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ardupilot/ArduCopter/defines.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef _DEFINES_H
#define _DEFINES_H
#include <AP_HAL_Boards.h>
// 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
// Flight modes
// ------------
#define YAW_HOLD 0 // heading hold at heading in nav_yaw but allow input from pilot
#define YAW_ACRO 1 // pilot controlled yaw using rate controller
#define YAW_LOOK_AT_NEXT_WP 2 // point towards next waypoint (no pilot input accepted)
#define YAW_LOOK_AT_LOCATION 3 // point towards a location held in yaw_look_at_WP (no pilot input accepted)
#define YAW_LOOK_AT_HOME 4 // point towards home (no pilot input accepted)
#define YAW_LOOK_AT_HEADING 5 // point towards a particular angle (not pilot input accepted)
#define YAW_LOOK_AHEAD 6 // WARNING! CODE IN DEVELOPMENT NOT PROVEN
#define YAW_TOY 7 // THOR This is the Yaw mode
#define ROLL_PITCH_STABLE 0
#define ROLL_PITCH_ACRO 1
#define ROLL_PITCH_AUTO 2
#define ROLL_PITCH_STABLE_OF 3
#define ROLL_PITCH_TOY 4 // THOR This is the Roll and Pitch mode
#define ROLL_PITCH_LOITER_PR 5
#define THROTTLE_MANUAL 0 // manual throttle mode - pilot input goes directly to motors
#define THROTTLE_MANUAL_TILT_COMPENSATED 1 // mostly manual throttle but with some tilt compensation
#define THROTTLE_ACCELERATION 2 // pilot inputs the desired acceleration
#define THROTTLE_RATE 3 // pilot inputs the desired climb rate. Note: this uses the unstabilized rate controller
#define THROTTLE_STABILIZED_RATE 4 // pilot inputs the desired climb rate. Uses stabilized rate controller
#define THROTTLE_DIRECT_ALT 5 // pilot inputs a desired altitude from 0 ~ 10 meters
#define THROTTLE_HOLD 6 // alt hold plus pilot input of climb rate
#define THROTTLE_AUTO 7 // auto pilot altitude controller with target altitude held in next_WP.alt
#define THROTTLE_LAND 8 // landing throttle controller
#define THROTTLE_SURFACE_TRACKING 9 // ground tracking with sonar or other rangefinder
// active altitude sensor
// ----------------------
#define SONAR 0
#define BARO 1
#define SONAR_SOURCE_ADC 1
#define SONAR_SOURCE_ANALOG_PIN 2
// CH 7 control
#define CH7_PWM_TRIGGER 1800 // pwm value above which the channel 7 option will be invoked
#define CH6_PWM_TRIGGER_HIGH 1800
#define CH6_PWM_TRIGGER_LOW 1200
#define CH7_DO_NOTHING 0
#define CH7_SET_HOVER 1 // deprecated
#define CH7_FLIP 2
#define CH7_SIMPLE_MODE 3
#define CH7_RTL 4
#define CH7_SAVE_TRIM 5
#define CH7_ADC_FILTER 6 // deprecated
#define CH7_SAVE_WP 7
#define CH7_MULTI_MODE 8
#define CH7_CAMERA_TRIGGER 9
// Frame types
#define QUAD_FRAME 0
#define TRI_FRAME 1
#define HEXA_FRAME 2
#define Y6_FRAME 3
#define OCTA_FRAME 4
#define HELI_FRAME 5
#define OCTA_QUAD_FRAME 6
#define PLUS_FRAME 0
#define X_FRAME 1
#define V_FRAME 2
// LED output
#define NORMAL_LEDS 0
#define SAVE_TRIM_LEDS 1
// Internal defines, don't edit and expect things to work
// -------------------------------------------------------
#define TRUE 1
#define FALSE 0
#define ToRad(x) radians(x) // *pi/180
#define ToDeg(x) degrees(x) // *180/pi
#define DEBUG 0
#define LOITER_RANGE 60 // for calculating power outside of loiter radius
#define T6 1000000
#define T7 10000000
// GPS type codes - use the names, not the numbers
#define GPS_PROTOCOL_NONE -1
#define GPS_PROTOCOL_NMEA 0
#define GPS_PROTOCOL_SIRF 1
#define GPS_PROTOCOL_UBLOX 2
#define GPS_PROTOCOL_IMU 3
#define GPS_PROTOCOL_MTK 4
#define GPS_PROTOCOL_HIL 5
#define GPS_PROTOCOL_MTK19 6
#define GPS_PROTOCOL_AUTO 7
// HIL enumerations
#define HIL_MODE_DISABLED 0
#define HIL_MODE_ATTITUDE 1
#define HIL_MODE_SENSORS 2
// Altitude status definitions
#define REACHED_ALT 0
