mirror of https://github.com/ArduPilot/ardupilot
510 lines
23 KiB
C
510 lines
23 KiB
C
#pragma once
|
|
|
|
#include <AP_HAL/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
|
|
|
|
// Autopilot Yaw Mode enumeration
|
|
enum autopilot_yaw_mode {
|
|
AUTO_YAW_HOLD = 0, // pilot controls the heading
|
|
AUTO_YAW_LOOK_AT_NEXT_WP = 1, // point towards next waypoint (no pilot input accepted)
|
|
AUTO_YAW_ROI = 2, // point towards a location held in roi_WP (no pilot input accepted)
|
|
AUTO_YAW_LOOK_AT_HEADING = 3, // point towards a particular angle (not pilot input accepted)
|
|
AUTO_YAW_LOOK_AHEAD = 4, // point in the direction the copter is moving
|
|
AUTO_YAW_RESETTOARMEDYAW = 5, // point towards heading at time motors were armed
|
|
AUTO_YAW_RATE = 6, // turn at a specified rate (held in auto_yaw_rate)
|
|
};
|
|
|
|
// Ch6... Ch12 aux switch control
|
|
#define AUX_SWITCH_PWM_TRIGGER_HIGH 1800 // pwm value above which the ch7 or ch8 option will be invoked
|
|
#define AUX_SWITCH_PWM_TRIGGER_LOW 1200 // pwm value below which the ch7 or ch8 option will be disabled
|
|
|
|
// values used by the ap.ch7_opt and ap.ch8_opt flags
|
|
#define AUX_SWITCH_LOW 0 // indicates auxiliary switch is in the low position (pwm <1200)
|
|
#define AUX_SWITCH_MIDDLE 1 // indicates auxiliary switch is in the middle position (pwm >1200, <1800)
|
|
#define AUX_SWITCH_HIGH 2 // indicates auxiliary switch is in the high position (pwm >1800)
|
|
|
|
// Aux Switch enumeration
|
|
enum aux_sw_func {
|
|
AUXSW_DO_NOTHING = 0, // aux switch disabled
|
|
AUXSW_FLIP = 2, // flip
|
|
AUXSW_SIMPLE_MODE = 3, // change to simple mode
|
|
AUXSW_RTL = 4, // change to RTL flight mode
|
|
AUXSW_SAVE_TRIM = 5, // save current position as level
|
|
AUXSW_SAVE_WP = 7, // save mission waypoint or RTL if in auto mode
|
|
AUXSW_CAMERA_TRIGGER = 9, // trigger camera servo or relay
|
|
AUXSW_RANGEFINDER = 10, // allow enabling or disabling rangefinder in flight which helps avoid surface tracking when you are far above the ground
|
|
AUXSW_FENCE = 11, // allow enabling or disabling fence in flight
|
|
AUXSW_RESETTOARMEDYAW = 12, // deprecated. changes yaw to be same as when quad was armed
|
|
AUXSW_SUPERSIMPLE_MODE = 13, // change to simple mode in middle, super simple at top
|
|
AUXSW_ACRO_TRAINER = 14, // low = disabled, middle = leveled, high = leveled and limited
|
|
AUXSW_SPRAYER = 15, // enable/disable the crop sprayer
|
|
AUXSW_AUTO = 16, // change to auto flight mode
|
|
AUXSW_AUTOTUNE = 17, // auto tune
|
|
AUXSW_LAND = 18, // change to LAND flight mode
|
|
AUXSW_GRIPPER = 19, // Operate cargo grippers low=off, middle=neutral, high=on
|
|
AUXSW_PARACHUTE_ENABLE = 21, // Parachute enable/disable
|
|
AUXSW_PARACHUTE_RELEASE = 22, // Parachute release
|
|
AUXSW_PARACHUTE_3POS = 23, // Parachute disable, enable, release with 3 position switch
|
|
AUXSW_MISSION_RESET = 24, // Reset auto mission to start from first command
