mirror of https://github.com/ArduPilot/ardupilot
406 lines
19 KiB
C
406 lines
19 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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#include <AP_HAL_Boards.h>
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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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// Flight modes
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// ------------
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#define AUTO_YAW_HOLD 0 // pilot controls the heading
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#define AUTO_YAW_LOOK_AT_NEXT_WP 1 // point towards next waypoint (no pilot input accepted)
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#define AUTO_YAW_LOOK_AT_LOCATION 2 // point towards a location held in yaw_look_at_WP (no pilot input accepted)
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#define AUTO_YAW_LOOK_AT_HEADING 3 // point towards a particular angle (not pilot input accepted)
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#define AUTO_YAW_LOOK_AHEAD 4 // point in the direction the copter is moving
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#define AUTO_YAW_RESETTOARMEDYAW 5 // point towards heading at time motors were armed
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// sonar - for use with CONFIG_SONAR_SOURCE
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#define SONAR_SOURCE_ADC 1
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#define SONAR_SOURCE_ANALOG_PIN 2
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// Ch6, Ch7 and Ch8 aux switch control
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#define AUX_SWITCH_PWM_TRIGGER_HIGH 1800 // pwm value above which the ch7 or ch8 option will be invoked
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#define AUX_SWITCH_PWM_TRIGGER_LOW 1200 // pwm value below which the ch7 or ch8 option will be disabled
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#define CH6_PWM_TRIGGER_HIGH 1800
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#define CH6_PWM_TRIGGER_LOW 1200
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#define AUX_SWITCH_DO_NOTHING 0 // aux switch disabled
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#define AUX_SWITCH_SET_HOVER 1 // deprecated
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#define AUX_SWITCH_FLIP 2 // flip
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#define AUX_SWITCH_SIMPLE_MODE 3 // change to simple mode
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#define AUX_SWITCH_RTL 4 // change to RTL flight mode
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#define AUX_SWITCH_SAVE_TRIM 5 // save current position as level
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#define AUX_SWITCH_ADC_FILTER 6 // deprecated
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#define AUX_SWITCH_SAVE_WP 7 // save mission waypoint or RTL if in auto mode
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#define AUX_SWITCH_MULTI_MODE 8 // depending upon CH6 position Flip (if ch6 is low), RTL (if ch6 in middle) or Save WP (if ch6 is high)
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#define AUX_SWITCH_CAMERA_TRIGGER 9 // trigger camera servo or relay
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#define AUX_SWITCH_SONAR 10 // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground
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#define AUX_SWITCH_FENCE 11 // allow enabling or disabling fence in flight
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#define AUX_SWITCH_RESETTOARMEDYAW 12 // changes yaw to be same as when quad was armed
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#define AUX_SWITCH_SUPERSIMPLE_MODE 13 // change to simple mode in middle, super simple at top
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#define AUX_SWITCH_ACRO_TRAINER 14 // low = disabled, middle = leveled, high = leveled and limited
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#define AUX_SWITCH_SPRAYER 15 // enable/disable the crop sprayer
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#define AUX_SWITCH_AUTO 16 // change to auto flight mode
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#define AUX_SWITCH_AUTOTUNE 17 // auto tune
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#define AUX_SWITCH_LAND 18 // change to LAND flight mode
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#define AUX_SWITCH_EPM 19 // Operate the EPM cargo gripper low=off, middle=neutral, high=on
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// values used by the ap.ch7_opt and ap.ch8_opt flags
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#define AUX_SWITCH_LOW 0 // indicates auxiliar switch is in the low position (pwm <1200)
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#define AUX_SWITCH_MIDDLE 1 // indicates auxiliar switch is in the middle position (pwm >1200, <1800)
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#define AUX_SWITCH_HIGH 2 // indicates auxiliar switch is in the high position (pwm >1800)
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// Frame types
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#define UNDEFINED_FRAME 0
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#define QUAD_FRAME 1
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#define TRI_FRAME 2
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#define HEXA_FRAME 3
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#define Y6_FRAME 4
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#define OCTA_FRAME 5
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#define HELI_FRAME 6
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#define OCTA_QUAD_FRAME 7
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#define SINGLE_FRAME 8
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#define COAX_FRAME 9
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// Internal defines, don't edit and expect things to work
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// -------------------------------------------------------
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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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// 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
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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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// Auto Pilot modes
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// ----------------
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#define STABILIZE 0 // hold level position
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#define ACRO 1 // rate control
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#define ALT_HOLD 2 // AUTO control
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#define AUTO 3 // AUTO control
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#define GUIDED 4 // AUTO control
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#define LOITER 5 // Hold a single location
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#define RTL 6 // AUTO control
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#define CIRCLE 7 // AUTO control
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#define LAND 9 // AUTO control
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#define OF_LOITER 10 // Hold a single location using optical flow sensor
