mirror of https://github.com/ArduPilot/ardupilot
327 lines
13 KiB
C
327 lines
13 KiB
C
#pragma once
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#include <AP_HAL/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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#define BOTTOM_DETECTOR_TRIGGER_SEC 1.0
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#define SURFACE_DETECTOR_TRIGGER_SEC 1.0
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enum AutoSurfaceState {
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AUTO_SURFACE_STATE_GO_TO_LOCATION,
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AUTO_SURFACE_STATE_ASCEND
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};
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// Autopilot Yaw Mode enumeration
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enum autopilot_yaw_mode {
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AUTO_YAW_HOLD = 0, // pilot controls the heading
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AUTO_YAW_LOOK_AT_NEXT_WP = 1, // point towards next waypoint (no pilot input accepted)
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AUTO_YAW_ROI = 2, // point towards a location held in roi_WP (no pilot input accepted)
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AUTO_YAW_LOOK_AT_HEADING = 3, // point towards a particular angle (not pilot input accepted)
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AUTO_YAW_LOOK_AHEAD = 4, // point in the direction the vehicle is moving
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AUTO_YAW_RESETTOARMEDYAW = 5, // point towards heading at time motors were armed
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AUTO_YAW_CORRECT_XTRACK = 6 // steer the sub in order to correct for crosstrack error during line following
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};
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// Auto Pilot Modes enumeration
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enum control_mode_t {
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STABILIZE = 0, // manual angle with manual depth/throttle
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ACRO = 1, // manual body-frame angular rate with manual depth/throttle
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ALT_HOLD = 2, // manual angle with automatic depth/throttle
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AUTO = 3, // fully automatic waypoint control using mission commands
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GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
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CIRCLE = 7, // automatic circular flight with automatic throttle
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SURFACE = 9, // automatically return to surface, pilot maintains horizontal control
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POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
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MANUAL = 19 // Pass-through input with no stabilization
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};
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enum mode_reason_t {
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MODE_REASON_UNKNOWN=0,
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MODE_REASON_TX_COMMAND,
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MODE_REASON_GCS_COMMAND,
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MODE_REASON_RADIO_FAILSAFE,
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MODE_REASON_BATTERY_FAILSAFE,
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MODE_REASON_GCS_FAILSAFE,
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MODE_REASON_EKF_FAILSAFE,
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MODE_REASON_GPS_GLITCH,
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MODE_REASON_MISSION_END,
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MODE_REASON_THROTTLE_SURFACE_ESCAPE,
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MODE_REASON_FENCE_BREACH,
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MODE_REASON_TERRAIN_FAILSAFE,
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MODE_REASON_SURFACE_COMPLETE,
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MODE_REASON_LEAK_FAILSAFE,
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MODE_REASON_BAD_DEPTH
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};
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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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// 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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#define WP_YAW_BEHAVIOR_CORRECT_XTRACK 4 // point towards intermediate position target during line following
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// Auto modes
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enum AutoMode {
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Auto_WP,
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Auto_CircleMoveToEdge,
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Auto_Circle,
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Auto_Spline,
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Auto_NavGuided,
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Auto_Loiter,
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Auto_TerrainRecover
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};
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// Guided modes
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enum GuidedMode {
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Guided_WP,
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Guided_Velocity,
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Guided_PosVel,
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Guided_Angle,
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};
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// RTL states
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enum RTLState {
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RTL_InitialClimb,
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RTL_ReturnHome,
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RTL_LoiterAtHome,
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RTL_FinalDescent,
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RTL_Land
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};
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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_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_OPTFLOW_MSG 0x0C
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#define LOG_EVENT_MSG 0x0D
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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_MOTBATT_MSG 0x1E
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#define LOG_PARAMTUNE_MSG 0x1F
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#define LOG_GUIDEDTARGET_MSG 0x22
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#define LOG_PROXIMITY_MSG 0x24
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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)
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#define MASK_LOG_COMPASS (1<<13)
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#define MASK_LOG_CAMERA (1<<15)
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#define MASK_LOG_MOTBATT (1UL<<17)
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#define MASK_LOG_IMU_FAST (1UL<<18)
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#define MASK_LOG_IMU_RAW (1UL<<19)
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#define MASK_LOG_ANY 0xFFFF
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// DATA - event logging
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#define DATA_AP_STATE 7
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#define DATA_SYSTEM_TIME_SET 8
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#define DATA_ARMED 10
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#define DATA_DISARMED 11
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#define DATA_LOST_GPS 19
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#define DATA_SET_HOME 25
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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_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_GRIPPER_GRAB 46
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#define DATA_GRIPPER_RELEASE 47
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#define DATA_EKF_ALT_RESET 60
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#define DATA_SURFACE_CANCELLED_BY_PILOT 61
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#define DATA_EKF_YAW_RESET 62
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#define DATA_SURFACED 63
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#define DATA_NOT_SURFACED 64
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#define DATA_BOTTOMED 65
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#define DATA_NOT_BOTTOMED 66
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// Centi-degrees to radians
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#define DEGX100 5729.57795f
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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_INPUT 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 // not used
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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 // not used
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#define ERROR_SUBSYSTEM_CRASH_CHECK 12
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#define ERROR_SUBSYSTEM_EKFCHECK 16
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#define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV 17
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#define ERROR_SUBSYSTEM_BARO 18
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#define ERROR_SUBSYSTEM_CPU 19
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#define ERROR_SUBSYSTEM_TERRAIN 21
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#define ERROR_SUBSYSTEM_NAVIGATION 22
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#define ERROR_SUBSYSTEM_FAILSAFE_TERRAIN 23
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#define ERROR_SUBSYSTEM_FAILSAFE_LEAK 24
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#define ERROR_SUBSYSTEM_FAILSAFE_SENSORS 25
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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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#define ERROR_CODE_UNHEALTHY 4
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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 -- 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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#define ERROR_CODE_CRASH_CHECK_LOSS_OF_CONTROL 2
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// subsystem specific error codes -- terrain
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#define ERROR_CODE_MISSING_TERRAIN_DATA 2
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// subsystem specific error codes -- navigation
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#define ERROR_CODE_FAILED_TO_SET_DESTINATION 2
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#define ERROR_CODE_RESTARTED_RTL 3
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#define ERROR_CODE_FAILED_CIRCLE_INIT 4
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#define ERROR_CODE_DEST_OUTSIDE_FENCE 5
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// EKF check definitions
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#define ERROR_CODE_EKFCHECK_BAD_VARIANCE 2
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#define ERROR_CODE_EKFCHECK_VARIANCE_CLEARED 0
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// Baro specific error codes
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#define ERROR_CODE_BAD_DEPTH 0
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//////////////////////////////////////////////////////////////////////////////
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// Battery monitoring
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//
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#ifndef FS_BATT_VOLTAGE_DEFAULT
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# define FS_BATT_VOLTAGE_DEFAULT 0 // default battery voltage below which failsafe will be triggered
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#endif
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#ifndef FS_BATT_MAH_DEFAULT
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# define FS_BATT_MAH_DEFAULT 0 // default battery capacity (in mah) below which failsafe will be triggered
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#endif
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// GCS failsafe
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#ifndef FS_GCS
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# define FS_GCS DISABLED
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#endif
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#ifndef FS_GCS_TIMEOUT_MS
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# define FS_GCS_TIMEOUT_MS 2500 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
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#endif
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// missing terrain data failsafe
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#ifndef FS_TERRAIN_TIMEOUT_MS
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#define FS_TERRAIN_TIMEOUT_MS 1000 // 1 second of unhealthy rangefinder and/or missing terrain data will trigger failsafe
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// EKF Failsafe
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// EKF failsafe definitions (FS_EKF_ENABLE parameter)
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#define FS_EKF_ACTION_DISABLED 0 // Disabled
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#define FS_EKF_ACTION_WARN_ONLY 1 // Send warning to gcs
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#define FS_EKF_ACTION_DISARM 2 // Disarm
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#ifndef FS_EKF_ACTION_DEFAULT
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# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_DISABLED // EKF failsafe
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#endif
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#ifndef FS_EKF_THRESHOLD_DEFAULT
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# define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
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#endif
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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_WARN_ONLY 1 // only warn gcs on battery failsafe
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#define FS_BATT_DISARM 2 // disarm on battery failsafe
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#define FS_BATT_SURFACE 3 // switch to SURFACE mode on battery failsafe
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// GCS failsafe definitions (FS_GCS_ENABLE parameter)
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#define FS_GCS_DISABLED 0 // Disabled
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#define FS_GCS_WARN_ONLY 1 // Only send warning to gcs (only useful with multiple gcs links)
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#define FS_GCS_DISARM 2 // Disarm
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#define FS_GCS_HOLD 3 // Switch depth hold mode or poshold mode if available
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#define FS_GCS_SURFACE 4 // Switch to surface mode
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// Leak failsafe definitions (FS_LEAK_ENABLE parameter)
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#define FS_LEAK_DISABLED 0 // Disabled
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#define FS_LEAK_WARN_ONLY 1 // Only send warning to gcs
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#define FS_LEAK_SURFACE 2 // Switch to surface mode
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// Internal pressure failsafe threshold (FS_PRESS_MAX parameter)
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#define FS_PRESS_MAX_DEFAULT 105000 // Maximum internal pressure in pascal before failsafe is triggered
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// Internal pressure failsafe definitions (FS_PRESS_ENABLE parameter)
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#define FS_PRESS_DISABLED 0
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#define FS_PRESS_WARN_ONLY 1
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// Internal temperature failsafe threshold (FS_TEMP_MAX parameter)
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#define FS_TEMP_MAX_DEFAULT 62 // Maximum internal pressure in degrees C before failsafe is triggered
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// Internal temperature failsafe definitions (FS_TEMP_ENABLE parameter)
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#define FS_TEMP_DISABLED 0
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#define FS_TEMP_WARN_ONLY 1
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// Crash failsafe options
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#define FS_CRASH_DISABLED 0
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#define FS_CRASH_WARN_ONLY 1
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#define FS_CRASH_DISARM 2
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// Terrain failsafe actions for AUTO mode
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#define FS_TERRAIN_DISARM 0
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#define FS_TERRAIN_HOLD 1
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#define FS_TERRAIN_SURFACE 2
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// Pilot input failsafe actions
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#define FS_PILOT_INPUT_DISABLED 0
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#define FS_PILOT_INPUT_WARN_ONLY 1
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#define FS_PILOT_INPUT_DISARM 2
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// Amount of time to attempt recovery of valid rangefinder data before
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// initiating terrain failsafe action
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#define FS_TERRAIN_RECOVER_TIMEOUT_MS 10000
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// for mavlink SET_POSITION_TARGET messages
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#define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1) | (1<<2))
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#define MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE ((1<<3) | (1<<4) | (1<<5))
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#define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7) | (1<<8))
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#define MAVLINK_SET_POS_TYPE_MASK_FORCE (1<<9)
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#define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10)
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#define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)
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