|
|
AUXSW_ATTCON_FEEDFWD = 25, // enable/disable the roll and pitch rate feed forward
|
|
AUXSW_ATTCON_ACCEL_LIM = 26, // enable/disable the roll, pitch and yaw accel limiting
|
|
AUXSW_RETRACT_MOUNT = 27, // Retract Mount
|
|
AUXSW_RELAY = 28, // Relay pin on/off (only supports first relay)
|
|
AUXSW_LANDING_GEAR = 29, // Landing gear controller
|
|
AUXSW_LOST_COPTER_SOUND = 30, // Play lost copter sound
|
|
AUXSW_MOTOR_ESTOP = 31, // Emergency Stop Switch
|
|
AUXSW_MOTOR_INTERLOCK = 32, // Motor On/Off switch
|
|
AUXSW_BRAKE = 33, // Brake flight mode
|
|
AUXSW_RELAY2 = 34, // Relay2 pin on/off (in Mission planner set CH8_OPT = 34)
|
|
AUXSW_RELAY3 = 35, // Relay3 pin on/off (in Mission planner set CH9_OPT = 35)
|
|
AUXSW_RELAY4 = 36, // Relay4 pin on/off (in Mission planner set CH10_OPT = 36)
|
|
AUXSW_THROW = 37, // change to THROW flight mode
|
|
AUXSW_AVOID_ADSB = 38, // enable AP_Avoidance library
|
|
AUXSW_PRECISION_LOITER = 39, // enable precision loiter
|
|
AUXSW_AVOID_PROXIMITY = 40, // enable object avoidance using proximity sensors (ie. horizontal lidar)
|
|
AUXSW_ARMDISARM = 41, // arm or disarm vehicle
|
|
AUXSW_SMART_RTL = 42, // change to SmartRTL flight mode
|
|
AUXSW_INVERTED = 43, // enable inverted flight
|
|
AUXSW_WINCH_ENABLE = 44, // winch enable/disable
|
|
AUXSW_WINCH_CONTROL = 45, // winch control
|
|
AUXSW_RC_OVERRIDE_ENABLE = 46, // enable RC Override
|
|
AUXSW_SWITCH_MAX,
|
|
};
|
|
|
|
// Frame types
|
|
#define UNDEFINED_FRAME 0
|
|
#define MULTICOPTER_FRAME 1
|
|
#define HELI_FRAME 2
|
|
|
|
// HIL enumerations
|
|
#define HIL_MODE_DISABLED 0
|
|
#define HIL_MODE_SENSORS 1
|
|
|
|
// Auto Pilot Modes enumeration
|
|
enum control_mode_t {
|
|
STABILIZE = 0, // manual airframe angle with manual throttle
|
|
ACRO = 1, // manual body-frame angular rate with manual throttle
|
|
ALT_HOLD = 2, // manual airframe angle with automatic throttle
|
|
AUTO = 3, // fully automatic waypoint control using mission commands
|
|
GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
|
|
LOITER = 5, // automatic horizontal acceleration with automatic throttle
|
|
RTL = 6, // automatic return to launching point
|
|
CIRCLE = 7, // automatic circular flight with automatic throttle
|
|
LAND = 9, // automatic landing with horizontal position control
|
|
DRIFT = 11, // semi-automous position, yaw and throttle control
|
|
SPORT = 13, // manual earth-frame angular rate control with manual throttle
|
|
FLIP = 14, // automatically flip the vehicle on the roll axis
|
|
AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains
|
|
POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
|
|
BRAKE = 17, // full-brake using inertial/GPS system, no pilot input
|
|
THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input
|
|
AVOID_ADSB = 19, // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
|
|
GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude
