ardupilot/WaypointWriterCopterMega/defines.h

299 lines
7.4 KiB
C

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// ACM:
// Motors
#define RIGHT CH_1
#define LEFT CH_2
#define FRONT CH_3
#define BACK CH_4
#define RIGHTFRONT CH_7
#define LEFTBACK CH_8
#define MAX_SERVO_OUTPUT 2700
// active altitude sensor
// ----------------------
#define SONAR 0
#define BARO 1
// Frame types
#define PLUS_FRAME 0
#define X_FRAME 1
#define TRI_FRAME 2
#define HEXAX_FRAME 3
#define Y6_FRAME 4
#define HEXAP_FRAME 5
// Internal defines, don't edit and expect things to work
// -------------------------------------------------------
#define TRUE 1
#define FALSE 0
#define ToRad(x) (x*0.01745329252) // *pi/180
#define ToDeg(x) (x*57.2957795131) // *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_MTK16 6
// Radio channels
// Note channels are from 0!
//
// XXX these should be CH_n defines from RC.h at some point.
#define CH_1 0
#define CH_2 1
#define CH_3 2
#define CH_4 3
#define CH_5 4
#define CH_6 5
#define CH_7 6
#define CH_8 7
#define CH_ROLL CH_1
#define CH_PITCH CH_2
#define CH_THROTTLE CH_3
#define CH_RUDDER CH_4
#define CH_YAW CH_4
// HIL enumerations
#define HIL_PROTOCOL_XPLANE 1
#define HIL_PROTOCOL_MAVLINK 2
#define HIL_MODE_DISABLED 0
#define HIL_MODE_ATTITUDE 1
#define HIL_MODE_SENSORS 2
// GCS enumeration
#define GCS_PROTOCOL_STANDARD 0 // standard APM protocol
#define GCS_PROTOCOL_LEGACY 1 // legacy ArduPilot protocol
#define GCS_PROTOCOL_XPLANE 2 // X-Plane HIL simulation
#define GCS_PROTOCOL_DEBUGTERMINAL 3 //Human-readable debug interface for use with a dumb terminal
#define GCS_PROTOCOL_MAVLINK 4 // binary protocol for qgroundcontrol
#define GCS_PROTOCOL_NONE -1 // No GCS output
// Auto Pilot modes
// ----------------
#define STABILIZE 0 // hold level position
#define ACRO 1 // rate control
#define ALT_HOLD 2 // AUTO control
#define SIMPLE 3 //
#define AUTO 4 // AUTO control
#define GCS_AUTO 5 // AUTO control
#define LOITER 6 // Hold a single location
#define RTL 7 // AUTO control
#define NUM_MODES 8
// YAW debug
// ---------
#define YAW_HOLD 0
#define YAW_BRAKE 1
#define YAW_RATE 2
// CH_6 Tuning
// -----------
#define CH6_NONE 0
#define CH6_STABLIZE_KP 1
#define CH6_STABLIZE_KD 2
#define CH6_BARO_KP 3
#define CH6_BARO_KD 4
#define CH6_SONAR_KP 5
#define CH6_SONAR_KD 6
#define CH6_Y6_SCALING 7
// nav byte mask
// -------------
#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
// Nav Yaw Tracking
#define TRACK_NONE 1
#define TRACK_NEXT_WP 2
#define TRACK_TARGET_WP 4
// Waypoint options
#define WP_OPTION_ALT_RELATIVE 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
//repeating events
#define NO_REPEAT 0
#define CH_5_TOGGLE 1
#define CH_6_TOGGLE 2
#define CH_7_TOGGLE 3
#define CH_8_TOGGLE 4
#define RELAY_TOGGLE 5
#define STOP_REPEAT 10
//#define MAV_CMD_CONDITION_YAW 23
// GCS Message ID's
#define MSG_ACKNOWLEDGE 0x00
#define MSG_HEARTBEAT 0x01
#define MSG_ATTITUDE 0x02
#define MSG_LOCATION 0x03
#define MSG_PRESSURE 0x04
#define MSG_STATUS_TEXT 0x05
#define MSG_PERF_REPORT 0x06
