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