|
|
SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps
|
|
FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder
|
|
FOLLOW = 23, // follow attempts to follow another vehicle or ground station
|
|
};
|
|
|
|
enum mode_reason_t {
|
|
MODE_REASON_UNKNOWN=0,
|
|
MODE_REASON_TX_COMMAND,
|
|
MODE_REASON_GCS_COMMAND,
|
|
MODE_REASON_RADIO_FAILSAFE,
|
|
MODE_REASON_BATTERY_FAILSAFE,
|
|
MODE_REASON_GCS_FAILSAFE,
|
|
MODE_REASON_EKF_FAILSAFE,
|
|
MODE_REASON_GPS_GLITCH,
|
|
MODE_REASON_MISSION_END,
|
|
MODE_REASON_THROTTLE_LAND_ESCAPE,
|
|
MODE_REASON_FENCE_BREACH,
|
|
MODE_REASON_TERRAIN_FAILSAFE,
|
|
MODE_REASON_BRAKE_TIMEOUT,
|
|
MODE_REASON_FLIP_COMPLETE,
|
|
MODE_REASON_AVOIDANCE,
|
|
MODE_REASON_AVOIDANCE_RECOVERY,
|
|
MODE_REASON_THROW_COMPLETE,
|
|
MODE_REASON_TERMINATE,
|
|
MODE_REASON_TMODE,
|
|
};
|
|
|
|
// Tuning enumeration
|
|
enum tuning_func {
|
|
TUNING_NONE = 0, //
|
|
TUNING_STABILIZE_ROLL_PITCH_KP = 1, // stabilize roll/pitch angle controller's P term
|
|
TUNING_STABILIZE_YAW_KP = 3, // stabilize yaw heading controller's P term
|
|
TUNING_RATE_ROLL_PITCH_KP = 4, // body frame roll/pitch rate controller's P term
|
|
TUNING_RATE_ROLL_PITCH_KI = 5, // body frame roll/pitch rate controller's I term
|
|
TUNING_YAW_RATE_KP = 6, // body frame yaw rate controller's P term
|
|
TUNING_THROTTLE_RATE_KP = 7, // throttle rate controller's P term (desired rate to acceleration or motor output)
|
|
TUNING_WP_SPEED = 10, // maximum speed to next way point (0 to 10m/s)
|
|
TUNING_LOITER_POSITION_KP = 12, // loiter distance controller's P term (position error to speed)
|
|
TUNING_HELI_EXTERNAL_GYRO = 13, // TradHeli specific external tail gyro gain
|
|
TUNING_ALTITUDE_HOLD_KP = 14, // altitude hold controller's P term (alt error to desired rate)
|
|
TUNING_RATE_ROLL_PITCH_KD = 21, // body frame roll/pitch rate controller's D term
|
|
TUNING_VEL_XY_KP = 22, // loiter rate controller's P term (speed error to tilt angle)
|
|
TUNING_ACRO_RP_KP = 25, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
|
|
TUNING_YAW_RATE_KD = 26, // body frame yaw rate controller's D term
|
|
TUNING_VEL_XY_KI = 28, // loiter rate controller's I term (speed error to tilt angle)
|
|
TUNING_AHRS_YAW_KP = 30, // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
|
|
TUNING_AHRS_KP = 31, // accelerometer effect on roll/pitch angle (0=low)
|
|
TUNING_ACCEL_Z_KP = 34, // accel based throttle controller's P term
|
|
TUNING_ACCEL_Z_KI = 35, // accel based throttle controller's I term
|
|
TUNING_ACCEL_Z_KD = 36, // accel based throttle controller's D term
|
|
TUNING_DECLINATION = 38, // compass declination in radians
|
|
TUNING_CIRCLE_RATE = 39, // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
|
|
TUNING_ACRO_YAW_KP = 40, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
|
|
TUNING_RANGEFINDER_GAIN = 41, // rangefinder gain
|
|
