ardupilot/ArduSub/defines.h

327 lines
13 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
#define BOTTOM_DETECTOR_TRIGGER_SEC 1.0
#define SURFACE_DETECTOR_TRIGGER_SEC 1.0
enum AutoSurfaceState {
AUTO_SURFACE_STATE_GO_TO_LOCATION,
AUTO_SURFACE_STATE_ASCEND
};
// 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 vehicle is moving
AUTO_YAW_RESETTOARMEDYAW = 5, // point towards heading at time motors were armed
AUTO_YAW_CORRECT_XTRACK = 6 // steer the sub in order to correct for crosstrack error during line following
};
// Auto Pilot Modes enumeration
enum control_mode_t {
STABILIZE = 0, // manual angle with manual depth/throttle
ACRO = 1, // manual body-frame angular rate with manual depth/throttle
ALT_HOLD = 2, // manual angle with automatic depth/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
CIRCLE = 7, // automatic circular flight with automatic throttle
SURFACE = 9, // automatically return to surface, pilot maintains horizontal control
POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
MANUAL = 19 // Pass-through input with no stabilization
};
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_SURFACE_ESCAPE,
MODE_REASON_FENCE_BREACH,
MODE_REASON_TERRAIN_FAILSAFE,
MODE_REASON_SURFACE_COMPLETE,
MODE_REASON_LEAK_FAILSAFE,
MODE_REASON_BAD_DEPTH
};
// Acro Trainer types
#define ACRO_TRAINER_DISABLED 0
#define ACRO_TRAINER_LEVELING 1
#define ACRO_TRAINER_LIMITED 2
// RC Feel roll/pitch definitions
#define RC_FEEL_RP_VERY_SOFT 0
#define RC_FEEL_RP_SOFT 25
#define RC_FEEL_RP_MEDIUM 50
#define RC_FEEL_RP_CRISP 75
#define RC_FEEL_RP_VERY_CRISP 100
// 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)
#define WP_YAW_BEHAVIOR_CORRECT_XTRACK 4 // point towards intermediate position target during line following
// Auto modes
enum AutoMode {
Auto_WP,
Auto_CircleMoveToEdge,
Auto_Circle,
Auto_Spline,
Auto_NavGuided,
Auto_Loiter,
Auto_TerrainRecover
};
// Guided modes
enum GuidedMode {
Guided_WP,
Guided_Velocity,
Guided_PosVel,
Guided_Angle,
};
// RTL states
enum RTLState {
RTL_InitialClimb,
RTL_ReturnHome,
RTL_LoiterAtHome,
RTL_FinalDescent,
RTL_Land
};
// Logging parameters
#define TYPE_AIRSTART_MSG 0x00
#define TYPE_GROUNDSTART_MSG 0x01
#define LOG_CONTROL_TUNING_MSG 0x04
#define LOG_NAV_TUNING_MSG 0x05
#define LOG_PERFORMANCE_MSG 0x06
#define LOG_OPTFLOW_MSG 0x0C
#define LOG_EVENT_MSG 0x0D
#define LOG_ERROR_MSG 0x13
#define LOG_DATA_INT16_MSG 0x14
#define LOG_DATA_UINT16_MSG 0x15
#define LOG_DATA_INT32_MSG 0x16
#define LOG_DATA_UINT32_MSG 0x17
#define LOG_DATA_FLOAT_MSG 0x18
#define LOG_MOTBATT_MSG 0x1E
#define LOG_PARAMTUNE_MSG 0x1F
#define LOG_GUIDEDTARGET_MSG 0x22
#define LOG_PROXIMITY_MSG 0x24
#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_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_ARMED 10
#define DATA_DISARMED 11
#define DATA_LOST_GPS 19
#define DATA_SET_HOME 25
#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_EKF_ALT_RESET 60
#define DATA_SURFACE_CANCELLED_BY_PILOT 61
#define DATA_EKF_YAW_RESET 62
#define DATA_SURFACED 63
#define DATA_NOT_SURFACED 64
#define DATA_BOTTOMED 65
#define DATA_NOT_BOTTOMED 66
// Centi-degrees to radians
#define DEGX100 5729.57795f
// Error message sub systems and error codes
#define ERROR_SUBSYSTEM_MAIN 1
#define ERROR_SUBSYSTEM_INPUT 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 // not used
#define ERROR_SUBSYSTEM_CRASH_CHECK 12
#define ERROR_SUBSYSTEM_EKFCHECK 16
#define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV 17
#define ERROR_SUBSYSTEM_BARO 18
#define ERROR_SUBSYSTEM_CPU 19
#define ERROR_SUBSYSTEM_TERRAIN 21
#define ERROR_SUBSYSTEM_NAVIGATION 22
#define ERROR_SUBSYSTEM_FAILSAFE_TERRAIN 23
