mirror of https://github.com/ArduPilot/ardupilot
88 lines
3.1 KiB
C
88 lines
3.1 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
|
|
|
|
// bit options for DEV_OPTIONS parameter
|
|
enum DevOptions {
|
|
DevOptionADSBMAVLink = 1,
|
|
DevOptionVFR_HUDRelativeAlt = 2,
|
|
DevOptionSetAttitudeTarget_ThrustAsThrust = 4,
|
|
};
|
|
|
|
// Logging parameters - only 32 messages are available to the vehicle here.
|
|
enum LoggingParameters {
|
|
LOG_CONTROL_TUNING_MSG,
|
|
LOG_DATA_INT16_MSG,
|
|
LOG_DATA_UINT16_MSG,
|
|
LOG_DATA_INT32_MSG,
|
|
LOG_DATA_UINT32_MSG,
|
|
LOG_DATA_FLOAT_MSG,
|
|
LOG_PARAMTUNE_MSG,
|
|
LOG_HELI_MSG,
|
|
LOG_GUIDEDTARGET_MSG,
|
|
LOG_SYSIDD_MSG,
|
|
LOG_SYSIDS_MSG,
|
|
LOG_FINI_MSG,
|
|
LOG_FINO_MSG,
|
|
LOG_PIDD_MSG,
|
|
LOG_PIVN_MSG,
|
|
LOG_PIVE_MSG,
|
|
LOG_PIVD_MSG,
|
|
LOG_PIVY_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
|
|
|
|
// 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 // Removed in 4.0+, now use fs_options
|
|
#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
|
|
|
|
// 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 // Removed in 4.0+, now use fs_options
|
|
#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL 3
|
|
#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4
|
|
#define FS_GCS_ENABLED_ALWAYS_LAND 5
|
|
|
|
// EKF failsafe definitions (FS_EKF_ACTION parameter)
|
|
#define FS_EKF_ACTION_LAND 1 // switch to LAND mode on EKF failsafe
|
|
#define FS_EKF_ACTION_LAND_EVEN_MANUAL 3 // switch to Land mode on EKF failsafe even if in Manual mode
|
|
|
|
// 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)
|