#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 // 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 (no pilot input accepted) AUTO_YAW_FIXED = 3, // point towards a particular angle (no pilot input accepted) AUTO_YAW_LOOK_AHEAD = 4, // point in the direction the copter is moving AUTO_YAW_RESETTOARMEDYAW = 5, // point towards heading at time motors were armed AUTO_YAW_RATE = 6, // turn at a specified rate (held in auto_yaw_rate) }; // Ch6... Ch12 aux switch control #define AUX_SWITCH_PWM_TRIGGER_HIGH 1800 // pwm value above which the ch7 or ch8 option will be invoked #define AUX_SWITCH_PWM_TRIGGER_LOW 1200 // pwm value below which the ch7 or ch8 option will be disabled // values used by the ap.ch7_opt and ap.ch8_opt flags #define AUX_SWITCH_LOW 0 // indicates auxiliary switch is in the low position (pwm <1200) #define AUX_SWITCH_MIDDLE 1 // indicates auxiliary switch is in the middle position (pwm >1200, <1800) #define AUX_SWITCH_HIGH 2 // indicates auxiliary switch is in the high position (pwm >1800) // Aux Switch enumeration enum aux_sw_func { AUXSW_DO_NOTHING = 0, // aux switch disabled AUXSW_FLIP = 2, // flip AUXSW_SIMPLE_MODE = 3, // change to simple mode AUXSW_RTL = 4, // change to RTL flight mode AUXSW_SAVE_TRIM = 5, // save current position as level AUXSW_SAVE_WP = 7, // save mission waypoint or RTL if in auto mode AUXSW_CAMERA_TRIGGER = 9, // trigger camera servo or relay AUXSW_RANGEFINDER = 10, // allow enabling or disabling rangefinder in flight which helps avoid surface tracking when you are far above the ground AUXSW_FENCE = 11, // allow enabling or disabling fence in flight AUXSW_RESETTOARMEDYAW = 12, // deprecated. changes yaw to be same as when quad was armed AUXSW_SUPERSIMPLE_MODE = 13, // change to simple mode in middle, super simple at top AUXSW_ACRO_TRAINER = 14, // low = disabled, middle = leveled, high = leveled and limited AUXSW_SPRAYER = 15, // enable/disable the crop sprayer AUXSW_AUTO = 16, // change to auto flight mode AUXSW_AUTOTUNE = 17, // auto tune AUXSW_LAND = 18, // change to LAND flight mode AUXSW_GRIPPER = 19, // Operate cargo grippers low=off, middle=neutral, high=on AUXSW_PARACHUTE_ENABLE = 21, // Parachute enable/disable AUXSW_PARACHUTE_RELEASE = 22, // Parachute release AUXSW_PARACHUTE_3POS = 23, // Parachute disable, enable, release with 3 position switch AUXSW_MISSION_RESET = 24, // Reset auto mission to start from first command AUXSW_ATTCON_FEEDFWD = 25, // enable/disable the roll and pitch rate feed forward AUXSW_ATTCON_ACCEL_LIM = 26, // enable/disable the roll, pitch and yaw accel limiting AUXSW_RETRACT_MOUNT = 27, // Retract Mount AUXSW_RELAY = 28, // Relay pin on/off (only supports first relay) AUXSW_LANDING_GEAR = 29, // Landing gear controller AUXSW_LOST_COPTER_SOUND = 30, // Play lost copter sound AUXSW_MOTOR_ESTOP = 31, // Emergency Stop Switch AUXSW_MOTOR_INTERLOCK = 32, // Motor On/Off switch AUXSW_BRAKE = 33, // Brake flight mode AUXSW_RELAY2 = 34, // Relay2 pin on/off (in Mission planner set CH8_OPT = 34) AUXSW_RELAY3 = 35, // Relay3 pin on/off (in Mission planner set CH9_OPT = 35) AUXSW_RELAY4 = 36, // Relay4 pin on/off (in Mission planner set CH10_OPT = 36) AUXSW_THROW = 37, // change to THROW flight mode AUXSW_AVOID_ADSB = 38, // enable AP_Avoidance library AUXSW_PRECISION_LOITER = 39, // enable precision loiter AUXSW_AVOID_PROXIMITY = 40, // enable object avoidance using proximity sensors (ie. horizontal lidar) AUXSW_ARMDISARM = 41, // arm or disarm vehicle AUXSW_SMART_RTL = 42, // change to SmartRTL flight mode AUXSW_INVERTED = 43, // enable inverted flight AUXSW_WINCH_ENABLE = 44, // winch enable/disable AUXSW_WINCH_CONTROL = 45, // winch control AUXSW_RC_OVERRIDE_ENABLE = 46, // enable RC Override AUXSW_SWITCH_MAX, }; // Frame types #define UNDEFINED_FRAME 0 #define MULTICOPTER_FRAME 1 #define HELI_FRAME 2 // HIL enumerations #define HIL_MODE_DISABLED 0 #define HIL_MODE_SENSORS 1 // Auto Pilot Modes enumeration enum control_mode_t { STABILIZE = 0, // manual airframe angle with manual throttle ACRO = 1, // manual body-frame angular rate with manual throttle ALT_HOLD = 2, // manual airframe angle with automatic throttle AUTO = 3, // fully automatic waypoint control using mission commands GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands LOITER = 5, // automatic horizontal acceleration with automatic throttle RTL = 6, // automatic return to launching point CIRCLE = 7, // automatic circular flight with automatic throttle LAND = 9, // automatic landing with horizontal position control DRIFT = 11, // semi-automous position, yaw and throttle control SPORT = 13, // manual earth-frame angular rate control with manual throttle FLIP = 14, // automatically flip the vehicle on the roll axis AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains POSHOLD = 16, // automatic position hold with manual override, with automatic throttle BRAKE = 17, // full-brake using inertial/GPS system, no pilot input THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input AVOID_ADSB = 19, // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder FOLLOW = 23, // follow attempts to follow another vehicle or ground station }; 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_LAND_ESCAPE, MODE_REASON_FENCE_BREACH, MODE_REASON_TERRAIN_FAILSAFE, MODE_REASON_BRAKE_TIMEOUT, MODE_REASON_FLIP_COMPLETE, MODE_REASON_AVOIDANCE, MODE_REASON_AVOIDANCE_RECOVERY, MODE_REASON_THROW_COMPLETE, MODE_REASON_TERMINATE, MODE_REASON_TMODE, }; // Tuning enumeration enum tuning_func { TUNING_NONE = 0, // TUNING_STABILIZE_ROLL_PITCH_KP = 1, // stabilize roll/pitch angle controller's P term TUNING_STABILIZE_YAW_KP = 3, // stabilize yaw heading controller's P term TUNING_RATE_ROLL_PITCH_KP = 4, // body frame roll/pitch rate controller's P term TUNING_RATE_ROLL_PITCH_KI = 5, // body frame roll/pitch rate controller's I term TUNING_YAW_RATE_KP = 6, // body frame yaw rate controller's P term TUNING_THROTTLE_RATE_KP = 7, // throttle rate controller's P term (desired rate to acceleration or motor output) TUNING_WP_SPEED = 10, // maximum speed to next way point (0 to 10m/s) TUNING_LOITER_POSITION_KP = 12, // loiter distance controller's P term (position error to speed) TUNING_HELI_EXTERNAL_GYRO = 13, // TradHeli specific external tail gyro gain TUNING_ALTITUDE_HOLD_KP = 14, // altitude hold controller's P term (alt error to desired rate) TUNING_RATE_ROLL_PITCH_KD = 21, // body frame roll/pitch rate controller's D term TUNING_VEL_XY_KP = 22, // loiter rate controller's P term (speed error to tilt angle) TUNING_ACRO_RP_KP = 25, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate TUNING_YAW_RATE_KD = 26, // body frame yaw rate controller's D term TUNING_VEL_XY_KI = 28, // loiter rate controller's I term (speed error to tilt angle) TUNING_AHRS_YAW_KP = 30, // ahrs's compass effect on yaw angle (0 = very low, 1 = very high) TUNING_AHRS_KP = 31, // accelerometer effect on roll/pitch angle (0=low) TUNING_ACCEL_Z_KP = 34, // accel based throttle controller's P term TUNING_ACCEL_Z_KI = 35, // accel based throttle controller's I term TUNING_ACCEL_Z_KD = 36, // accel based throttle controller's D term TUNING_DECLINATION = 38, // compass declination in radians TUNING_CIRCLE_RATE = 39, // circle turn rate in degrees (hard coded to about 45 degrees in either direction) TUNING_ACRO_YAW_KP = 40, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate TUNING_RANGEFINDER_GAIN = 41, // rangefinder gain TUNING_EKF_VERTICAL_POS = 42, // EKF's baro vs accel (higher rely on accels more, baro impact is reduced). Range should be 0.2 ~ 4.0? 