#define DESCENDING 1
#define ASCENDING 2
// Auto Pilot modes
// ----------------
#define STABILIZE 0 // hold level position
#define ACRO 1 // rate control
#define ALT_HOLD 2 // AUTO control
#define AUTO 3 // AUTO control
#define GUIDED 4 // AUTO control
#define LOITER 5 // Hold a single location
#define RTL 6 // AUTO control
#define CIRCLE 7 // AUTO control
#define POSITION 8 // AUTO control
#define LAND 9 // AUTO control
#define OF_LOITER 10 // Hold a single location using optical flow
// sensor
#define TOY_A 11 // THOR Enum for Toy mode
#define TOY_M 12 // THOR Enum for Toy mode
#define NUM_MODES 13
// CH_6 Tuning
// -----------
#define CH6_NONE 0 // no tuning performed
#define CH6_STABILIZE_KP 1 // stabilize roll/pitch angle controller's P term
#define CH6_STABILIZE_KI 2 // stabilize roll/pitch angle controller's I term
#define CH6_STABILIZE_KD 29 // stabilize roll/pitch angle controller's D term
#define CH6_YAW_KP 3 // stabilize yaw heading controller's P term
#define CH6_YAW_KI 24 // stabilize yaw heading controller's P term
#define CH6_ACRO_KP 25 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
#define CH6_RATE_KP 4 // body frame roll/pitch rate controller's P term
#define CH6_RATE_KI 5 // body frame roll/pitch rate controller's I term
#define CH6_RATE_KD 21 // body frame roll/pitch rate controller's D term
#define CH6_YAW_RATE_KP 6 // body frame yaw rate controller's P term
#define CH6_YAW_RATE_KD 26 // body frame yaw rate controller's D term
#define CH6_THR_HOLD_KP 14 // altitude hold controller's P term (alt error to desired rate)
#define CH6_THROTTLE_KP 7 // throttle rate controller's P term (desired rate to acceleration or motor output)
#define CH6_THROTTLE_KI 33 // throttle rate controller's I term (desired rate to acceleration or motor output)
#define CH6_THROTTLE_KD 37 // throttle rate controller's D term (desired rate to acceleration or motor output)
#define CH6_THR_ACCEL_KP 34 // accel based throttle controller's P term
#define CH6_THR_ACCEL_KI 35 // accel based throttle controller's I term
#define CH6_THR_ACCEL_KD 36 // accel based throttle controller's D term
#define CH6_TOP_BOTTOM_RATIO 8 // upper/lower motor ratio (not used)
#define CH6_RELAY 9 // switch relay on if ch6 high, off if low
#define CH6_TRAVERSE_SPEED 10 // maximum speed to next way point (0 to 10m/s)
#define CH6_NAV_KP 11 // navigation rate controller's P term (speed error to tilt angle)
#define CH6_NAV_KI 20 // navigation rate controller's I term (speed error to tilt angle)
#define CH6_LOITER_KP 12 // loiter distance controller's P term (position error to speed)
#define CH6_LOITER_KI 27 // loiter distance controller's I term (position error to speed)
#define CH6_HELI_EXTERNAL_GYRO 13 // TradHeli specific external tail gyro gain
#define CH6_OPTFLOW_KP 17 // optical flow loiter controller's P term (position error to tilt angle)
#define CH6_OPTFLOW_KI 18 // optical flow loiter controller's I term (position error to tilt angle)
#define CH6_OPTFLOW_KD 19 // optical flow loiter controller's D term (position error to tilt angle)
#define CH6_LOITER_RATE_KP 22 // loiter rate controller's P term (speed error to tilt angle)
#define CH6_LOITER_RATE_KI 28 // loiter rate controller's I term (speed error to tilt angle)
#define CH6_LOITER_RATE_KD 23 // loiter rate controller's D term (speed error to tilt angle)
#define CH6_AHRS_YAW_KP 30 // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
#define CH6_AHRS_KP 31 // accelerometer effect on roll/pitch angle (0=low)
#define CH6_INAV_TC 32 // inertial navigation baro/accel and gps/accel time constant (1.5 = strong baro/gps correction on accel estimatehas very strong does not correct accel estimate, 7 = very weak correction)
