// -*- 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
#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
// 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