mirror of https://github.com/ArduPilot/ardupilot
80 lines
2.9 KiB
C
80 lines
2.9 KiB
C
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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// bit options for DEV_OPTIONS parameter
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enum DevOptions {
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DevOptionADSBMAVLink = 1,
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DevOptionVFR_HUDRelativeAlt = 2,
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DevOptionSetAttitudeTarget_ThrustAsThrust = 4,
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};
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// Logging parameters - only 32 messages are available to the vehicle here.
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enum LoggingParameters {
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LOG_CONTROL_TUNING_MSG,
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LOG_DATA_INT16_MSG,
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LOG_DATA_UINT16_MSG,
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LOG_DATA_INT32_MSG,
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LOG_DATA_UINT32_MSG,
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LOG_DATA_FLOAT_MSG,
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LOG_PARAMTUNE_MSG,
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LOG_HELI_MSG,
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LOG_GUIDEDTARGET_MSG,
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LOG_SYSIDD_MSG,
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LOG_SYSIDS_MSG,
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LOG_FINI_MSG,
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LOG_FINO_MSG,
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LOG_PIDD_MSG,
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LOG_PIVN_MSG,
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LOG_PIVE_MSG,
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LOG_PIVD_MSG,
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LOG_PIVY_MSG,
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};
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#define MASK_LOG_ATTITUDE_FAST (1<<0)
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#define MASK_LOG_ATTITUDE_MED (1<<1)
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#define MASK_LOG_GPS (1<<2)
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#define MASK_LOG_PM (1<<3)
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#define MASK_LOG_CTUN (1<<4)
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#define MASK_LOG_NTUN (1<<5)
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#define MASK_LOG_RCIN (1<<6)
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#define MASK_LOG_IMU (1<<7)
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#define MASK_LOG_CMD (1<<8)
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#define MASK_LOG_CURRENT (1<<9)
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#define MASK_LOG_RCOUT (1<<10)
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#define MASK_LOG_OPTFLOW (1<<11)
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#define MASK_LOG_PID (1<<12)
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#define MASK_LOG_COMPASS (1<<13)
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#define MASK_LOG_INAV (1<<14) // deprecated
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#define MASK_LOG_CAMERA (1<<15)
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#define MASK_LOG_MOTBATT (1UL<<17)
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#define MASK_LOG_IMU_FAST (1UL<<18)
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#define MASK_LOG_IMU_RAW (1UL<<19)
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#define MASK_LOG_ANY 0xFFFF
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// Radio failsafe definitions (FS_THR parameter)
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#define FS_THR_DISABLED 0
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#define FS_THR_ENABLED_ALWAYS_RTL 1
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#define FS_THR_ENABLED_CONTINUE_MISSION 2 // Removed in 4.0+, now use fs_options
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#define FS_THR_ENABLED_ALWAYS_LAND 3
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#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_RTL 4
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#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_LAND 5
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// GCS failsafe definitions (FS_GCS_ENABLE parameter)
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#define FS_GCS_DISABLED 0
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#define FS_GCS_ENABLED_ALWAYS_RTL 1
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#define FS_GCS_ENABLED_CONTINUE_MISSION 2 // Removed in 4.0+, now use fs_options
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#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL 3
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#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4
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#define FS_GCS_ENABLED_ALWAYS_LAND 5
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// EKF failsafe definitions (FS_EKF_ACTION parameter)
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#define FS_EKF_ACTION_LAND 1 // switch to LAND mode on EKF failsafe
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#define FS_EKF_ACTION_LAND_EVEN_MANUAL 3 // switch to Land mode on EKF failsafe even if in Manual mode
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// for PILOT_THR_BHV parameter
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#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
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#define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
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#define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)
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