// nav byte mask used with wp_verify_byte variable
// -----------------------------------------------
#define NAV_LOCATION 1
#define NAV_ALTITUDE 2
#define NAV_DELAY 4
// Commands - Note that APM now uses a subset of the MAVLink protocol
// commands. See enum MAV_CMD in the GCS_Mavlink library
#define CMD_BLANK 0 // there is no command stored in the mem location
// requested
#define NO_COMMAND 0
// Navigation modes held in wp_control variable
#define LOITER_MODE 1
#define WP_MODE 2
#define CIRCLE_MODE 3
#define NO_NAV_MODE 4
// Yaw override behaviours - used for setting yaw_override_behaviour
#define YAW_OVERRIDE_BEHAVIOUR_AT_NEXT_WAYPOINT 0 // auto pilot takes back yaw control at next waypoint
#define YAW_OVERRIDE_BEHAVIOUR_AT_MISSION_RESTART 1 // auto pilot tkaes back control only when mission is restarted
// TOY mixing options
#define TOY_LOOKUP_TABLE 0
#define TOY_LINEAR_MIXER 1
#define TOY_EXTERNAL_MIXER 2
// Waypoint options
#define MASK_OPTIONS_RELATIVE_ALT 1
#define WP_OPTION_ALT_CHANGE 2
#define WP_OPTION_YAW 4
#define WP_OPTION_ALT_REQUIRED 8
#define WP_OPTION_RELATIVE 16
//#define WP_OPTION_ 32
//#define WP_OPTION_ 64
#define WP_OPTION_NEXT_CMD 128
// RTL state
#define RTL_STATE_INITIAL_CLIMB 0
#define RTL_STATE_RETURNING_HOME 1
#define RTL_STATE_LOITERING_AT_HOME 2
#define RTL_STATE_FINAL_DESCENT 3
#define RTL_STATE_LAND 4
//repeating events
#define RELAY_TOGGLE 5
// GCS Message ID's
/// NOTE: to ensure we never block on sending MAVLink messages
/// please keep each MSG_ to a single MAVLink message. If need be
/// create new MSG_ IDs for additional messages on the same
/// stream
enum ap_message {
MSG_HEARTBEAT,
MSG_ATTITUDE,
MSG_LOCATION,
MSG_EXTENDED_STATUS1,
MSG_EXTENDED_STATUS2,
MSG_NAV_CONTROLLER_OUTPUT,
MSG_CURRENT_WAYPOINT,
MSG_VFR_HUD,
MSG_RADIO_OUT,
MSG_RADIO_IN,
MSG_RAW_IMU1,
MSG_RAW_IMU2,
MSG_RAW_IMU3,
MSG_GPS_STATUS,
MSG_GPS_RAW,
MSG_SERVO_OUT,
MSG_NEXT_WAYPOINT,
MSG_NEXT_PARAM,
MSG_STATUSTEXT,
MSG_LIMITS_STATUS,
MSG_AHRS,
MSG_SIMSTATE,
MSG_HWSTATUS,
MSG_RETRY_DEFERRED // this must be last
};
enum gcs_severity {
SEVERITY_LOW=1,
SEVERITY_MEDIUM,
SEVERITY_HIGH,
SEVERITY_CRITICAL
};
// Logging parameters
#define TYPE_AIRSTART_MSG 0x00
#define TYPE_GROUNDSTART_MSG 0x01
#define LOG_ATTITUDE_MSG 0x01
#define LOG_GPS_MSG 0x02
#define LOG_MODE_MSG 0x03
#define LOG_CONTROL_TUNING_MSG 0x04
#define LOG_NAV_TUNING_MSG 0x05
#define LOG_PERFORMANCE_MSG 0x06
#define LOG_RAW_MSG 0x07
#define LOG_CMD_MSG 0x08
#define LOG_CURRENT_MSG 0x09
#define LOG_STARTUP_MSG 0x0A
#define LOG_MOTORS_MSG 0x0B
#define LOG_OPTFLOW_MSG 0x0C
#define LOG_DATA_MSG 0x0D
#define LOG_PID_MSG 0x0E
#define LOG_ITERM_MSG 0x0F
#define LOG_DMP_MSG 0x10
#define LOG_INAV_MSG 0x11
#define LOG_CAMERA_MSG 0x12
#define LOG_ERROR_MSG 0x13
#define LOG_INDEX_MSG 0xF0
#define MAX_NUM_LOGS 50
#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_RAW (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CUR (1<<9)
#define MASK_LOG_MOTORS (1<<10)
#define MASK_LOG_OPTFLOW (1<<11)
#define MASK_LOG_PID (1<<12)
#define MASK_LOG_ITERM (1<<13)
#define MASK_LOG_INAV (1<<14)
#define MASK_LOG_CAMERA (1<<15)
// DATA - event logging
#define DATA_MAVLINK_FLOAT 1
#define DATA_MAVLINK_INT32 2
#define DATA_MAVLINK_INT16 3
#define DATA_MAVLINK_INT8 4
#define DATA_FAST_LOOP 5
#define DATA_MED_LOOP 6
#define DATA_AP_STATE 7
#define DATA_SIMPLE_BEARING 8
#define DATA_INIT_SIMPLE_BEARING 9
#define DATA_ARMED 10
#define DATA_DISARMED 11
#define DATA_AUTO_ARMED 15
#define DATA_TAKEOFF 16
#define DATA_DID_REACH_ALT 17
#define DATA_LAND_COMPLETE 18
#define DATA_LOST_GPS 19
#define DATA_LOST_COMPASS 20
