mirror of https://github.com/ArduPilot/ardupilot
114 lines
3.3 KiB
C
114 lines
3.3 KiB
C
#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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// Just so that it's completely clear...
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#define ENABLED 1
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#define DISABLED 0
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// this avoids a very common config error
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#define ENABLE ENABLED
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#define DISABLE DISABLED
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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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// 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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// 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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enum GuidedMode {
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Guided_WP,
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Guided_Angle,
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Guided_Velocity
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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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// 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 LOG_GUIDEDTARGET_MSG 0x0E
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#define LOG_ERROR_MSG 0x13
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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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// for mavlink SET_POSITION_TARGET messages
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#define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1) | (1<<2))
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#define MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE ((1<<3) | (1<<4) | (1<<5))
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#define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7) | (1<<8))
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#define MAVLINK_SET_POS_TYPE_MASK_FORCE (1<<9)
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#define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10)
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#define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)
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// for mavlink SET_ATTITUDE_TARGET messages
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#define MAVLINK_SET_ATT_TYPE_MASK_ROLL_RATE_IGNORE (1<<0)
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#define MAVLINK_SET_ATT_TYPE_MASK_PITCH_RATE_IGNORE (1<<1)
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#define MAVLINK_SET_ATT_TYPE_MASK_YAW_RATE_IGNORE (1<<2)
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#define MAVLINK_SET_ATT_TYPE_MASK_THROTTLE_IGNORE (1<<6)
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#define MAVLINK_SET_ATT_TYPE_MASK_ATTITUDE_IGNORE (1<<7)
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// Error message sub systems and error codes
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#define ERROR_SUBSYSTEM_CRASH_CHECK 12
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// subsystem specific error codes -- crash checker
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#define ERROR_CODE_CRASH_CHECK_CRASH 1
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enum fs_crash_action {
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FS_CRASH_DISABLE = 0,
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FS_CRASH_HOLD = 1,
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FS_CRASH_HOLD_AND_DISARM = 2
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};
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#define DISTANCE_HOME_MAX 0.5f // Distance max to home location before changing it when disarm
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