2.0 is default TUNING_EKF_HORIZONTAL_POS = 43, // EKF's gps vs accel (higher rely on accels more, gps impact is reduced). Range should be 1.0 ~ 3.0? 1.5 is default TUNING_EKF_ACCEL_NOISE = 44, // EKF's accel noise (lower means trust accels more, gps & baro less). Range should be 0.02 ~ 0.5 0.5 is default (but very robust at that level) TUNING_RC_FEEL_RP = 45, // roll-pitch input smoothing TUNING_RATE_PITCH_KP = 46, // body frame pitch rate controller's P term TUNING_RATE_PITCH_KI = 47, // body frame pitch rate controller's I term TUNING_RATE_PITCH_KD = 48, // body frame pitch rate controller's D term TUNING_RATE_ROLL_KP = 49, // body frame roll rate controller's P term TUNING_RATE_ROLL_KI = 50, // body frame roll rate controller's I term TUNING_RATE_ROLL_KD = 51, // body frame roll rate controller's D term TUNING_RATE_PITCH_FF = 52, // body frame pitch rate controller FF term TUNING_RATE_ROLL_FF = 53, // body frame roll rate controller FF term TUNING_RATE_YAW_FF = 54, // body frame yaw rate controller FF term TUNING_RATE_MOT_YAW_HEADROOM = 55, // motors yaw headroom minimum TUNING_RATE_YAW_FILT = 56, // yaw rate input filter TUNING_WINCH = 57 // winch control (not actually a value to be tuned) }; // Acro Trainer types #define ACRO_TRAINER_DISABLED 0 #define ACRO_TRAINER_LEVELING 1 #define ACRO_TRAINER_LIMITED 2 // 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) // Auto modes enum AutoMode { Auto_TakeOff, Auto_WP, Auto_Land, Auto_RTL, Auto_CircleMoveToEdge, Auto_Circle, Auto_Spline, Auto_NavGuided, Auto_Loiter, Auto_NavPayloadPlace, }; // Guided modes enum GuidedMode { Guided_TakeOff, Guided_WP, Guided_Velocity, Guided_PosVel, Guided_Angle, }; // RTL states enum RTLState { RTL_InitialClimb, RTL_ReturnHome, RTL_LoiterAtHome, RTL_FinalDescent, RTL_Land }; // Safe RTL states enum SmartRTLState { SmartRTL_WaitForPathCleanup, SmartRTL_PathFollow, SmartRTL_PreLandPosition, SmartRTL_Descend, SmartRTL_Land }; // Alt_Hold states enum AltHoldModeState { AltHold_MotorStopped, AltHold_Takeoff, AltHold_Flying, AltHold_Landed }; // Loiter states enum LoiterModeState { Loiter_MotorStopped, Loiter_Takeoff, Loiter_Flying, Loiter_Landed }; // Sport states enum SportModeState { Sport_MotorStopped, Sport_Takeoff, Sport_Flying, Sport_Landed }; // Flip states enum FlipState { Flip_Start, Flip_Roll, Flip_Pitch_A, Flip_Pitch_B, Flip_Recover, Flip_Abandon }; enum LandStateType { LandStateType_FlyToLocation = 0, LandStateType_Descending = 1 }; enum PayloadPlaceStateType { PayloadPlaceStateType_FlyToLocation, PayloadPlaceStateType_Calibrating_Hover_Start, PayloadPlaceStateType_Calibrating_Hover, PayloadPlaceStateType_Descending_Start, PayloadPlaceStateType_Descending, PayloadPlaceStateType_Releasing_Start, PayloadPlaceStateType_Releasing, PayloadPlaceStateType_Released, PayloadPlaceStateType_Ascending_Start, PayloadPlaceStateType_Ascending, PayloadPlaceStateType_Done, }; // bit options for DEV_OPTIONS parameter enum DevOptions { DevOptionADSBMAVLink = 1, }; // Logging parameters enum LoggingParameters { TYPE_AIRSTART_MSG, TYPE_GROUNDSTART_MSG, LOG_CONTROL_TUNING_MSG, LOG_OPTFLOW_MSG, LOG_EVENT_MSG, LOG_ERROR_MSG, LOG_DATA_INT16_MSG, LOG_DATA_UINT16_MSG, LOG_DATA_INT32_MSG, LOG_DATA_UINT32_MSG, LOG_DATA_FLOAT_MSG, LOG_AUTOTUNE_MSG, LOG_AUTOTUNEDETAILS_MSG, LOG_MOTBATT_MSG, LOG_PARAMTUNE_MSG, LOG_HELI_MSG, LOG_PRECLAND_MSG, LOG_GUIDEDTARGET_MSG, }; #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_INAV (1<<14) // deprecated #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_INIT_SIMPLE_BEARING 9 #define DATA_ARMED 10 #define DATA_DISARMED 11 #define DATA_AUTO_ARMED 15 #define DATA_LAND_COMPLETE_MAYBE 17 #define DATA_LAND_COMPLETE 18 #define DATA_NOT_LANDED 28 #define