YAW_RESET 62 #define DATA_SURFACED 63 #define DATA_NOT_SURFACED 64 #define DATA_BOTTOMED 65 #define DATA_NOT_BOTTOMED 66 // Centi-degrees to radians #define DEGX100 5729.57795f // Error message sub systems and error codes #define ERROR_SUBSYSTEM_MAIN 1 #define ERROR_SUBSYSTEM_INPUT 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 // not used #define ERROR_SUBSYSTEM_FAILSAFE_GCS 8 #define ERROR_SUBSYSTEM_FAILSAFE_FENCE 9 #define ERROR_SUBSYSTEM_FLIGHT_MODE 10 #define ERROR_SUBSYSTEM_GPS 11 // not used #define ERROR_SUBSYSTEM_CRASH_CHECK 12 #define ERROR_SUBSYSTEM_EKFCHECK 16 #define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV 17 #define ERROR_SUBSYSTEM_BARO 18 #define ERROR_SUBSYSTEM_CPU 19 #define ERROR_SUBSYSTEM_TERRAIN 21 #define ERROR_SUBSYSTEM_NAVIGATION 22 #define ERROR_SUBSYSTEM_FAILSAFE_TERRAIN 23 #define ERROR_SUBSYSTEM_FAILSAFE_LEAK 24 #define ERROR_SUBSYSTEM_FAILSAFE_SENSORS 25 // general error codes #define ERROR_CODE_ERROR_RESOLVED 0 #define ERROR_CODE_FAILED_TO_INITIALISE 1 #define ERROR_CODE_UNHEALTHY 4 // 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 -- main #define ERROR_CODE_MAIN_INS_DELAY 1 // subsystem specific error codes -- crash checker #define ERROR_CODE_CRASH_CHECK_CRASH 1 #define ERROR_CODE_CRASH_CHECK_LOSS_OF_CONTROL 2 // subsystem specific error codes -- terrain #define ERROR_CODE_MISSING_TERRAIN_DATA 2 // subsystem specific error codes -- navigation #define ERROR_CODE_FAILED_TO_SET_DESTINATION 2 #define ERROR_CODE_RESTARTED_RTL 3 #define ERROR_CODE_FAILED_CIRCLE_INIT 4 #define ERROR_CODE_DEST_OUTSIDE_FENCE 5 // EKF check definitions #define ERROR_CODE_EKFCHECK_BAD_VARIANCE 2 #define ERROR_CODE_EKFCHECK_VARIANCE_CLEARED 0 // Baro specific error codes #define ERROR_CODE_BAD_DEPTH 0 ////////////////////////////////////////////////////////////////////////////// // Battery monitoring // #ifndef FS_BATT_VOLTAGE_DEFAULT # define FS_BATT_VOLTAGE_DEFAULT 0 // default battery voltage below which failsafe will be triggered #endif #ifndef FS_BATT_MAH_DEFAULT # define FS_BATT_MAH_DEFAULT 0 // default battery capacity (in mah) below which failsafe will be triggered #endif // GCS failsafe #ifndef FS_GCS # define FS_GCS DISABLED #endif #ifndef FS_GCS_TIMEOUT_MS # define FS_GCS_TIMEOUT_MS 2500 // gcs failsafe triggers after 5 seconds with no GCS heartbeat #endif // missing terrain data failsafe #ifndef FS_TERRAIN_TIMEOUT_MS #define FS_TERRAIN_TIMEOUT_MS 1000 // 1 second of unhealthy rangefinder and/or missing terrain data will trigger failsafe #endif ////////////////////////////////////////////////////////////////////////////// // EKF Failsafe // EKF failsafe definitions (FS_EKF_ENABLE parameter) #define FS_EKF_ACTION_DISABLED 0 // Disabled #define FS_EKF_ACTION_WARN_ONLY 1 // Send warning to gcs #define FS_EKF_ACTION_DISARM 2 // Disarm #ifndef FS_EKF_ACTION_DEFAULT # define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_DISABLED // EKF failsafe #endif #ifndef FS_EKF_THRESHOLD_DEFAULT # define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered #endif // Battery failsafe definitions (FS_BATT_ENABLE parameter) #define FS_BATT_DISABLED 0 // battery failsafe disabled #define FS_BATT_WARN_ONLY 1 // only warn gcs on battery failsafe #define FS_BATT_DISARM 2 // disarm on battery failsafe #define FS_BATT_SURFACE 3 // switch to SURFACE mode on battery failsafe // GCS failsafe definitions (FS_GCS_ENABLE parameter) #define FS_GCS_DISABLED 0 // Disabled #define FS_GCS_WARN_ONLY 1 // Only send warning to gcs (only useful with multiple gcs links) #define FS_GCS_DISARM 2 // Disarm #define FS_GCS_HOLD 3 // Switch depth hold mode or poshold mode if available #define FS_GCS_SURFACE 4 // Switch to surface mode // Leak failsafe definitions (FS_LEAK_ENABLE parameter) #define FS_LEAK_DISABLED 0 // Disabled #define FS_LEAK_WARN_ONLY 1 // Only send waring to gcs #define FS_LEAK_SURFACE 2 // Switch to surface mode // Internal pressure failsafe threshold (FS_PRESS_MAX parameter) #define FS_PRESS_MAX_DEFAULT 105000 // Maximum internal pressure in pascal before failsafe is triggered // Internal pressure failsafe definitions (FS_PRESS_ENABLE parameter) #define FS_PRESS_DISABLED 0 #define FS_PRESS_WARN_ONLY 1 // Internal temperature failsafe threshold (FS_TEMP_MAX parameter) #define FS_TEMP_MAX_DEFAULT 62 // Maximum internal pressure in degrees C before failsafe is triggered // Internal temperature failsafe definitions (FS_TEMP_ENABLE parameter) #define FS_TEMP_DISABLED 0 #define FS_TEMP_WARN_ONLY 1 // Crash failsafe options #define FS_CRASH_DISABLED 0 #define FS_CRASH_WARN_ONLY 1 #define FS_CRASH_DISARM 2 // Terrain failsafe actions for AUTO mode #define FS_TERRAIN_DISARM 0 #define FS_TERRAIN_HOLD 1 #define FS_TERRAIN_SURFACE 2 // Pilot input failsafe actions #define FS_PILOT_INPUT_DISABLED 0 #define FS_PILOT_INPUT_WARN_ONLY 1 #define FS_PILOT_INPUT_DISARM 2 // Amount of time to attempt recovery of valid rangefinder data before // initiating terrain failsafe action #define FS_TERRAIN_RECOVER_TIMEOUT_MS 10000 // for mavlink SET_POSITION_TARGET messages #define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1) | (1<<2)) #define MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE ((1<<3) | (1<<4) | (1<<5)) #define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7) | (1<<8)) #define MAVLINK_SET_POS_TYPE_MASK_FORCE (1<<9) #define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10) #define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)