TUNING_EKF_VERTICAL_POS = 42, // EKF's baro vs accel (higher rely on accels more, baro impact is reduced). Range should be 0.2 ~ 4.0? 2.0 is default
|
|
TUNING_EKF_HORIZONTAL_POS = 43, // EKF's gps vs accel (higher rely on accels more, gps impact is reduced). Range should be 1.0 ~ 3.0? 1.5 is default
|
|
TUNING_EKF_ACCEL_NOISE = 44, // EKF's accel noise (lower means trust accels more, gps & baro less). Range should be 0.02 ~ 0.5 0.5 is default (but very robust at that level)
|
|
TUNING_RC_FEEL_RP = 45, // roll-pitch input smoothing
|
|
TUNING_RATE_PITCH_KP = 46, // body frame pitch rate controller's P term
|
|
TUNING_RATE_PITCH_KI = 47, // body frame pitch rate controller's I term
|
|
TUNING_RATE_PITCH_KD = 48, // body frame pitch rate controller's D term
|
|
TUNING_RATE_ROLL_KP = 49, // body frame roll rate controller's P term
|
|
TUNING_RATE_ROLL_KI = 50, // body frame roll rate controller's I term
|
|
TUNING_RATE_ROLL_KD = 51, // body frame roll rate controller's D term
|
|
TUNING_RATE_PITCH_FF = 52, // body frame pitch rate controller FF term
|
|
TUNING_RATE_ROLL_FF = 53, // body frame roll rate controller FF term
|
|
TUNING_RATE_YAW_FF = 54, // body frame yaw rate controller FF term
|
|
TUNING_RATE_MOT_YAW_HEADROOM = 55, // motors yaw headroom minimum
|
|
TUNING_RATE_YAW_FILT = 56, // yaw rate input filter
|
|
TUNING_WINCH = 57 // winch control (not actually a value to be tuned)
|
|
};
|
|
|
|
// Acro Trainer types
|
|
#define ACRO_TRAINER_DISABLED 0
|
|
#define ACRO_TRAINER_LEVELING 1
|
|
#define ACRO_TRAINER_LIMITED 2
|
|
|
|
// Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter
|
|
#define WP_YAW_BEHAVIOR_NONE 0 // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received)
|
|
#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP 1 // auto pilot will face next waypoint or home during rtl
|
|
#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL 2 // auto pilot will face next waypoint except when doing RTL at which time it will stay in it's last
|
|
#define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicotpers)
|
|
|
|
// Auto modes
|
|
enum AutoMode {
|
|
Auto_TakeOff,
|
|
Auto_WP,
|
|
Auto_Land,
|
|
Auto_RTL,
|
|
Auto_CircleMoveToEdge,
|
|
Auto_Circle,
|
|
Auto_Spline,
|
|
Auto_NavGuided,
|
|
Auto_Loiter,
|
|
Auto_NavPayloadPlace,
|
|
};
|
|
|
|
// Guided modes
|
|
enum GuidedMode {
|
|
Guided_TakeOff,
|
|
Guided_WP,
|
|
Guided_Velocity,
|
|
Guided_PosVel,
|
|
Guided_Angle,
|
|
};
|
|
|
|
// RTL states
|
|
enum RTLState {
|
|
RTL_InitialClimb,
|
|
RTL_ReturnHome,
|
|
RTL_LoiterAtHome,
|
|
RTL_FinalDescent,
|
|
RTL_Land
|
|
};
|
|
|
|
// Safe RTL states
|
|
enum SmartRTLState {
|
|
SmartRTL_WaitForPathCleanup,
|
|
SmartRTL_PathFollow,
|
|
SmartRTL_PreLandPosition,
|
|
SmartRTL_Descend,
|
|
SmartRTL_Land
|
|
};
|
|
|
|
// Alt_Hold states
|
|
enum AltHoldModeState {
|
|
AltHold_MotorStopped,
|
|
AltHold_Takeoff,
|
|
AltHold_Flying,
|
|
AltHold_Landed
|
|
};
|
|
|
|
// Loiter states
