mirror of https://github.com/ArduPilot/ardupilot
271 lines
7.5 KiB
C
271 lines
7.5 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef _DEFINES_H
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#define _DEFINES_H
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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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#define ToRad(x) radians(x) // *pi/180
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#define ToDeg(x) degrees(x) // *180/pi
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#define DEBUG 0
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#define LOITER_RANGE 60 // for calculating power outside of loiter radius
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#define SERVO_MAX 4500 // This value represents 45 degrees and is just an
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// arbitrary representation of servo max travel.
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// failsafe
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// ----------------------
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enum failsafe_state {
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FAILSAFE_NONE=0,
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FAILSAFE_SHORT=1,
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FAILSAFE_LONG=2,
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FAILSAFE_GCS=3
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};
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// active altitude sensor
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// ----------------------
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#define SONAR 0
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#define BARO 1
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#define PITOT_SOURCE_ADC 1
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#define PITOT_SOURCE_ANALOG_PIN 2
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#define T6 1000000
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#define T7 10000000
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// GPS type codes - use the names, not the numbers
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#define GPS_PROTOCOL_NONE -1
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#define GPS_PROTOCOL_NMEA 0
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#define GPS_PROTOCOL_SIRF 1
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#define GPS_PROTOCOL_UBLOX 2
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#define GPS_PROTOCOL_IMU 3
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#define GPS_PROTOCOL_MTK 4
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#define GPS_PROTOCOL_HIL 5
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#define GPS_PROTOCOL_MTK19 6
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#define GPS_PROTOCOL_AUTO 7
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// HIL enumerations. Note that HIL_MODE_ATTITUDE and HIL_MODE_SENSORS
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// are now the same thing, and are sensors based. The old define is
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// kept to allow old APM_Config.h headers to keep working
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#define HIL_MODE_DISABLED 0
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#define HIL_MODE_ATTITUDE 1
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#define HIL_MODE_SENSORS 2
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enum FlightMode {
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MANUAL = 0,
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CIRCLE = 1,
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STABILIZE = 2,
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TRAINING = 3,
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ACRO = 4,
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FLY_BY_WIRE_A = 5,
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FLY_BY_WIRE_B = 6,
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CRUISE = 7,
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AUTO = 10,
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RTL = 11,
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LOITER = 12,
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GUIDED = 15,
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INITIALISING = 16
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};
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// type of stick mixing enabled
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enum StickMixing {
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STICK_MIXING_DISABLED = 0,
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STICK_MIXING_FBW = 1,
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STICK_MIXING_DIRECT = 2
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};
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enum ChannelMixing {
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MIXING_DISABLED = 0,
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MIXING_UPUP = 1,
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MIXING_UPDN = 2,
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MIXING_DNUP = 3,
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MIXING_DNDN = 4
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};
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// Commands - Note that APM now uses a subset of the MAVLink protocol
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// commands. See enum MAV_CMD in the GCS_Mavlink library
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#define CMD_BLANK 0 // there is no command stored in the mem location
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// requested
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#define NO_COMMAND 0
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#define WAIT_COMMAND 255
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// Command/Waypoint/Location Options Bitmask
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//--------------------
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#define MASK_OPTIONS_RELATIVE_ALT (1<<0) // 1 = Relative
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// altitude
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#define MASK_OPTIONS_LOITER_DIRECTION (1<<2) // 0 = CW
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// 1 = CCW
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//repeating events
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#define NO_REPEAT 0
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#define CH_5_TOGGLE 1
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#define CH_6_TOGGLE 2
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#define CH_7_TOGGLE 3
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#define CH_8_TOGGLE 4
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#define RELAY_TOGGLE 5
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#define STOP_REPEAT 10
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// GCS Message ID's
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/// NOTE: to ensure we never block on sending MAVLink messages
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/// please keep each MSG_ to a single MAVLink message. If need be
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/// create new MSG_ IDs for additional messages on the same
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/// stream
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enum ap_message {
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MSG_HEARTBEAT,
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MSG_ATTITUDE,
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MSG_LOCATION,
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MSG_EXTENDED_STATUS1,
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MSG_EXTENDED_STATUS2,
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MSG_NAV_CONTROLLER_OUTPUT,
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MSG_CURRENT_WAYPOINT,
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MSG_VFR_HUD,
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MSG_RADIO_OUT,
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MSG_RADIO_IN,
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MSG_RAW_IMU1,
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MSG_RAW_IMU2,
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MSG_RAW_IMU3,