#define DATA_BEGIN_FLIP 21
#define DATA_END_FLIP 22
#define DATA_EXIT_FLIP 23
#define DATA_FLIP_ABORTED 24
#define DATA_SET_HOME 25
#define DATA_SET_SIMPLE_ON 26
#define DATA_SET_SIMPLE_OFF 27
#define DATA_REACHED_ALT 28
#define DATA_ASCENDING 29
#define DATA_DESCENDING 30
#define DATA_RTL_REACHED_ALT 31
// battery monitoring macros
#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*g.volt_div_ratio
#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt
/* ************************************************************** */
/* Expansion PIN's that people can use for various things. */
// AN0 - 7 are located at edge of IMU PCB "above" pressure sensor and
// Expansion port
// AN0 - 5 are also located next to voltage dividers and sliding SW2 switch
// AN0 - 3 has 10kOhm resistor in serial, include 3.9kOhm to make it as
// voltage divider
// AN4 - 5 are direct GPIO pins from atmega1280 and they are the latest pins
// next to SW2 switch
// Look more ArduCopter Wiki for voltage dividers and other ports
#define AN0 54 // resistor, vdiv use, divider 1 closest to relay
#define AN1 55 // resistor, vdiv use, divider 2
#define AN2 56 // resistor, vdiv use, divider 3
#define AN3 57 // resistor, vdiv use, divider 4 closest to SW2
#define AN4 58 // direct GPIO pin, default as analog input, next to SW2
// switch
#define AN5 59 // direct GPIO pin, default as analog input, next to SW2
// switch
#define AN6 60 // direct GPIO pin, default as analog input, close to
// Pressure sensor, Expansion Ports
#define AN7 61 // direct GPIO pin, default as analog input, close to
// Pressure sensor, Expansion Ports
// AN8 - 15 are located at edge of IMU PCB "above" pressure sensor and
// Expansion port
// AN8 - 15 PINs are not connected anywhere, they are located as last 8 pins
// on edge of the board above Expansion Ports
// even pins (8,10,12,14) are at edge of board, Odd pins (9,11,13,15) are on
// inner row
#define AN8 62 // NC
#define AN9 63 // NC
#define AN10 64 // NC
#define AN11 65 // NC
#define AN12 66 // NC
#define AN13 67 // NC
#define AN14 68 // NC
#define AN15 69 // NC
#define RELAY_APM1_PIN 47
#define RELAY_APM2_PIN 13
#define PIEZO_PIN AN5 //Last pin on the back ADC connector
// RADIANS
#define RADX100 0.000174532925
#define DEGX100 5729.57795
// EEPROM addresses
#define EEPROM_MAX_ADDR 4096
// parameters get the first 1536 bytes of EEPROM, remainder is for waypoints
#define WP_START_BYTE 0x600 // where in memory home WP is stored + all other
// WP
#define WP_SIZE 15
// fence points are stored at the end of the EEPROM
#define MAX_FENCEPOINTS 6
#define FENCE_WP_SIZE sizeof(Vector2l)
#define FENCE_START_BYTE (EEPROM_MAX_ADDR-(MAX_FENCEPOINTS*FENCE_WP_SIZE))
#define MAX_WAYPOINTS ((FENCE_START_BYTE - WP_START_BYTE) / WP_SIZE) - 1 // -
// 1
// to
// be
// safe
// mark a function as not to be inlined
#define NOINLINE __attribute__((noinline))
// IMU selection
#define CONFIG_IMU_OILPAN 1
#define CONFIG_IMU_MPU6000 2
#define CONFIG_IMU_SITL 3
#define AP_BARO_BMP085 1
#define AP_BARO_MS5611 2
// Error message sub systems and error codes
#define ERROR_SUBSYSTEM_MAIN 1
#define ERROR_SUBSYSTEM_RADIO 2
#define ERROR_SUBSYSTEM_COMPASS 3
#define ERROR_SUBSYSTEM_OPTFLOW 4
#define ERROR_SUBSYSTEM_FAILSAFE 5
// general error codes
#define ERROR_CODE_ERROR_RESOLVED 0
#define ERROR_CODE_FAILED_TO_INITIALISE 1
// subsystem specific error codes -- radio
#define ERROR_CODE_RADIO_LATE_FRAME 2
// subsystem specific error codes -- failsafe
#define ERROR_CODE_FAILSAFE_THROTTLE 2
#define ERROR_CODE_FAILSAFE_BATTERY 3
#define ERROR_CODE_FAILSAFE_WATCHDOG 4
#endif // _DEFINES_H
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