#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 // Frame types #define UNDEFINED_FRAME 0 #define MULTICOPTER_FRAME 1 #define HELI_FRAME 2 // 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_RATE = 25, // acro controller's desired roll and pitch rate in deg/s 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_RATE = 40, // acro controller's desired yaw rate in deg/s TUNING_RANGEFINDER_GAIN = 41, // unused TUNING_EKF_VERTICAL_POS = 42, // unused TUNING_EKF_HORIZONTAL_POS = 43, // unused TUNING_EKF_ACCEL_NOISE = 44, // unused 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 UNUSED = 57, // was winch control TUNING_SYSTEM_ID_MAGNITUDE = 58, // magnitude of the system ID signal TUNING_POS_CONTROL_ANGLE_MAX = 59 // position controller maximum angle }; // 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) // Airmode enum class AirMode { AIRMODE_NONE, AIRMODE_DISABLED, AIRMODE_ENABLED, }; // bit options for DEV_OPTIONS parameter enum DevOptions { DevOptionADSBMAVLink = 1, DevOptionVFR_HUDRelativeAlt = 2, }; // Logging parameters - only 32 messages are available to the vehicle here. enum LoggingParameters { 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_PARAMTUNE_MSG, LOG_HELI_MSG, LOG_GUIDED_POSITION_TARGET_MSG, LOG_SYSIDD_MSG, LOG_SYSIDS_MSG, LOG_GUIDED_ATTITUDE_TARGET_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_VIDEO_STABILISATION (1UL<<20) #define MASK_LOG_FTN_FAST (1UL<<21) #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 // Removed in 4.0+, now use fs_options #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 #define FS_THR_ENABLED_AUTO_RTL_OR_RTL 6 #define FS_THR_ENABLED_BRAKE_OR_LAND 7 // 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 // Removed in 4.0+, now use fs_options #define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL 3 #define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4 #define FS_GCS_ENABLED_ALWAYS_LAND 5 #define FS_GCS_ENABLED_AUTO_RTL_OR_RTL 6 #define FS_GCS_ENABLED_BRAKE_OR_LAND 7 // 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 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)