// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- // Internal defines, don't edit and expect things to work // ------------------------------------------------------- #define TRUE 1 #define FALSE 0 #define ToRad(x) (x*0.01745329252) // *pi/180 #define ToDeg(x) (x*57.2957795131) // *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 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_MTK16 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 #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 // 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 #define FLY_BY_WIRE_C 7 // Fly By Wire C has left stick horizontal => desired roll angle, left stick vertical => desired climb rate, right stick vertical => desired airspeed // Fly By Wire B and Fly By Wire C require airspeed sensor #define AUTO 10 #define RTL 11 #define LOITER 12 //#define TAKEOFF 13 // This is not used by APM. It appears here for consistency with ACM //#define LAND 14 // This is not used by APM. It appears here for consistency with ACM #define GUIDED 15 #define INITIALISING 16 // in startup routines // 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 // Command/Waypoint/Location Options Bitmask //-------------------- #define MASK_OPTIONS_RELATIVE_ALT (1<<0) // 1 = Relative altitude //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 #define MAV_CMD_CONDITION_YAW 23 // 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 #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_STATUS1 0x0a #define MSG_EXTENDED_STATUS2 0x0b #define MSG_CPU_LOAD 0x0c #define MSG_NAV_CONTROLLER_OUTPUT 0x0d #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_VFR_HUD 0x4a #define MSG_TRIM_STARTUP 0x50 #define MSG_TRIM_MIN 0x51 #define MSG_TRIM_MAX 0x52 #define MSG_RADIO_OUT 0x53 #define MSG_RADIO_IN 0x54 #define MSG_RAW_IMU1 0x60 #define MSG_RAW_IMU2 0x61 #define MSG_RAW_IMU3 0x62 #define MSG_GPS_STATUS 0x63 #define MSG_GPS_RAW 0x64 #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 MSG_RETRY_DEFERRED 0xff #define SEVERITY_LOW 1 #define SEVERITY_MEDIUM 2 #define SEVERITY_HIGH 3 #define SEVERITY_CRITICAL 4 // Logging parameters #define LOG_INDEX_MSG 0xF0 #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_CURRENT_MSG 0x09 #define LOG_STARTUP_MSG 0x0A #define TYPE_AIRSTART_MSG 0x00 #define TYPE_GROUNDSTART_MSG 0x01 #define MAX_NUM_LOGS 50 #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_RAW (1<<7) #define MASK_LOG_CMD (1<<8) #define MASK_LOG_CUR (1<<9) // 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 // 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 CURRENT_AMPS(x) ((x*(INPUT_VOLTAGE/1024.0))-CURR_AMPS_OFFSET)*CURR_AMP_PER_VOLT #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 VOLTAGE_PIN_0 0 // These are the pins for current sensor: voltage #define CURRENT_PIN_1 1 // and current #define RELAY_PIN 47 // sonar #define MAX_SONAR_XL 0 #define MAX_SONAR_LV 1 #define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters #define AN4 4 #define AN5 5 // 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 SPEEDFILT 400 // centimeters/second; the speed below which a groundstart will be triggered // EEPROM addresses #define EEPROM_MAX_ADDR 4096 // parameters get the first 1KiB of EEPROM, remainder is for waypoints #define WP_START_BYTE 0x400 // where in memory home WP is stored + all other WP #define WP_SIZE 15 #define ONBOARD_PARAM_NAME_LENGTH 15 #define MAX_WAYPOINTS ((EEPROM_MAX_ADDR - 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)