#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) }; // 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 ZIGZAG = 24, // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B }; 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 helicopters) // Auto modes enum AutoMode { Auto_TakeOff, Auto_WP, Auto_Land, Auto_RTL, Auto_CircleMoveToEdge, Auto_Circle, Auto_Spline, Auto_NavGuided, Auto_Loiter, Auto_LoiterToAlt, 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 }; 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, DevOptionVFR_HUDRelativeAlt = 2, }; // Logging parameters enum LoggingParameters { TYPE_AIRSTART_MSG, TYPE_GROUNDSTART_MSG, LOG_CONTROL_TUNING_MSG, LOG_DATA_INT16_MSG, LOG_DATA_UINT16_MSG, LOG_DATA_INT32_MSG, LOG_DATA_UINT32_MSG, LOG_DATA_FLOAT_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 // 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)