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#define DRIFT 11 // DRIFT mode (Note: 12 is no longer used)
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#define SPORT 13 // earth frame rate control
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#define FLIP 14 // flip the vehicle on the roll axis
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#define AUTOTUNE 15 // autotune the vehicle's roll and pitch gains
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#define NUM_MODES 16
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// CH_6 Tuning
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// -----------
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#define CH6_NONE 0 // no tuning performed
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#define CH6_STABILIZE_ROLL_PITCH_KP 1 // stabilize roll/pitch angle controller's P term
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#define CH6_RATE_ROLL_PITCH_KP 4 // body frame roll/pitch rate controller's P term
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#define CH6_RATE_ROLL_PITCH_KI 5 // body frame roll/pitch rate controller's I term
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#define CH6_RATE_ROLL_PITCH_KD 21 // body frame roll/pitch rate controller's D term
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#define CH6_STABILIZE_YAW_KP 3 // stabilize yaw heading controller's P term
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#define CH6_YAW_RATE_KP 6 // body frame yaw rate controller's P term
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#define CH6_YAW_RATE_KD 26 // body frame yaw rate controller's D term
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#define CH6_ALTITUDE_HOLD_KP 14 // altitude hold controller's P term (alt error to desired rate)
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#define CH6_THROTTLE_RATE_KP 7 // throttle rate controller's P term (desired rate to acceleration or motor output)
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#define CH6_THROTTLE_RATE_KD 37 // throttle rate controller's D term (desired rate to acceleration or motor output)
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#define CH6_THROTTLE_ACCEL_KP 34 // accel based throttle controller's P term
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#define CH6_THROTTLE_ACCEL_KI 35 // accel based throttle controller's I term
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#define CH6_THROTTLE_ACCEL_KD 36 // accel based throttle controller's D term
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#define CH6_LOITER_POSITION_KP 12 // loiter distance controller's P term (position error to speed)
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#define CH6_LOITER_RATE_KP 22 // loiter rate controller's P term (speed error to tilt angle)
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#define CH6_LOITER_RATE_KI 28 // loiter rate controller's I term (speed error to tilt angle)
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#define CH6_LOITER_RATE_KD 23 // loiter rate controller's D term (speed error to tilt angle)
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#define CH6_WP_SPEED 10 // maximum speed to next way point (0 to 10m/s)
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#define CH6_ACRO_RP_KP 25 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
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#define CH6_ACRO_YAW_KP 40 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
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#define CH6_RELAY 9 // switch relay on if ch6 high, off if low
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#define CH6_HELI_EXTERNAL_GYRO 13 // TradHeli specific external tail gyro gain
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#define CH6_OPTFLOW_KP 17 // optical flow loiter controller's P term (position error to tilt angle)
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#define CH6_OPTFLOW_KI 18 // optical flow loiter controller's I term (position error to tilt angle)
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#define CH6_OPTFLOW_KD 19 // optical flow loiter controller's D term (position error to tilt angle)
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#define CH6_AHRS_YAW_KP 30 // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
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#define CH6_AHRS_KP 31 // accelerometer effect on roll/pitch angle (0=low)
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#define CH6_INAV_TC 32 // inertial navigation baro/accel and gps/accel time constant (1.5 = strong baro/gps correction on accel estimatehas very strong does not correct accel estimate, 7 = very weak correction)
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#define CH6_DECLINATION 38 // compass declination in radians
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#define CH6_CIRCLE_RATE 39 // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
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#define CH6_SONAR_GAIN 41 // sonar gain
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#define CH6_LOIT_SPEED 42 // maximum speed during loiter (0 to 10m/s)
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// Acro Trainer types
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#define ACRO_TRAINER_DISABLED 0
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#define ACRO_TRAINER_LEVELING 1
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#define ACRO_TRAINER_LIMITED 2
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// RC Feel roll/pitch definitions
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#define RC_FEEL_RP_VERY_SOFT 0
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#define RC_FEEL_RP_SOFT 25
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#define RC_FEEL_RP_MEDIUM 50
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#define RC_FEEL_RP_CRISP 75
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#define RC_FEEL_RP_VERY_CRISP 100
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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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// Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter
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#define WP_YAW_BEHAVIOR_NONE 0 // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received)
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#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP 1 // auto pilot will face next waypoint or home during rtl
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#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
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#define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicotpers)
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// Waypoint options
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#define MASK_OPTIONS_RELATIVE_ALT 1
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#define WP_OPTION_ALT_CHANGE 2
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#define WP_OPTION_YAW 4
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#define WP_OPTION_ALT_REQUIRED 8
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#define WP_OPTION_RELATIVE 16
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//#define WP_OPTION_ 32
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//#define WP_OPTION_ 64
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#define WP_OPTION_NEXT_CMD 128
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// Auto modes