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MSG_GPS_RAW,
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MSG_SERVO_OUT,
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MSG_NEXT_WAYPOINT,
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MSG_NEXT_PARAM,
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MSG_STATUSTEXT,
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MSG_FENCE_STATUS,
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MSG_AHRS,
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MSG_SIMSTATE,
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MSG_HWSTATUS,
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MSG_WIND,
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MSG_RETRY_DEFERRED // this must be last
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};
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// Logging message types. NOTE: If you change the value of one
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// of these then existing logs will break! Only add at the end, and
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// mark unused ones as 'deprecated', but leave them in
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enum log_messages {
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LOG_INDEX_MSG,
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LOG_CTUN_MSG,
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LOG_NTUN_MSG,
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LOG_PERFORMANCE_MSG,
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LOG_CMD_MSG,
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LOG_CURRENT_MSG,
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LOG_STARTUP_MSG,
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TYPE_AIRSTART_MSG,
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TYPE_GROUNDSTART_MSG,
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LOG_CAMERA_MSG,
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LOG_ATTITUDE_MSG,
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LOG_MODE_MSG,
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LOG_COMPASS_MSG,
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LOG_TECS_MSG,
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MAX_NUM_LOGS // always at the end
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};
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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_COMPASS (1<<10)
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#define MASK_LOG_TECS (1<<11)
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#define MASK_LOG_CAMERA (1<<12)
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// Waypoint Modes
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// ----------------
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#define ABS_WP 0
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#define REL_WP 1
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// Command Queues
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// ---------------
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#define COMMAND_MUST 0
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#define COMMAND_MAY 1
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#define COMMAND_NOW 2
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// Events
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// ------
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#define EVENT_WILL_REACH_WAYPOINT 1
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#define EVENT_SET_NEW_COMMAND_INDEX 2
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#define EVENT_LOADED_WAYPOINT 3
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#define EVENT_LOOP 4
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// Climb rate calculations
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#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to
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// regress a climb rate from
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#define BATTERY_VOLTAGE(x) (x->voltage_average()*g.volt_div_ratio)
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#define CURRENT_AMPS(x) (x->voltage_average()-g.curr_amp_offset)*g.curr_amp_per_volt
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#define AN4 4
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#define AN5 5
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#define SPEEDFILT 400 // centimeters/second; the speed below
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// which a groundstart will be
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// triggered
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// EEPROM addresses
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#define EEPROM_MAX_ADDR 4096
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// parameters get the first 1280 bytes of EEPROM, remainder is for waypoints
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#define WP_START_BYTE 0x500 // where in memory home WP is stored + all other
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// WP
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#define WP_SIZE 15
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// fence points are stored at the end of the EEPROM
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#define MAX_FENCEPOINTS 20
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#define FENCE_WP_SIZE sizeof(Vector2l)
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#define FENCE_START_BYTE (EEPROM_MAX_ADDR-(MAX_FENCEPOINTS*FENCE_WP_SIZE))
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#define MAX_WAYPOINTS ((FENCE_START_BYTE - WP_START_BYTE) / WP_SIZE) - 1 // -
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// 1
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// to
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// be
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// safe
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// convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps
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// to -1)
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#define BOOL_TO_SIGN(bvalue) ((bvalue) ? -1 : 1)
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// mark a function as not to be inlined
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#define NOINLINE __attribute__((noinline))
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// InertialSensor driver types
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#define CONFIG_INS_OILPAN 1
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#define CONFIG_INS_MPU6000 2
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#define CONFIG_INS_STUB 3
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#define CONFIG_INS_PX4 4
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// barometer driver types
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#define AP_BARO_BMP085 1
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#define AP_BARO_MS5611 2
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#define AP_BARO_PX4 3
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#define AP_BARO_HIL 4
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// compass driver types
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#define AP_COMPASS_HMC5843 1
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#define AP_COMPASS_PX4 2
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#define AP_COMPASS_HIL 3
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// altitude control algorithms
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enum {
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ALT_CONTROL_DEFAULT = 0,
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ALT_CONTROL_NON_AIRSPEED = 1,
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ALT_CONTROL_TECS = 2,
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ALT_CONTROL_AIRSPEED = 3
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};
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// attitude controller choice
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enum {
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ATT_CONTROL_PID = 0,
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ATT_CONTROL_APMCONTROL = 1
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};
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#endif // _DEFINES_H
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