|
|
enum LoiterModeState {
|
|
Loiter_MotorStopped,
|
|
Loiter_Takeoff,
|
|
Loiter_Flying,
|
|
Loiter_Landed
|
|
};
|
|
|
|
// Sport states
|
|
enum SportModeState {
|
|
Sport_MotorStopped,
|
|
Sport_Takeoff,
|
|
Sport_Flying,
|
|
Sport_Landed
|
|
};
|
|
|
|
// Flip states
|
|
enum FlipState {
|
|
Flip_Start,
|
|
Flip_Roll,
|
|
Flip_Pitch_A,
|
|
Flip_Pitch_B,
|
|
Flip_Recover,
|
|
Flip_Abandon
|
|
};
|
|
|
|
// Throw stages
|
|
enum ThrowModeStage {
|
|
Throw_Disarmed,
|
|
Throw_Detecting,
|
|
Throw_Uprighting,
|
|
Throw_HgtStabilise,
|
|
Throw_PosHold
|
|
};
|
|
|
|
// Throw types
|
|
enum ThrowModeType {
|
|
ThrowType_Upward = 0,
|
|
ThrowType_Drop = 1
|
|
};
|
|
|
|
enum LandStateType {
|
|
LandStateType_FlyToLocation = 0,
|
|
LandStateType_Descending = 1
|
|
};
|
|
|
|
enum PayloadPlaceStateType {
|
|
PayloadPlaceStateType_FlyToLocation,
|
|
PayloadPlaceStateType_Calibrating_Hover_Start,
|
|
PayloadPlaceStateType_Calibrating_Hover,
|
|
PayloadPlaceStateType_Descending_Start,
|
|
PayloadPlaceStateType_Descending,
|
|
PayloadPlaceStateType_Releasing_Start,
|
|
PayloadPlaceStateType_Releasing,
|
|
PayloadPlaceStateType_Released,
|
|
PayloadPlaceStateType_Ascending_Start,
|
|
PayloadPlaceStateType_Ascending,
|
|
PayloadPlaceStateType_Done,
|
|
};
|
|
|
|
// bit options for DEV_OPTIONS parameter
|
|
enum DevOptions {
|
|
DevOptionADSBMAVLink = 1,
|
|
};
|
|
|
|
// Logging parameters
|
|
enum LoggingParameters {
|
|
TYPE_AIRSTART_MSG,
|
|
TYPE_GROUNDSTART_MSG,
|
|
LOG_CONTROL_TUNING_MSG,
|
|
LOG_NAV_TUNING_MSG,
|
|
LOG_OPTFLOW_MSG,
|
|
LOG_EVENT_MSG,
|
|
LOG_ERROR_MSG,
|
|
LOG_DATA_INT16_MSG,
|
|
LOG_DATA_UINT16_MSG,
|
|
LOG_DATA_INT32_MSG,
|
|
LOG_DATA_UINT32_MSG,
|
|
LOG_DATA_FLOAT_MSG,
|
|
LOG_AUTOTUNE_MSG,
|
|
LOG_AUTOTUNEDETAILS_MSG,
|
|
LOG_MOTBATT_MSG,
|
|
LOG_PARAMTUNE_MSG,
|
|
LOG_HELI_MSG,
|
|
LOG_PRECLAND_MSG,
|
|
LOG_GUIDEDTARGET_MSG,
|
|
LOG_THROW_MSG,
|
|
};
|
|
|
|
#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_RCIN (1<<6)
|
|
#define MASK_LOG_IMU (1<<7)
|
|
#define MASK_LOG_CMD (1<<8)
|
|
#define MASK_LOG_CURRENT (1<<9)
|
|
#define MASK_LOG_RCOUT (1<<10)
|
|
#define MASK_LOG_OPTFLOW (1<<11)
|
|
#define MASK_LOG_PID (1<<12)
|
|
#define MASK_LOG_COMPASS (1<<13)
|
|
#define MASK_LOG_INAV (1<<14) // deprecated
|
|
#define MASK_LOG_CAMERA (1<<15)
|
|
#define MASK_LOG_MOTBATT (1UL<<17)
|
|
#define MASK_LOG_IMU_FAST (1UL<<18)
|
|
#define MASK_LOG_IMU_RAW (1UL<<19)
|
|
#define MASK_LOG_ANY 0xFFFF
|
|
|
|
// DATA - event logging
|
|
#define DATA_AP_STATE 7
|
|
#define DATA_SYSTEM_TIME_SET 8
|
|
#define DATA_INIT_SIMPLE_BEARING 9
|
|
#define DATA_ARMED 10
|
|
#define DATA_DISARMED 11
|
|
#define DATA_AUTO_ARMED 15
|
|
#define DATA_LAND_COMPLETE_MAYBE 17
|
|
#define DATA_LAND_COMPLETE 18
|
|
#define DATA_NOT_LANDED 28
|
|
#define DATA_LOST_GPS 19
|
|
#define DATA_FLIP_START 21
|
|
#define DATA_FLIP_END 22
|
|
#define DATA_SET_HOME 25
|
|
