ardupilot/Rover/defines.h

110 lines
3.4 KiB
C

#pragma once
// Internal defines, don't edit and expect things to work
// -------------------------------------------------------
// 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 SERVO_MAX 4500 // This value represents 45 degrees and is just an arbitrary representation of servo max travel.
// HIL enumerations
#define HIL_MODE_DISABLED 0
#define HIL_MODE_SENSORS 1
// types of failsafe events
#define FAILSAFE_EVENT_THROTTLE (1<<0)
#define FAILSAFE_EVENT_GCS (1<<1)
// Logging parameters
#define LOG_THR_MSG 0x01
#define LOG_NTUN_MSG 0x02
#define LOG_STARTUP_MSG 0x06
#define LOG_STEERING_MSG 0x0D
#define LOG_GUIDEDTARGET_MSG 0x0E
#define TYPE_GROUNDSTART_MSG 0x01
#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_THR (1<<4)
#define MASK_LOG_NTUN (1<<5)
//#define MASK_LOG_MODE (1<<6) // no longer used
#define MASK_LOG_IMU (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CURRENT (1<<9)
#define MASK_LOG_RANGEFINDER (1<<10)
#define MASK_LOG_COMPASS (1<<11)
#define MASK_LOG_CAMERA (1<<12)
#define MASK_LOG_STEERING (1<<13)
#define MASK_LOG_RC (1<<14)
// #define MASK_LOG_ARM_DISARM (1<<15)
#define MASK_LOG_IMU_RAW (1UL<<19)
// for mavlink SET_POSITION_TARGET messages
#define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1))
#define MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE ((1<<3) | (1<<4))
#define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7))
#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 mavlink SET_ATTITUDE_TARGET messages
#define MAVLINK_SET_ATT_TYPE_MASK_ROLL_RATE_IGNORE (1<<0)
#define MAVLINK_SET_ATT_TYPE_MASK_PITCH_RATE_IGNORE (1<<1)
#define MAVLINK_SET_ATT_TYPE_MASK_YAW_RATE_IGNORE (1<<2)
#define MAVLINK_SET_ATT_TYPE_MASK_THROTTLE_IGNORE (1<<6)
#define MAVLINK_SET_ATT_TYPE_MASK_ATTITUDE_IGNORE (1<<7)
// radio failsafe enum (FS_THR_ENABLE parameter)
enum fs_thr_enable {
FS_THR_DISABLED = 0,
FS_THR_ENABLED,
FS_THR_ENABLED_CONTINUE_MISSION,
};
// gcs failsafe enum (FS_GCS_ENABLE parameter)
enum fs_gcs_enable {
FS_GCS_DISABLED = 0,
FS_GCS_ENABLED,
FS_GCS_ENABLED_CONTINUE_MISSION,
};
enum fs_crash_action {
FS_CRASH_DISABLE = 0,
FS_CRASH_HOLD = 1,
FS_CRASH_HOLD_AND_DISARM = 2
};
enum fs_ekf_action {
FS_EKF_DISABLE = 0,
FS_EFK_HOLD = 1
};
#define DISTANCE_HOME_MINCHANGE 0.5f // minimum distance to adjust home location
enum pilot_steer_type_t {
PILOT_STEER_TYPE_DEFAULT = 0,
PILOT_STEER_TYPE_TWO_PADDLES = 1,
PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING = 2,
PILOT_STEER_TYPE_DIR_UNCHANGED_WHEN_REVERSING = 3,
};
// frame class enum used for FRAME_CLASS parameter
enum frame_class {
FRAME_UNDEFINED = 0,
FRAME_ROVER = 1,
FRAME_BOAT = 2,
FRAME_BALANCEBOT = 3,
};
#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