mirror of https://github.com/ArduPilot/ardupilot
417 lines
20 KiB
C
417 lines
20 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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// 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 copter is moving
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AUTO_YAW_RESETTOARMEDYAW = 5, // point towards heading at time motors were armed
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};
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// Ch6... Ch12 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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// 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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// Aux Switch enumeration
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enum aux_sw_func {
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AUXSW_DO_NOTHING = 0, // aux switch disabled
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AUXSW_FLIP = 2, // flip
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AUXSW_SIMPLE_MODE = 3, // change to simple mode
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AUXSW_RTL = 4, // change to RTL flight mode
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AUXSW_SAVE_TRIM = 5, // save current position as level
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AUXSW_SAVE_WP = 7, // save mission waypoint or RTL if in auto mode
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AUXSW_CAMERA_TRIGGER = 9, // trigger camera servo or relay
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AUXSW_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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AUXSW_FENCE = 11, // allow enabling or disabling fence in flight
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AUXSW_RESETTOARMEDYAW = 12, // changes yaw to be same as when quad was armed
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AUXSW_SUPERSIMPLE_MODE = 13, // change to simple mode in middle, super simple at top
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AUXSW_ACRO_TRAINER = 14, // low = disabled, middle = leveled, high = leveled and limited
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AUXSW_SPRAYER = 15, // enable/disable the crop sprayer
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AUXSW_AUTO = 16, // change to auto flight mode
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AUXSW_AUTOTUNE = 17, // auto tune
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AUXSW_LAND = 18, // change to LAND flight mode
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AUXSW_EPM = 19, // Operate the EPM cargo gripper low=off, middle=neutral, high=on
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AUXSW_PARACHUTE_ENABLE = 21, // Parachute enable/disable
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AUXSW_PARACHUTE_RELEASE = 22, // Parachute release
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AUXSW_PARACHUTE_3POS = 23, // Parachute disable, enable, release with 3 position switch
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AUXSW_MISSION_RESET = 24, // Reset auto mission to start from first command
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AUXSW_ATTCON_FEEDFWD = 25, // enable/disable the roll and pitch rate feed forward
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AUXSW_ATTCON_ACCEL_LIM = 26, // enable/disable the roll, pitch and yaw accel limiting
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AUXSW_RETRACT_MOUNT = 27, // Retract Mount
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AUXSW_RELAY = 28, // Relay pin on/off (only supports first relay)
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AUXSW_LANDING_GEAR = 29, // Landing gear controller
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AUXSW_LOST_COPTER_SOUND = 30, // Play lost copter sound
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AUXSW_MOTOR_ESTOP = 31, // Emergency Stop Switch
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AUXSW_MOTOR_INTERLOCK = 32, // Motor On/Off switch
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AUXSW_BRAKE = 33 // Brake flight mode
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};
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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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// HIL enumerations
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#define HIL_MODE_DISABLED 0
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#define HIL_MODE_SENSORS 1
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// Auto Pilot Modes enumeration
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enum autopilot_modes {
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STABILIZE = 0, // manual airframe angle with manual throttle
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ACRO = 1, // manual body-frame angular rate with manual throttle
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ALT_HOLD = 2, // manual airframe angle with automatic 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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LOITER = 5, // automatic horizontal acceleration with automatic throttle
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RTL = 6, // automatic return to launching point
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CIRCLE = 7, // automatic circular flight with automatic throttle
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LAND = 9, // automatic landing with horizontal position control
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OF_LOITER = 10, // deprecated
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DRIFT = 11, // semi-automous position, yaw and throttle control
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SPORT = 13, // manual earth-frame angular rate control with manual throttle
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FLIP = 14, // automatically flip the vehicle on the roll axis
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AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains
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POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
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BRAKE = 17 // full-brake using inertial/GPS system, no pilot input
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};
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// Tuning enumeration
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enum tuning_func {
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TUNING_NONE = 0, //
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TUNING_STABILIZE_ROLL_PITCH_KP = 1, // stabilize roll/pitch angle controller's P term
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TUNING_STABILIZE_YAW_KP = 3, // stabilize yaw heading controller's P term
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TUNING_RATE_ROLL_PITCH_KP = 4, // body frame roll/pitch rate controller's P term
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TUNING_RATE_ROLL_PITCH_KI = 5, // body frame roll/pitch rate controller's I term
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TUNING_YAW_RATE_KP = 6, // body frame yaw rate controller's P term
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TUNING_THROTTLE_RATE_KP = 7, // throttle rate controller's P term (desired rate to acceleration or motor output)
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TUNING_WP_SPEED = 10, // maximum speed to next way point (0 to 10m/s)
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TUNING_LOITER_POSITION_KP = 12, // loiter distance controller's P term (position error to speed)
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TUNING_HELI_EXTERNAL_GYRO = 13, // TradHeli specific external tail gyro gain
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TUNING_ALTITUDE_HOLD_KP = 14, // altitude hold controller's P term (alt error to desired rate)
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TUNING_RATE_ROLL_PITCH_KD = 21, // body frame roll/pitch rate controller's D term
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TUNING_VEL_XY_KP = 22, // loiter rate controller's P term (speed error to tilt angle)
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TUNING_ACRO_RP_KP = 25, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
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TUNING_YAW_RATE_KD = 26, // body frame yaw rate controller's D term
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TUNING_VEL_XY_KI = 28, // loiter rate controller's I term (speed error to tilt angle)
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TUNING_AHRS_YAW_KP = 30, // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
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TUNING_AHRS_KP = 31, // accelerometer effect on roll/pitch angle (0=low)
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TUNING_ACCEL_Z_KP = 34, // accel based throttle controller's P term
