mirror of https://github.com/ArduPilot/ardupilot
121 lines
3.6 KiB
C
121 lines
3.6 KiB
C
#pragma once
|
|
|
|
// Internal defines, don't edit and expect things to work
|
|
// -------------------------------------------------------
|
|
|
|
#define TRUE 1
|
|
#define FALSE 0
|
|
|
|
// 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
|
|
|
|
#define DEBUG 0
|
|
#define SERVO_MAX 4500 // This value represents 45 degrees and is just an arbitrary representation of servo max travel.
|
|
|
|
// CH 7 control
|
|
enum ch7_option {
|
|
CH7_DO_NOTHING = 0,
|
|
CH7_SAVE_WP = 1
|
|
};
|
|
|
|
// HIL enumerations
|
|
#define HIL_MODE_DISABLED 0
|
|
#define HIL_MODE_SENSORS 1
|
|
|
|
// Auto Pilot modes
|
|
// ----------------
|
|
enum mode {
|
|
MANUAL = 0,
|
|
LEARNING = 2,
|
|
STEERING = 3,
|
|
HOLD = 4,
|
|
AUTO = 10,
|
|
RTL = 11,
|
|
GUIDED = 15,
|
|
INITIALISING = 16
|
|
};
|
|
|
|
// types of failsafe events
|
|
#define FAILSAFE_EVENT_THROTTLE (1<<0)
|
|
#define FAILSAFE_EVENT_GCS (1<<1)
|
|
#define FAILSAFE_EVENT_RC (1<<2)
|
|
|
|
// Logging parameters
|
|
#define LOG_CTUN_MSG 0x01
|
|
#define LOG_NTUN_MSG 0x02
|
|
#define LOG_PERFORMANCE_MSG 0x03
|
|
#define LOG_STARTUP_MSG 0x06
|
|
#define LOG_RANGEFINDER_MSG 0x07
|
|
#define LOG_ARM_DISARM_MSG 0x08
|
|
#define LOG_STEERING_MSG 0x0D
|
|
#define LOG_GUIDEDTARGET_MSG 0x0E
|
|
#define LOG_WHEELENCODER_MSG 0x0F
|
|
#define LOG_ERROR_MSG 0x13
|
|
|
|
#define TYPE_AIRSTART_MSG 0x00
|
|
#define TYPE_GROUNDSTART_MSG 0x01
|
|
#define MAX_NUM_LOGS 100
|
|
|
|
#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_IMU (1<<7)
|
|
#define MASK_LOG_CMD (1<<8)
|
|
#define MASK_LOG_CURRENT (1<<9)
|
|
#define MASK_LOG_RANGEFINDER (1<<10)
|
|
#define MASK_LOG_COMPASS (1<<11)
|
|
#define MASK_LOG_CAMERA (1<<12)
|
|
#define MASK_LOG_STEERING (1<<13)
|
|
#define MASK_LOG_RC (1<<14)
|
|
#define MASK_LOG_ARM_DISARM (1<<15)
|
|
#define MASK_LOG_IMU_RAW (1UL<<19)
|
|
|
|
// 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 mavlink SET_ATTITUDE_TARGET messages
|
|
#define MAVLINK_SET_ATT_TYPE_MASK_ROLL_RATE_IGNORE (1<<0)
|
|
#define MAVLINK_SET_ATT_TYPE_MASK_PITCH_RATE_IGNORE (1<<1)
|
|
#define MAVLINK_SET_ATT_TYPE_MASK_YAW_RATE_IGNORE (1<<2)
|
|
#define MAVLINK_SET_ATT_TYPE_MASK_THROTTLE_IGNORE (1<<6)
|
|
#define MAVLINK_SET_ATT_TYPE_MASK_ATTITUDE_IGNORE (1<<7)
|
|
|
|
// Error message sub systems and error codes
|
|
#define ERROR_SUBSYSTEM_FAILSAFE_FENCE 9
|
|
#define ERROR_SUBSYSTEM_FLIGHT_MODE 10
|
|
#define ERROR_SUBSYSTEM_CRASH_CHECK 12
|
|
// subsystem specific error codes -- crash checker
|
|
#define ERROR_CODE_CRASH_CHECK_CRASH 1
|
|
|
|
enum fs_crash_action {
|
|
FS_CRASH_DISABLE = 0,
|
|
FS_CRASH_HOLD = 1,
|
|
FS_CRASH_HOLD_AND_DISARM = 2
|
|
};
|
|
|
|
#define DISTANCE_HOME_MAX 0.5f // Distance max to home location before changing it when disarm
|
|
|
|
enum mode_reason_t {
|
|
MODE_REASON_INITIALISED = 0,
|
|
MODE_REASON_TX_COMMAND,
|
|
MODE_REASON_GCS_COMMAND,
|
|
MODE_REASON_FAILSAFE,
|
|
MODE_REASON_MISSION_END,
|
|
MODE_REASON_CRASH_FAILSAFE,
|
|
MODE_REASON_MISSION_COMMAND
|
|
};
|