DATA_LOST_GPS 19 #define DATA_FLIP_START 21 #define DATA_FLIP_END 22 #define DATA_SET_HOME 25 #define DATA_SET_SIMPLE_ON 26 #define DATA_SET_SIMPLE_OFF 27 #define DATA_SET_SUPERSIMPLE_ON 29 #define DATA_AUTOTUNE_INITIALISED 30 #define DATA_AUTOTUNE_OFF 31 #define DATA_AUTOTUNE_RESTART 32 #define DATA_AUTOTUNE_SUCCESS 33 #define DATA_AUTOTUNE_FAILED 34 #define DATA_AUTOTUNE_REACHED_LIMIT 35 #define DATA_AUTOTUNE_PILOT_TESTING 36 #define DATA_AUTOTUNE_SAVEDGAINS 37 #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_PARACHUTE_DISABLED 49 #define DATA_PARACHUTE_ENABLED 50 #define DATA_PARACHUTE_RELEASED 51 #define DATA_LANDING_GEAR_DEPLOYED 52 #define DATA_LANDING_GEAR_RETRACTED 53 #define DATA_MOTORS_EMERGENCY_STOPPED 54 #define DATA_MOTORS_EMERGENCY_STOP_CLEARED 55 #define DATA_MOTORS_INTERLOCK_DISABLED 56 #define DATA_MOTORS_INTERLOCK_ENABLED 57 #define DATA_ROTOR_RUNUP_COMPLETE 58 // Heli only #define DATA_ROTOR_SPEED_BELOW_CRITICAL 59 // Heli only #define DATA_EKF_ALT_RESET 60 #define DATA_LAND_CANCELLED_BY_PILOT 61 #define DATA_EKF_YAW_RESET 62 #define DATA_AVOIDANCE_ADSB_ENABLE 63 #define DATA_AVOIDANCE_ADSB_DISABLE 64 #define DATA_AVOIDANCE_PROXIMITY_ENABLE 65 #define DATA_AVOIDANCE_PROXIMITY_DISABLE 66 #define DATA_GPS_PRIMARY_CHANGED 67 #define DATA_WINCH_RELAXED 68 #define DATA_WINCH_LENGTH_CONTROL 69 #define DATA_WINCH_RATE_CONTROL 70 // Error message sub systems and error codes #define ERROR_SUBSYSTEM_MAIN 1 #define ERROR_SUBSYSTEM_RADIO 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 #define ERROR_SUBSYSTEM_CRASH_CHECK 12 #define ERROR_SUBSYSTEM_FLIP 13 #define ERROR_SUBSYSTEM_AUTOTUNE 14 #define ERROR_SUBSYSTEM_PARACHUTE 15 #define ERROR_SUBSYSTEM_EKFCHECK 16 #define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV 17 #define ERROR_SUBSYSTEM_BARO 18 #define ERROR_SUBSYSTEM_CPU 19 #define ERROR_SUBSYSTEM_FAILSAFE_ADSB 20 #define ERROR_SUBSYSTEM_TERRAIN 21 #define ERROR_SUBSYSTEM_NAVIGATION 22 #define ERROR_SUBSYSTEM_FAILSAFE_TERRAIN 23 #define ERROR_SUBSYSTEM_EKF_PRIMARY 24 // 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 -- flip #define ERROR_CODE_FLIP_ABANDONED 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 // parachute failed to deploy because of low altitude or landed #define ERROR_CODE_PARACHUTE_TOO_LOW 2 #define ERROR_CODE_PARACHUTE_LANDED 3 // EKF check definitions #define ERROR_CODE_EKFCHECK_BAD_VARIANCE 2 #define ERROR_CODE_EKFCHECK_VARIANCE_CLEARED 0 // Baro specific error codes #define ERROR_CODE_BARO_GLITCH 2 // GPS specific error coces #define ERROR_CODE_GPS_GLITCH 2 // Radio failsafe definitions (FS_THR parameter) #define FS_THR_DISABLED 0 #define FS_THR_ENABLED_ALWAYS_RTL 1 #define FS_THR_ENABLED_CONTINUE_MISSION 2 #define FS_THR_ENABLED_ALWAYS_LAND 3 #define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_RTL 4 #define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_LAND 5 // GCS failsafe definitions (FS_GCS_ENABLE parameter) #define FS_GCS_DISABLED 0 #define FS_GCS_ENABLED_ALWAYS_RTL 1 #define FS_GCS_ENABLED_CONTINUE_MISSION 2 #define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL 3 #define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4 // EKF failsafe definitions (FS_EKF_ACTION parameter) #define FS_EKF_ACTION_LAND 1 // switch to LAND mode on EKF failsafe #define FS_EKF_ACTION_ALTHOLD 2 // switch to ALTHOLD mode on EKF failsafe #define FS_EKF_ACTION_LAND_EVEN_STABILIZE 3 // switch to Land mode on EKF failsafe even if in a manual flight mode like stabilize // 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) // for PILOT_THR_BHV parameter #define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0) #define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1) #define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)