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TUNING_ACCEL_Z_KI = 35, // accel based throttle controller's I term
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TUNING_ACCEL_Z_KD = 36, // accel based throttle controller's D term
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TUNING_DECLINATION = 38, // compass declination in radians
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TUNING_CIRCLE_RATE = 39, // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
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TUNING_ACRO_YAW_KP = 40, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
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TUNING_SONAR_GAIN = 41, // sonar gain
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TUNING_EKF_VERTICAL_POS = 42, // EKF's baro vs accel (higher rely on accels more, baro impact is reduced). Range should be 0.2 ~ 4.0? 2.0 is default
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TUNING_EKF_HORIZONTAL_POS = 43, // EKF's gps vs accel (higher rely on accels more, gps impact is reduced). Range should be 1.0 ~ 3.0? 1.5 is default
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TUNING_EKF_ACCEL_NOISE = 44, // EKF's accel noise (lower means trust accels more, gps & baro less). Range should be 0.02 ~ 0.5 0.5 is default (but very robust at that level)
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TUNING_RC_FEEL_RP = 45, // roll-pitch input smoothing
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TUNING_RATE_PITCH_KP = 46, // body frame pitch rate controller's P term
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TUNING_RATE_PITCH_KI = 47, // body frame pitch rate controller's I term
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TUNING_RATE_PITCH_KD = 48, // body frame pitch rate controller's D term
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TUNING_RATE_ROLL_KP = 49, // body frame roll rate controller's P term
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TUNING_RATE_ROLL_KI = 50, // body frame roll rate controller's I term
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TUNING_RATE_ROLL_KD = 51, // body frame roll rate controller's D term
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TUNING_RATE_PITCH_FF = 52, // body frame pitch rate controller FF term
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TUNING_RATE_ROLL_FF = 53, // body frame roll rate controller FF term
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TUNING_RATE_YAW_FF = 54, // body frame yaw rate controller FF term
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TUNING_RATE_MOT_YAW_HEADROOM = 55, // motors yaw headroom minimum
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TUNING_RATE_YAW_FILT = 56 // yaw rate input filter
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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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// 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_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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};
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// Guided modes
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enum GuidedMode {
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Guided_TakeOff,
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Guided_WP,
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Guided_Velocity,
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Guided_PosVel
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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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// Alt_Hold states
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enum AltHoldModeState {
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AltHold_Disarmed,
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AltHold_Takeoff,
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AltHold_Flying,
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AltHold_Landed
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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_Pitch_A,
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Flip_Pitch_B,
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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_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_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_INAV_MSG 0x11 // deprecated
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#define LOG_CAMERA_MSG_DEPRECATED 0x12 // deprecated
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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_RATE_MSG 0x1D
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#define LOG_MOTBATT_MSG 0x1E
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#define LOG_PARAMTUNE_MSG 0x1F
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#define LOG_HELI_MSG 0x20
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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_INAV (1<<14) // deprecated
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#define MASK_LOG_CAMERA (1<<15)
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#define MASK_LOG_WHEN_DISARMED (1UL<<16)
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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_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_SYSTEM_TIME_SET 8
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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_MAYBE 17
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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_GRAB 46
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#define DATA_EPM_RELEASE 47
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#define DATA_EPM_NEUTRAL 48 // deprecated
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#define DATA_PARACHUTE_DISABLED 49
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#define DATA_PARACHUTE_ENABLED 50
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#define DATA_PARACHUTE_RELEASED 51
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#define DATA_LANDING_GEAR_DEPLOYED 52
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#define DATA_LANDING_GEAR_RETRACTED 53
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#define DATA_MOTORS_EMERGENCY_STOPPED 54
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#define DATA_MOTORS_EMERGENCY_STOP_CLEARED 55
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#define DATA_MOTORS_INTERLOCK_DISABLED 56
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#define DATA_MOTORS_INTERLOCK_ENABLED 57
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#define DATA_ROTOR_RUNUP_COMPLETE 58 // Heli only
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#define DATA_ROTOR_SPEED_BELOW_CRITICAL 59 // Heli only
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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_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 // 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_FLIP 13
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#define ERROR_SUBSYSTEM_AUTOTUNE 14
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#define ERROR_SUBSYSTEM_PARACHUTE 15
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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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// 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 -- 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 -- flip
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#define ERROR_CODE_FLIP_ABANDONED 2
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// subsystem specific error codes -- autotune
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// parachute failed to deploy because of low altitude or landed
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#define ERROR_CODE_PARACHUTE_TOO_LOW 2
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#define ERROR_CODE_PARACHUTE_LANDED 3
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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_BARO_GLITCH 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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// EKF failsafe definitions (FS_EKF_ACTION parameter)
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#define FS_EKF_ACTION_LAND 1 // switch to LAND mode on EKF failsafe
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#define FS_EKF_ACTION_ALTHOLD 2 // switch to ALTHOLD mode on EKF failsafe
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#define FS_EKF_ACTION_LAND_EVEN_STABILIZE 3 // switch to Land mode on EKF failsafe even if in a manual flight mode like stabilize
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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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// for PILOT_THR_BHV parameter
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#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
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#endif // _DEFINES_H
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