#define ERROR_SUBSYSTEM_FAILSAFE_LEAK 24
#define ERROR_SUBSYSTEM_FAILSAFE_SENSORS 25
// 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 -- 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
// EKF check definitions
#define ERROR_CODE_EKFCHECK_BAD_VARIANCE 2
#define ERROR_CODE_EKFCHECK_VARIANCE_CLEARED 0
// Baro specific error codes
#define ERROR_CODE_BAD_DEPTH 0
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//
#ifndef FS_BATT_VOLTAGE_DEFAULT
# define FS_BATT_VOLTAGE_DEFAULT 0 // default battery voltage below which failsafe will be triggered
#endif
#ifndef FS_BATT_MAH_DEFAULT
# define FS_BATT_MAH_DEFAULT 0 // default battery capacity (in mah) below which failsafe will be triggered
#endif
// GCS failsafe
#ifndef FS_GCS
# define FS_GCS DISABLED
#endif
#ifndef FS_GCS_TIMEOUT_MS
# define FS_GCS_TIMEOUT_MS 2500 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
#endif
// missing terrain data failsafe
#ifndef FS_TERRAIN_TIMEOUT_MS
#define FS_TERRAIN_TIMEOUT_MS 1000 // 1 second of unhealthy rangefinder and/or missing terrain data will trigger failsafe
#endif
//////////////////////////////////////////////////////////////////////////////
// EKF Failsafe
// EKF failsafe definitions (FS_EKF_ENABLE parameter)
#define FS_EKF_ACTION_DISABLED 0 // Disabled
#define FS_EKF_ACTION_WARN_ONLY 1 // Send warning to gcs
#define FS_EKF_ACTION_DISARM 2 // Disarm
#ifndef FS_EKF_ACTION_DEFAULT
# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_DISABLED // EKF failsafe
#endif
#ifndef FS_EKF_THRESHOLD_DEFAULT
# define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
#endif
// Battery failsafe definitions (FS_BATT_ENABLE parameter)
#define FS_BATT_DISABLED 0 // battery failsafe disabled
#define FS_BATT_WARN_ONLY 1 // only warn gcs on battery failsafe
#define FS_BATT_DISARM 2 // disarm on battery failsafe
#define FS_BATT_SURFACE 3 // switch to SURFACE mode on battery failsafe
// GCS failsafe definitions (FS_GCS_ENABLE parameter)
#define FS_GCS_DISABLED 0 // Disabled
#define FS_GCS_WARN_ONLY 1 // Only send warning to gcs (only useful with multiple gcs links)
#define FS_GCS_DISARM 2 // Disarm
#define FS_GCS_HOLD 3 // Switch depth hold mode or poshold mode if available
#define FS_GCS_SURFACE 4 // Switch to surface mode
// Leak failsafe definitions (FS_LEAK_ENABLE parameter)
#define FS_LEAK_DISABLED 0 // Disabled
#define FS_LEAK_WARN_ONLY 1 // Only send warning to gcs
#define FS_LEAK_SURFACE 2 // Switch to surface mode
// Internal pressure failsafe threshold (FS_PRESS_MAX parameter)
#define FS_PRESS_MAX_DEFAULT 105000 // Maximum internal pressure in pascal before failsafe is triggered
// Internal pressure failsafe definitions (FS_PRESS_ENABLE parameter)
#define FS_PRESS_DISABLED 0
#define FS_PRESS_WARN_ONLY 1
// Internal temperature failsafe threshold (FS_TEMP_MAX parameter)
#define FS_TEMP_MAX_DEFAULT 62 // Maximum internal pressure in degrees C before failsafe is triggered
// Internal temperature failsafe definitions (FS_TEMP_ENABLE parameter)
#define FS_TEMP_DISABLED 0
#define FS_TEMP_WARN_ONLY 1
// Crash failsafe options
#define FS_CRASH_DISABLED 0
#define FS_CRASH_WARN_ONLY 1
#define FS_CRASH_DISARM 2
// Terrain failsafe actions for AUTO mode
#define FS_TERRAIN_DISARM 0
#define FS_TERRAIN_HOLD 1
#define FS_TERRAIN_SURFACE 2
// Pilot input failsafe actions
#define FS_PILOT_INPUT_DISABLED 0
#define FS_PILOT_INPUT_WARN_ONLY 1
#define FS_PILOT_INPUT_DISARM 2
// Amount of time to attempt recovery of valid rangefinder data before
// initiating terrain failsafe action
#define FS_TERRAIN_RECOVER_TIMEOUT_MS 10000
// 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)