#pragma once // Internal defines, don't edit and expect things to work // ------------------------------------------------------- // 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 SERVO_MAX 4500 // This value represents 45 degrees and is just an arbitrary representation of servo max travel. // CH 7 control enum ch7_option { CH7_DO_NOTHING = 0, CH7_SAVE_WP = 1, CH7_LEARN_CRUISE = 2, CH7_ARM_DISARM = 3, CH7_MANUAL = 4, CH7_ACRO = 5, CH7_STEERING = 6, CH7_HOLD = 7, CH7_AUTO = 8, CH7_RTL = 9, CH7_SMART_RTL = 10, CH7_GUIDED = 11, CH7_LOITER = 12 }; // HIL enumerations #define HIL_MODE_DISABLED 0 #define HIL_MODE_SENSORS 1 // types of failsafe events #define FAILSAFE_EVENT_THROTTLE (1<<0) #define FAILSAFE_EVENT_GCS (1<<1) #define FAILSAFE_EVENT_RC (1<<2) // Logging parameters #define LOG_THR_MSG 0x01 #define LOG_NTUN_MSG 0x02 #define LOG_STARTUP_MSG 0x06 #define LOG_RANGEFINDER_MSG 0x07 #define LOG_ARM_DISARM_MSG 0x08 #define LOG_STEERING_MSG 0x0D #define LOG_GUIDEDTARGET_MSG 0x0E #define LOG_WHEELENCODER_MSG 0x0F #define LOG_ERROR_MSG 0x13 #define TYPE_AIRSTART_MSG 0x00 #define TYPE_GROUNDSTART_MSG 0x01 #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_THR (1<<4) #define MASK_LOG_NTUN (1<<5) //#define MASK_LOG_MODE (1<<6) // no longer used #define MASK_LOG_IMU (1<<7) #define MASK_LOG_CMD (1<<8) #define MASK_LOG_CURRENT (1<<9) #define MASK_LOG_RANGEFINDER (1<<10) #define MASK_LOG_COMPASS (1<<11) #define MASK_LOG_CAMERA (1<<12) #define MASK_LOG_STEERING (1<<13) #define MASK_LOG_RC (1<<14) #define MASK_LOG_ARM_DISARM (1<<15) #define MASK_LOG_IMU_RAW (1UL<<19) // for mavlink SET_POSITION_TARGET messages #define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1)) #define MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE ((1<<3) | (1<<4)) #define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7)) #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 mavlink SET_ATTITUDE_TARGET messages #define MAVLINK_SET_ATT_TYPE_MASK_ROLL_RATE_IGNORE (1<<0) #define MAVLINK_SET_ATT_TYPE_MASK_PITCH_RATE_IGNORE (1<<1) #define MAVLINK_SET_ATT_TYPE_MASK_YAW_RATE_IGNORE (1<<2) #define MAVLINK_SET_ATT_TYPE_MASK_THROTTLE_IGNORE (1<<6) #define MAVLINK_SET_ATT_TYPE_MASK_ATTITUDE_IGNORE (1<<7) // general error codes #define ERROR_CODE_ERROR_RESOLVED 0 // Error message sub systems and error codes #define ERROR_SUBSYSTEM_FAILSAFE_FENCE 9 #define ERROR_SUBSYSTEM_FLIGHT_MODE 10 #define ERROR_SUBSYSTEM_CRASH_CHECK 12 // subsystem specific error codes -- crash checker #define ERROR_CODE_CRASH_CHECK_CRASH 1 enum fs_crash_action { FS_CRASH_DISABLE = 0, FS_CRASH_HOLD = 1, FS_CRASH_HOLD_AND_DISARM = 2 }; #define DISTANCE_HOME_MAX 0.5f // Distance max to home location before changing it when disarm enum mode_reason_t { MODE_REASON_INITIALISED = 0, MODE_REASON_TX_COMMAND, MODE_REASON_GCS_COMMAND, MODE_REASON_FAILSAFE, MODE_REASON_MISSION_END, MODE_REASON_CRASH_FAILSAFE, MODE_REASON_MISSION_COMMAND, MODE_REASON_FENCE_BREACH, }; // values used by the ap.ch7_opt and ap.ch8_opt flags enum aux_switch_pos { AUX_SWITCH_LOW, AUX_SWITCH_MIDDLE, AUX_SWITCH_HIGH }; enum pilot_steer_type_t { PILOT_STEER_TYPE_DEFAULT = 0, PILOT_STEER_TYPE_TWO_PADDLES = 1, PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING = 2, PILOT_STEER_TYPE_DIR_UNCHANGED_WHEN_REVERSING = 3, }; // frame class enum used for FRAME_CLASS parameter enum frame_class { FRAME_UNDEFINED = 0, FRAME_ROVER = 1, FRAME_BOAT = 2, FRAME_BALANCEBOT = 3, }; #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