#define DATA_SET_SIMPLE_ON 26
|
|
#define DATA_SET_SIMPLE_OFF 27
|
|
#define DATA_SET_SUPERSIMPLE_ON 29
|
|
#define DATA_AUTOTUNE_INITIALISED 30
|
|
#define DATA_AUTOTUNE_OFF 31
|
|
#define DATA_AUTOTUNE_RESTART 32
|
|
#define DATA_AUTOTUNE_SUCCESS 33
|
|
#define DATA_AUTOTUNE_FAILED 34
|
|
#define DATA_AUTOTUNE_REACHED_LIMIT 35
|
|
#define DATA_AUTOTUNE_PILOT_TESTING 36
|
|
#define DATA_AUTOTUNE_SAVEDGAINS 37
|
|
#define DATA_SAVE_TRIM 38
|
|
#define DATA_SAVEWP_ADD_WP 39
|
|
#define DATA_FENCE_ENABLE 41
|
|
#define DATA_FENCE_DISABLE 42
|
|
#define DATA_ACRO_TRAINER_DISABLED 43
|
|
#define DATA_ACRO_TRAINER_LEVELING 44
|
|
#define DATA_ACRO_TRAINER_LIMITED 45
|
|
#define DATA_GRIPPER_GRAB 46
|
|
#define DATA_GRIPPER_RELEASE 47
|
|
#define DATA_PARACHUTE_DISABLED 49
|
|
#define DATA_PARACHUTE_ENABLED 50
|
|
#define DATA_PARACHUTE_RELEASED 51
|
|
#define DATA_LANDING_GEAR_DEPLOYED 52
|
|
#define DATA_LANDING_GEAR_RETRACTED 53
|
|
#define DATA_MOTORS_EMERGENCY_STOPPED 54
|
|
#define DATA_MOTORS_EMERGENCY_STOP_CLEARED 55
|
|
#define DATA_MOTORS_INTERLOCK_DISABLED 56
|
|
#define DATA_MOTORS_INTERLOCK_ENABLED 57
|
|
#define DATA_ROTOR_RUNUP_COMPLETE 58 // Heli only
|
|
#define DATA_ROTOR_SPEED_BELOW_CRITICAL 59 // Heli only
|
|
#define DATA_EKF_ALT_RESET 60
|
|
#define DATA_LAND_CANCELLED_BY_PILOT 61
|
|
#define DATA_EKF_YAW_RESET 62
|
|
#define DATA_AVOIDANCE_ADSB_ENABLE 63
|
|
#define DATA_AVOIDANCE_ADSB_DISABLE 64
|
|
#define DATA_AVOIDANCE_PROXIMITY_ENABLE 65
|
|
#define DATA_AVOIDANCE_PROXIMITY_DISABLE 66
|
|
#define DATA_GPS_PRIMARY_CHANGED 67
|
|
#define DATA_WINCH_RELAXED 68
|
|
#define DATA_WINCH_LENGTH_CONTROL 69
|
|
#define DATA_WINCH_RATE_CONTROL 70
|
|
|
|
// 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_RADIO 5
|
|
#define ERROR_SUBSYSTEM_FAILSAFE_BATT 6
|
|
#define ERROR_SUBSYSTEM_FAILSAFE_GPS 7 // not used
|
|
#define ERROR_SUBSYSTEM_FAILSAFE_GCS 8
|
|
#define ERROR_SUBSYSTEM_FAILSAFE_FENCE 9
|
|
#define ERROR_SUBSYSTEM_FLIGHT_MODE 10
|
|
#define ERROR_SUBSYSTEM_GPS 11
|
|
#define ERROR_SUBSYSTEM_CRASH_CHECK 12
|
|
#define ERROR_SUBSYSTEM_FLIP 13
|
|
#define ERROR_SUBSYSTEM_AUTOTUNE 14
|
|
#define ERROR_SUBSYSTEM_PARACHUTE 15
|
|
#define ERROR_SUBSYSTEM_EKFCHECK 16
|
|
#define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV 17
|
|
#define ERROR_SUBSYSTEM_BARO 18
|
|
#define ERROR_SUBSYSTEM_CPU 19
|
|
#define ERROR_SUBSYSTEM_FAILSAFE_ADSB 20
|
|
#define ERROR_SUBSYSTEM_TERRAIN 21
|
|
#define ERROR_SUBSYSTEM_NAVIGATION 22
|
|
#define ERROR_SUBSYSTEM_FAILSAFE_TERRAIN 23
|
|
#define ERROR_SUBSYSTEM_EKF_PRIMARY 24
|
|
// general error codes
|
|
#define ERROR_CODE_ERROR_RESOLVED 0
|
|
#define ERROR_CODE_FAILED_TO_INITIALISE 1
|
|
#define ERROR_CODE_UNHEALTHY 4
|
|
// subsystem specific error codes -- radio
|
|
#define ERROR_CODE_RADIO_LATE_FRAME 2
|
|
// subsystem specific error codes -- failsafe_thr, batt, gps
|
|
#define ERROR_CODE_FAILSAFE_RESOLVED 0
|
