// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- // 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 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 #define GPS_PROTOCOL_HIL 5 #define GPS_PROTOCOL_MTK19 6 #define GPS_PROTOCOL_AUTO 7 // Radio channels // Note channels are from 0! // // XXX these should be CH_n defines from RC.h at some point. #define CH_ROLL 0 #define CH_PITCH 1 #define CH_THROTTLE 2 #define CH_RUDDER 3 #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 WP_SIZE 14 // HIL enumerations #define HIL_PROTOCOL_XPLANE 1 #define HIL_PROTOCOL_MAVLINK 2 #define HIL_MODE_DISABLED 0 #define HIL_MODE_ATTITUDE 1 #define HIL_MODE_SENSORS 2 // GCS enumeration #define GCS_PROTOCOL_STANDARD 0 // standard APM protocol #define GCS_PROTOCOL_LEGACY 1 // legacy ArduPilot protocol #define GCS_PROTOCOL_XPLANE 2 // X-Plane HIL simulation #define GCS_PROTOCOL_DEBUGTERMINAL 3 //Human-readable debug interface for use with a dumb terminal #define GCS_PROTOCOL_MAVLINK 4 // binary protocol for qgroundcontrol #define GCS_PROTOCOL_NONE -1 // No GCS output // PID enumeration // --------------- #define CASE_SERVO_ROLL 0 #define CASE_SERVO_PITCH 1 #define CASE_SERVO_RUDDER 2 #define CASE_NAV_ROLL 3 #define CASE_NAV_PITCH_ASP 4 #define CASE_NAV_PITCH_ALT 5 #define CASE_TE_THROTTLE 6 #define CASE_ALT_THROTTLE 7 // Feedforward cases // ---------------- #define CASE_PITCH_COMP 0 #define CASE_RUDDER_MIX 1 #define CASE_P_TO_T 2 // Auto Pilot modes // ---------------- #define MANUAL 0 #define CIRCLE 1 // When flying sans GPS, and we loose the radio, just circle #define STABILIZE 2 #define FLY_BY_WIRE_A 5 // Fly By Wire A has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical = manual throttle #define FLY_BY_WIRE_B 6 // Fly By Wire B has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical => desired airspeed // Fly By Wire B = Fly By Wire A if you have AIRSPEED_SENSOR 0 #define AUTO 10 #define RTL 11 #define LOITER 12 #define TAKEOFF 13 #define LAND 14 // 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 // 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 // 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_MODE_CHANGE 0x07 //This is different than HEARTBEAT because it occurs only when the mode is actually changed #define MSG_VERSION_REQUEST 0x08 #define MSG_VERSION 0x09 #define MSG_EXTENDED_STATUS 0x0a #define MSG_CPU_LOAD 0x0b #define MSG_COMMAND_REQUEST 0x20 #define MSG_COMMAND_UPLOAD 0x21 #define MSG_COMMAND_LIST 0x22 #define MSG_COMMAND_MODE_CHANGE 0x23 #define MSG_CURRENT_WAYPOINT 0x24 #define MSG_VALUE_REQUEST 0x30 #define MSG_VALUE_SET 0x31 #define MSG_VALUE 0x32 #define MSG_PID_REQUEST 0x40 #define MSG_PID_SET 0x41 #define MSG_PID 0x42 #define MSG_TRIM_STARTUP 0x50 #define MSG_TRIM_MIN 0x51 #define MSG_TRIM_MAX 0x52 #define MSG_RADIO_OUT 0x53 #define MSG_RAW_IMU 0x60 #define MSG_GPS_STATUS 0x61 #define MSG_GPS_RAW 0x62 #define MSG_AIRSPEED 0x63 #define MSG_SERVO_OUT 0x70 #define MSG_PIN_REQUEST 0x80 #define MSG_PIN_SET 0x81 #define MSG_DATAFLASH_REQUEST 0x90 #define MSG_DATAFLASH_SET 0x91 #define MSG_EEPROM_REQUEST 0xa0 #define MSG_EEPROM_SET 0xa1 #define MSG_POSITION_CORRECT 0xb0 #define MSG_ATTITUDE_CORRECT 0xb1 #define MSG_POSITION_SET 0xb2 #define MSG_ATTITUDE_SET 0xb3 #define MSG_LOCAL_LOCATION 0xb4 #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_STARTUP_MSG 0x09 #define TYPE_AIRSTART_MSG 0x00 #define TYPE_GROUNDSTART_MSG 0x01 #define MASK_LOG_ATTITUDE_FAST 0 #define MASK_LOG_ATTITUDE_MED 2 #define MASK_LOG_GPS 4 #define MASK_LOG_PM 8 #define MASK_LOG_CTUN 16 #define MASK_LOG_NTUN 32 #define MASK_LOG_MODE 64 #define MASK_LOG_RAW 128 #define MASK_LOG_CMD 256 // Yaw modes #define YAW_MODE_COORDINATE_TURNS 0 #define YAW_MODE_HOLD_HEADING 1 #define YAW_MODE_SLIP 2 // 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 //GPS_fix #define VALID_GPS 0x00 #define BAD_GPS 0x01 #define FAILED_GPS 0x03 // Climb rate calculations #define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to regress a climb rate from #define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_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 RELAY_PIN 47 // 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 #define HOLD_ALT_ABOVE_HOME 8 // bitmask value #define SPEEDFILT 400 // centimeters/second; the speed below which a groundstart will be triggered #define EEPROM_MAX_ADDR 4096 // log #define EE_END_OF_PARAMS getAddress(PARAM_LAST_UINT32) #define EE_LAST_LOG_PAGE EE_END_OF_PARAMS+1 #define EE_LAST_LOG_NUM EE_END_OF_PARAMS+3 #define EE_LOG_1_START EE_END_OF_PARAMS+5 #define WP_START_BYTE EE_END_OF_PARAMS+45 // where in memory home WP is stored + all other WP // add 19 to account for log files // 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)