mirror of https://github.com/ArduPilot/ardupilot
64 lines
1.8 KiB
C
64 lines
1.8 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef _DEFINES_H
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#define _DEFINES_H
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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 EEPROM_MAX_ADDR 4096
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// mark a function as not to be inlined
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#define NOINLINE __attribute__((noinline))
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// InertialSensor driver types
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#define CONFIG_INS_OILPAN 1
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#define CONFIG_INS_MPU6000 2
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#define CONFIG_INS_HIL 3
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#define CONFIG_INS_PX4 4
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#define CONFIG_INS_FLYMAPLE 5
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#define CONFIG_INS_L3G4200D 6
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// barometer driver types
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#define AP_BARO_BMP085 1
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#define AP_BARO_MS5611 2
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#define AP_BARO_PX4 3
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#define AP_BARO_HIL 4
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// compass driver types
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#define AP_COMPASS_HMC5843 1
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#define AP_COMPASS_PX4 2
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#define AP_COMPASS_HIL 3
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// In AntennaTracker, EEPROM is used to store waypoint 0 = HOME location, if available
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// EEPROM addresses
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#define EEPROM_MAX_ADDR 4096
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// parameters get the first 1280 bytes of EEPROM, remainder is for waypoints
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#define WP_START_BYTE 0x500 // where in memory home WP is stored + all other
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// WP
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#define WP_SIZE 15
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// Commands - Note that APM now uses a subset of the MAVLink protocol commands. See enum MAV_CMD in the GCS_Mavlink library
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#define CMD_BLANK 0 // there is no command stored in the mem location requested
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#define NO_COMMAND 0
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#define WAIT_COMMAND 255
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// Command/Waypoint/Location Options Bitmask
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//--------------------
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#define MASK_OPTIONS_RELATIVE_ALT (1<<0) // 1 = Relative
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// altitude
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#define MASK_OPTIONS_LOITER_DIRECTION (1<<2) // 0 = CW
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// 1 = CCW
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// Controller modes
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// ----------------
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enum ControlMode {
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MANUAL=0,
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AUTO=10,
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INITIALISING=16
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};
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#endif // _DEFINES_H
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