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enum AutoMode {
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Auto_TakeOff,
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Auto_WP,
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Auto_Land,
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Auto_RTL,
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Auto_Circle
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};
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// RTL states
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enum RTLState {
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Start,
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InitialClimb,
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ReturnHome,
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LoiterAtHome,
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FinalDescent,
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Land
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};
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// Flip states
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enum FlipState {
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Flip_Start,
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Flip_Roll,
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Flip_Recover,
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Flip_Abandon
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};
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// LAND state
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#define LAND_STATE_FLY_TO_LOCATION 0
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#define LAND_STATE_DESCENDING 1
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// Logging parameters
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#define TYPE_AIRSTART_MSG 0x00
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#define TYPE_GROUNDSTART_MSG 0x01
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#define LOG_ATTITUDE_MSG 0x01
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#define LOG_MODE_MSG 0x03
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#define LOG_CONTROL_TUNING_MSG 0x04
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#define LOG_NAV_TUNING_MSG 0x05
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#define LOG_PERFORMANCE_MSG 0x06
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#define LOG_CMD_MSG 0x08
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#define LOG_CURRENT_MSG 0x09
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#define LOG_STARTUP_MSG 0x0A
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#define LOG_OPTFLOW_MSG 0x0C
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#define LOG_EVENT_MSG 0x0D
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#define LOG_PID_MSG 0x0E // deprecated
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#define LOG_COMPASS_MSG 0x0F
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#define LOG_INAV_MSG 0x11 // deprecated
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#define LOG_CAMERA_MSG 0x12
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#define LOG_ERROR_MSG 0x13
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#define LOG_DATA_INT16_MSG 0x14
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#define LOG_DATA_UINT16_MSG 0x15
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#define LOG_DATA_INT32_MSG 0x16
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#define LOG_DATA_UINT32_MSG 0x17
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#define LOG_DATA_FLOAT_MSG 0x18
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#define LOG_AUTOTUNE_MSG 0x19
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#define LOG_AUTOTUNEDETAILS_MSG 0x1A
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#define LOG_COMPASS2_MSG 0x1B
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#define LOG_INDEX_MSG 0xF0
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#define MAX_NUM_LOGS 50
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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_RCIN (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_RCOUT (1<<10)
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#define MASK_LOG_OPTFLOW (1<<11)
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#define MASK_LOG_PID (1<<12) // deprecated
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#define MASK_LOG_COMPASS (1<<13)
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#define MASK_LOG_INAV (1<<14) // deprecated
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#define MASK_LOG_CAMERA (1<<15)
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// DATA - event logging
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#define DATA_MAVLINK_FLOAT 1
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#define DATA_MAVLINK_INT32 2
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#define DATA_MAVLINK_INT16 3
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#define DATA_MAVLINK_INT8 4
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#define DATA_AP_STATE 7
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#define DATA_INIT_SIMPLE_BEARING 9
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#define DATA_ARMED 10
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#define DATA_DISARMED 11
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#define DATA_AUTO_ARMED 15
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#define DATA_TAKEOFF 16
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#define DATA_LAND_COMPLETE 18
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#define DATA_NOT_LANDED 28
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#define DATA_LOST_GPS 19
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#define DATA_FLIP_START 21
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#define DATA_FLIP_END 22
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#define DATA_SET_HOME 25
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#define DATA_SET_SIMPLE_ON 26
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#define DATA_SET_SIMPLE_OFF 27
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#define DATA_SET_SUPERSIMPLE_ON 29
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#define DATA_AUTOTUNE_INITIALISED 30
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#define DATA_AUTOTUNE_OFF 31
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#define DATA_AUTOTUNE_RESTART 32
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#define DATA_AUTOTUNE_SUCCESS 33
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#define DATA_AUTOTUNE_FAILED 34
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#define DATA_AUTOTUNE_REACHED_LIMIT 35
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#define DATA_AUTOTUNE_PILOT_TESTING 36
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#define DATA_AUTOTUNE_SAVEDGAINS 37
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#define DATA_SAVE_TRIM 38
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#define DATA_SAVEWP_ADD_WP 39
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#define DATA_SAVEWP_CLEAR_MISSION_RTL 40
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#define DATA_FENCE_ENABLE 41
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#define DATA_FENCE_DISABLE 42
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#define DATA_ACRO_TRAINER_DISABLED 43
