mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.1 KiB
C
56 lines
1.1 KiB
C
#pragma once
|
|
|
|
// Controller modes
|
|
// ----------------
|
|
|
|
enum ControlMode {
|
|
MANUAL=0,
|
|
STOP=1,
|
|
SCAN=2,
|
|
SERVO_TEST=3,
|
|
AUTO=10,
|
|
INITIALISING=16
|
|
};
|
|
|
|
enum ServoType {
|
|
SERVO_TYPE_POSITION=0,
|
|
SERVO_TYPE_ONOFF=1,
|
|
SERVO_TYPE_CR=2
|
|
};
|
|
|
|
enum AltSource {
|
|
ALT_SOURCE_BARO=0,
|
|
ALT_SOURCE_GPS=1,
|
|
ALT_SOURCE_GPS_VEH_ONLY=2
|
|
};
|
|
|
|
enum mode_reason_t {
|
|
MODE_REASON_INITIALISED = 0,
|
|
MODE_REASON_STARTUP,
|
|
MODE_REASON_SERVOTEST,
|
|
MODE_REASON_GCS_COMMAND,
|
|
};
|
|
|
|
enum class PWMDisarmed {
|
|
ZERO = 0,
|
|
TRIM,
|
|
};
|
|
|
|
// Filter
|
|
#define SERVO_OUT_FILT_HZ 0.1f
|
|
#define G_Dt 0.02f
|
|
|
|
// Logging parameters
|
|
#define MASK_LOG_ATTITUDE (1<<0)
|
|
#define MASK_LOG_GPS (1<<1)
|
|
#define MASK_LOG_RCIN (1<<2)
|
|
#define MASK_LOG_IMU (1<<3)
|
|
#define MASK_LOG_RCOUT (1<<4)
|
|
#define MASK_LOG_COMPASS (1<<5)
|
|
#define MASK_LOG_CURRENT (1<<6)
|
|
#define MASK_LOG_ANY 0xFFFF
|
|
|
|
// Logging messages
|
|
#define LOG_V_BAR_MSG 0x04
|
|
#define LOG_V_POS_MSG 0x05
|