mirror of https://github.com/ArduPilot/ardupilot
126 lines
3.0 KiB
C
126 lines
3.0 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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// Internal defines, don't edit and expect things to work
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// -------------------------------------------------------
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#define TRUE 1
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#define FALSE 0
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#define ToRad(x) radians(x) // *pi/180
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#define ToDeg(x) degrees(x) // *180/pi
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#define DEBUG 0
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#define SERVO_MAX 4500 // This value represents 45 degrees and is just an arbitrary representation of servo max travel.
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// active altitude sensor
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// ----------------------
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#define SONAR 0
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#define BARO 1
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// CH 7 control
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enum ch7_option {
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CH7_DO_NOTHING=0,
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CH7_SAVE_WP=1
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};
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#define T6 1000000
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#define T7 10000000
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// HIL enumerations
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#define HIL_MODE_DISABLED 0
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#define HIL_MODE_SENSORS 1
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// Auto Pilot modes
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// ----------------
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enum mode {
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MANUAL=0,
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LEARNING=2,
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STEERING=3,
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HOLD=4,
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AUTO=10,
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RTL=11,
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GUIDED=15,
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INITIALISING=16
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};
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// types of failsafe events
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#define FAILSAFE_EVENT_THROTTLE (1<<0)
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#define FAILSAFE_EVENT_GCS (1<<1)
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#define FAILSAFE_EVENT_RC (1<<2)
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//repeating events
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#define NO_REPEAT 0
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#define CH_5_TOGGLE 1
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#define CH_6_TOGGLE 2
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#define CH_7_TOGGLE 3
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#define CH_8_TOGGLE 4
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#define RELAY_TOGGLE 5
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#define STOP_REPEAT 10
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#define MAV_CMD_CONDITION_YAW 23
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// Logging parameters
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#define LOG_CTUN_MSG 0x01
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#define LOG_NTUN_MSG 0x02
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#define LOG_PERFORMANCE_MSG 0x03
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#define LOG_STARTUP_MSG 0x06
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#define LOG_SONAR_MSG 0x07
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#define LOG_ARM_DISARM_MSG 0x08
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#define LOG_STEERING_MSG 0x0D
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#define TYPE_AIRSTART_MSG 0x00
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#define TYPE_GROUNDSTART_MSG 0x01
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#define MAX_NUM_LOGS 100
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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_MODE (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_SONAR (1<<10)
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#define MASK_LOG_COMPASS (1<<11)
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#define MASK_LOG_CAMERA (1<<12)
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#define MASK_LOG_STEERING (1<<13)
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#define MASK_LOG_RC (1<<14)
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#define MASK_LOG_ARM_DISARM (1<<15)
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#define MASK_LOG_IMU_RAW (1UL<<19)
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// Waypoint Modes
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// ----------------
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#define ABS_WP 0
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#define REL_WP 1
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// Command Queues
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// ---------------
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#define COMMAND_MUST 0
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#define COMMAND_MAY 1
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#define COMMAND_NOW 2
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// Events
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// ------
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#define EVENT_WILL_REACH_WAYPOINT 1
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#define EVENT_SET_NEW_COMMAND_INDEX 2
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#define EVENT_LOADED_WAYPOINT 3
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#define EVENT_LOOP 4
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// Climb rate calculations
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#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to regress a climb rate from
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// sonar
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#define MAX_SONAR_XL 0
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#define MAX_SONAR_LV 1
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#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
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#define AN4 4
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#define AN5 5
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#define SPEEDFILT 400 // centimeters/second; the speed below which a groundstart will be triggered
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// convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps to -1)
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#define BOOL_TO_SIGN(bvalue) ((bvalue)?-1:1)
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