|
#define ERROR_CODE_FAILSAFE_OCCURRED 1
|
|
// subsystem specific error codes -- compass
|
|
#define ERROR_CODE_COMPASS_FAILED_TO_READ 2
|
|
// subsystem specific error codes -- main
|
|
#define ERROR_CODE_MAIN_INS_DELAY 1
|
|
// subsystem specific error codes -- crash checker
|
|
#define ERROR_CODE_CRASH_CHECK_CRASH 1
|
|
#define ERROR_CODE_CRASH_CHECK_LOSS_OF_CONTROL 2
|
|
// subsystem specific error codes -- flip
|
|
#define ERROR_CODE_FLIP_ABANDONED 2
|
|
// subsystem specific error codes -- terrain
|
|
#define ERROR_CODE_MISSING_TERRAIN_DATA 2
|
|
// subsystem specific error codes -- navigation
|
|
#define ERROR_CODE_FAILED_TO_SET_DESTINATION 2
|
|
#define ERROR_CODE_RESTARTED_RTL 3
|
|
#define ERROR_CODE_FAILED_CIRCLE_INIT 4
|
|
#define ERROR_CODE_DEST_OUTSIDE_FENCE 5
|
|
|
|
// parachute failed to deploy because of low altitude or landed
|
|
#define ERROR_CODE_PARACHUTE_TOO_LOW 2
|
|
#define ERROR_CODE_PARACHUTE_LANDED 3
|
|
// EKF check definitions
|
|
#define ERROR_CODE_EKFCHECK_BAD_VARIANCE 2
|
|
#define ERROR_CODE_EKFCHECK_VARIANCE_CLEARED 0
|
|
// Baro specific error codes
|
|
#define ERROR_CODE_BARO_GLITCH 2
|
|
// GPS specific error coces
|
|
#define ERROR_CODE_GPS_GLITCH 2
|
|
|
|
// Radio failsafe definitions (FS_THR parameter)
|
|
#define FS_THR_DISABLED 0
|
|
#define FS_THR_ENABLED_ALWAYS_RTL 1
|
|
#define FS_THR_ENABLED_CONTINUE_MISSION 2
|
|
#define FS_THR_ENABLED_ALWAYS_LAND 3
|
|
#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_RTL 4
|
|
#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_LAND 5
|
|
|
|
// Battery failsafe definitions (FS_BATT_ENABLE parameter)
|
|
#define FS_BATT_DISABLED 0 // battery failsafe disabled
|
|
#define FS_BATT_LAND 1 // switch to LAND mode on battery failsafe
|
|
#define FS_BATT_RTL 2 // switch to RTL mode on battery failsafe
|
|
#define FS_BATT_SMARTRTL_OR_RTL 3 // switch to SmartRTL, if can't, switch to RTL
|
|
#define FS_BATT_SMARTRTL_OR_LAND 4 // switch to SmartRTL, if can't, swtich to LAND
|
|
|
|
// GCS failsafe definitions (FS_GCS_ENABLE parameter)
|
|
#define FS_GCS_DISABLED 0
|
|
#define FS_GCS_ENABLED_ALWAYS_RTL 1
|
|
#define FS_GCS_ENABLED_CONTINUE_MISSION 2
|
|
#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL 3
|
|
#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4
|
|
|
|
// EKF failsafe definitions (FS_EKF_ACTION parameter)
|
|
#define FS_EKF_ACTION_LAND 1 // switch to LAND mode on EKF failsafe
|
|
#define FS_EKF_ACTION_ALTHOLD 2 // switch to ALTHOLD mode on EKF failsafe
|
|
#define FS_EKF_ACTION_LAND_EVEN_STABILIZE 3 // switch to Land mode on EKF failsafe even if in a manual flight mode like stabilize
|
|
|
|
// 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 PILOT_THR_BHV parameter
|
|
#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
|
|
#define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
|
|
#define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)
|