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#define DATA_ACRO_TRAINER_LEVELING 44
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#define DATA_ACRO_TRAINER_LIMITED 45
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#define DATA_EPM_ON 46
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#define DATA_EPM_OFF 47
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#define DATA_EPM_NEUTRAL 48
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// Centi-degrees to radians
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#define DEGX100 5729.57795f
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// EEPROM addresses
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#define EEPROM_MAX_ADDR 4096
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// parameters get the first 1536 bytes of EEPROM, remainder is for waypoints
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#define WP_START_BYTE 0x600 // 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 6
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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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// mark a function as not to be inlined
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#define NOINLINE __attribute__((noinline))
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// IMU selection
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#define CONFIG_IMU_OILPAN 1
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#define CONFIG_IMU_MPU6000 2
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#define CONFIG_IMU_SITL 3
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#define CONFIG_IMU_PX4 4
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#define CONFIG_IMU_FLYMAPLE 5
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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_MS5611_SPI 1
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#define AP_BARO_MS5611_I2C 2
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// Error message sub systems and error codes
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#define ERROR_SUBSYSTEM_MAIN 1
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#define ERROR_SUBSYSTEM_RADIO 2
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#define ERROR_SUBSYSTEM_COMPASS 3
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#define ERROR_SUBSYSTEM_OPTFLOW 4
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#define ERROR_SUBSYSTEM_FAILSAFE_RADIO 5
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#define ERROR_SUBSYSTEM_FAILSAFE_BATT 6
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#define ERROR_SUBSYSTEM_FAILSAFE_GPS 7
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#define ERROR_SUBSYSTEM_FAILSAFE_GCS 8
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#define ERROR_SUBSYSTEM_FAILSAFE_FENCE 9
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#define ERROR_SUBSYSTEM_FLIGHT_MODE 10
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#define ERROR_SUBSYSTEM_GPS 11
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#define ERROR_SUBSYSTEM_CRASH_CHECK 12
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#define ERROR_SUBSYSTEM_FLIP 13
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#define ERROR_SUBSYSTEM_AUTOTUNE 14
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// general error codes
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#define ERROR_CODE_ERROR_RESOLVED 0
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#define ERROR_CODE_FAILED_TO_INITIALISE 1
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// subsystem specific error codes -- radio
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#define ERROR_CODE_RADIO_LATE_FRAME 2
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// subsystem specific error codes -- failsafe_thr, batt, gps
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#define ERROR_CODE_FAILSAFE_RESOLVED 0
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#define ERROR_CODE_FAILSAFE_OCCURRED 1
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// subsystem specific error codes -- compass
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#define ERROR_CODE_COMPASS_FAILED_TO_READ 2
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// subsystem specific error codes -- gps
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#define ERROR_CODE_GPS_GLITCH 2
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// subsystem specific error codes -- main
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#define ERROR_CODE_MAIN_INS_DELAY 1
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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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// subsystem specific error codes -- flip
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#define ERROR_CODE_FLIP_ABANDONED 2
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// subsystem specific error codes -- autotune
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#define ERROR_CODE_AUTOTUNE_BAD_GAINS 2
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// Arming Check Enable/Disable bits
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#define ARMING_CHECK_NONE 0x00
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#define ARMING_CHECK_ALL 0x01
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#define ARMING_CHECK_BARO 0x02
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#define ARMING_CHECK_COMPASS 0x04
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#define ARMING_CHECK_GPS 0x08
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#define ARMING_CHECK_INS 0x10
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#define ARMING_CHECK_PARAMETERS 0x20
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#define ARMING_CHECK_RC 0x40
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#define ARMING_CHECK_VOLTAGE 0x80
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// Radio failsafe definitions (FS_THR parameter)
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#define FS_THR_DISABLED 0
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#define FS_THR_ENABLED_ALWAYS_RTL 1
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#define FS_THR_ENABLED_CONTINUE_MISSION 2
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#define FS_THR_ENABLED_ALWAYS_LAND 3
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// Battery failsafe definitions (FS_BATT_ENABLE parameter)
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#define FS_BATT_DISABLED 0 // battery failsafe disabled
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#define FS_BATT_LAND 1 // switch to LAND mode on battery failsafe
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#define FS_BATT_RTL 2 // switch to RTL mode on battery failsafe
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// GPS Failsafe definitions (FS_GPS_ENABLE parameter)
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#define FS_GPS_DISABLED 0 // GPS failsafe disabled
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#define FS_GPS_LAND 1 // switch to LAND mode on GPS Failsafe
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#define FS_GPS_ALTHOLD 2 // switch to ALTHOLD mode on GPS failsafe
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#define FS_GPS_LAND_EVEN_STABILIZE 3 // switch to LAND mode on GPS failsafe even if in a manual flight mode like Stabilize
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#endif // _DEFINES_H
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