#define MSG_MODE_CHANGE 0x07 //This is different than HEARTBEAT because it occurs only when the mode is actually changed
#define MSG_VERSION_REQUEST 0x08
#define MSG_VERSION 0x09
#define MSG_EXTENDED_STATUS 0x0a
#define MSG_CPU_LOAD 0x0b
#define MSG_COMMAND_REQUEST 0x20
#define MSG_COMMAND_UPLOAD 0x21
#define MSG_COMMAND_LIST 0x22
#define MSG_COMMAND_MODE_CHANGE 0x23
#define MSG_CURRENT_WAYPOINT 0x24
#define MSG_VALUE_REQUEST 0x30
#define MSG_VALUE_SET 0x31
#define MSG_VALUE 0x32
#define MSG_PID_REQUEST 0x40
#define MSG_PID_SET 0x41
#define MSG_PID 0x42
#define MSG_VFR_HUD 0x4a
#define MSG_TRIM_STARTUP 0x50
#define MSG_TRIM_MIN 0x51
#define MSG_TRIM_MAX 0x52
#define MSG_RADIO_OUT 0x53
#define MSG_RADIO_IN 0x54
#define MSG_RAW_IMU 0x60
#define MSG_GPS_STATUS 0x61
#define MSG_GPS_RAW 0x62
#define MSG_SERVO_OUT 0x70
#define MSG_PIN_REQUEST 0x80
#define MSG_PIN_SET 0x81
#define MSG_DATAFLASH_REQUEST 0x90
#define MSG_DATAFLASH_SET 0x91
#define MSG_EEPROM_REQUEST 0xa0
#define MSG_EEPROM_SET 0xa1
#define MSG_POSITION_CORRECT 0xb0
#define MSG_ATTITUDE_CORRECT 0xb1
#define MSG_POSITION_SET 0xb2
#define MSG_ATTITUDE_SET 0xb3
#define MSG_LOCAL_LOCATION 0xb4
#define SEVERITY_LOW 1
#define SEVERITY_MEDIUM 2
#define SEVERITY_HIGH 3
#define SEVERITY_CRITICAL 4
// Logging parameters
#define LOG_INDEX_MSG 0xF0
#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 TYPE_AIRSTART_MSG 0x00
#define TYPE_GROUNDSTART_MSG 0x01
#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_CURRENT (1<<9)
#define MASK_LOG_SET_DEFAULTS (1<<15)
// Waypoint Modes
// ----------------
#define ABS_WP 0
#define REL_WP 1
// Command Queues
// ---------------
#define COMMAND_MUST 0
#define COMMAND_MAY 1
#define COMMAND_NOW 2
// Events
// ------
#define EVENT_WILL_REACH_WAYPOINT 1
#define EVENT_SET_NEW_WAYPOINT_INDEX 2
#define EVENT_LOADED_WAYPOINT 3
#define EVENT_LOOP 4
// Climb rate calculations
#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to regress a climb rate from
#define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_DIV_RATIO
#define CURRENT_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*CURR_VOLT_DIV_RATIO
#define CURRENT_AMPS(x) (x*(INPUT_VOLTAGE/1024.0))*CURR_AMP_DIV_RATIO
#define AIRSPEED_CH 7 // The external ADC channel for the airspeed sensor
#define BATTERY_PIN1 0 // These are the pins for the voltage dividers
#define BATTERY_PIN2 1
#define BATTERY_PIN3 2
#define BATTERY_PIN4 3
#define VOLTAGE_PIN_0 0 // These are the pins for current sensor: voltage
#define CURRENT_PIN_1 1 // and current
#define RELAY_PIN 47
// sonar
#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
// Hardware Parameters
#define SLIDE_SWITCH_PIN 40
#define PUSHBUTTON_PIN 41
#define A_LED_PIN 37 //36 = B, 37 = A, 35 = C
#define B_LED_PIN 36
#define C_LED_PIN 35
// EEPROM addresses
#define EEPROM_MAX_ADDR 4096
// parameters get the first 1KiB of EEPROM, remainder is for waypoints
#define WP_START_BYTE 0x400 // where in memory home WP is stored + all other WP
#define WP_SIZE 15
#define ONBOARD_PARAM_NAME_LENGTH 15
#define MAX_WAYPOINTS ((EEPROM_MAX_ADDR - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe