// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- // ACM: // Motors #define RIGHT CH_1 #define LEFT CH_2 #define FRONT CH_3 #define BACK CH_4 #define RIGHTFRONT CH_7 #define LEFTBACK CH_8 #define MAX_SERVO_OUTPUT 2700 // active altitude sensor // ---------------------- #define SONAR 0 #define BARO 1 // Frame types #define PLUS_FRAME 0 #define X_FRAME 1 #define TRI_FRAME 2 #define HEXAX_FRAME 3 #define Y6_FRAME 4 #define HEXAP_FRAME 5 // 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 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 // Radio channels // Note channels are from 0! // // XXX these should be CH_n defines from RC.h at some point. #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 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 STABILIZE 0 // hold level position #define ACRO 1 // rate control #define ALT_HOLD 2 // AUTO control #define SIMPLE 3 // #define AUTO 4 // AUTO control #define GCS_AUTO 5 // AUTO control #define LOITER 6 // Hold a single location #define RTL 7 // AUTO control #define NUM_MODES 8 // YAW debug // --------- #define YAW_HOLD 0 #define YAW_BRAKE 1 #define YAW_RATE 2 // CH_6 Tuning // ----------- #define CH6_NONE 0 #define CH6_STABLIZE_KP 1 #define CH6_STABLIZE_KD 2 #define CH6_BARO_KP 3 #define CH6_BARO_KD 4 #define CH6_SONAR_KP 5 #define CH6_SONAR_KD 6 #define CH6_Y6_SCALING 7 // nav byte mask // ------------- #define NAV_LOCATION 1 #define NAV_ALTITUDE 2 #define NAV_DELAY 4 // 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 // Nav Yaw Tracking #define TRACK_NONE 1 #define TRACK_NEXT_WP 2 #define TRACK_TARGET_WP 4 // Waypoint options #define WP_OPTION_ALT_RELATIVE 1 #define WP_OPTION_ALT_CHANGE 2 #define WP_OPTION_YAW 4 #define WP_OPTION_ALT_REQUIRED 8 #define WP_OPTION_RELATIVE 16 //#define WP_OPTION_ 32 //#define WP_OPTION_ 64 #define WP_OPTION_NEXT_CMD 128 //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 #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_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_IMU 0x60 #define MSG_GPS_STATUS 0x61 #define MSG_GPS_RAW 0x62 #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_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_CURRENT (1<<9) #define MASK_LOG_SET_DEFAULTS (1<<15) // 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_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*CURR_VOLT_DIV_RATIO #define CURRENT_AMPS(x) (x*(INPUT_VOLTAGE/1024.0))*CURR_AMP_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 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 SonarToCm(x) (x*1.26) // Sonar raw value to centimeters // 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 // 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