mirror of https://github.com/ArduPilot/ardupilot
271 lines
7.5 KiB
C
271 lines
7.5 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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// Internal defines, don't edit and expect things to work
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// -------------------------------------------------------
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#define TRUE 1
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#define FALSE 0
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#define ToRad(x) (x*0.01745329252) // *pi/180
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#define ToDeg(x) (x*57.2957795131) // *180/pi
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#define DEBUG 0
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#define LOITER_RANGE 60 // for calculating power outside of loiter radius
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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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// failsafe
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// ----------------------
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#define FAILSAFE_NONE 0
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#define FAILSAFE_SHORT 1
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#define FAILSAFE_LONG 2
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#define FAILSAFE_GCS 3
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#define FAILSAFE_SHORT_TIME 1500 // Miliiseconds
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#define FAILSAFE_LONG_TIME 20000 // Miliiseconds
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// active altitude sensor
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// ----------------------
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#define SONAR 0
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#define BARO 1
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#define SONAR_SOURCE_ADC 1
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#define SONAR_SOURCE_ANALOG_PIN 2
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// CH 7 control
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#define CH7_DO_NOTHING 0
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#define CH7_SAVE_WP 1
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#define CH7_LEO 2
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#define CH7_THERMAL 3
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#define CH7_SARSEC 4
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#define CH7_SARGRID 5
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#define CH7_RTL 6
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#define CH7_TUNING 7
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// CH_7 Tuning
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// -----------
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#define TUN_NONE 0
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// Attitude
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#define TUN_STABILIZE_KP 1
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#define TUN_STABILIZE_KI 2
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#define TUN_STABILIZE_KD 3
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#define TUN_YAW_KP 4
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#define TUN_YAW_KI 5
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#define TUN_YAW_KD 6
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#define TUN_STABROLL_KP 7
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#define TUN_STABROLL_KI 8
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#define TUN_STABROLL_KD 9
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#define TUN_STABPITCH_KP 10
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#define TUN_STABPITCH_KI 11
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#define TUN_STABPITCH_KD 12
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#define PITOT_SOURCE_ADC 1
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#define PITOT_SOURCE_ANALOG_PIN 2
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#define T6 1000000
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#define T7 10000000
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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_MTK16 6
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#define GPS_PROTOCOL_AUTO 7
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#define CH_ROLL CH_1
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#define CH_PITCH CH_2
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#define CH_THROTTLE CH_3
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#define CH_RUDDER CH_4
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#define CH_YAW CH_4
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#define CH_AIL1 CH_5
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#define CH_AIL2 CH_6
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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 MANUAL 0
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#define CIRCLE 1 // When flying sans GPS, and we loose the radio, just circle
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#define LEARNING 2
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#define FLY_BY_WIRE_A 5 // Fly By Wire A has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical = manual throttle
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#define FLY_BY_WIRE_B 6 // Fly By Wire B has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical => desired airspeed
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#define FLY_BY_WIRE_C 7 // Fly By Wire C has left stick horizontal => desired roll angle, left stick vertical => desired climb rate, right stick vertical => desired airspeed
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// Fly By Wire B and Fly By Wire C require airspeed sensor
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#define AUTO 10
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#define RTL 11
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#define LOITER 12
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//#define TAKEOFF 13 // This is not used by APM. It appears here for consistency with ACM
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//#define LAND 14 // This is not used by APM. It appears here for consistency with ACM
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#define GUIDED 15
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#define INITIALISING 16 // in startup routines
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#define HEADALT 17 // Lock the current heading and altitude
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#define SARSEC 18 // Run a SAR type Sector Pattern
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#define SARGRID 19 // Run a SAR type Grid Pattern
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#define THERMAL 20 // Thermal hunter mode
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#define LAND 21 // Landing mode
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// Commands - Note that APM now uses a subset of the MAVLink protocol 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 requested
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#define NO_COMMAND 0
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#define WAIT_COMMAND 255
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// Command/Waypoint/Location Options Bitmask
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//--------------------
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#define MASK_OPTIONS_RELATIVE_ALT (1<<0) // 1 = Relative altitude
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//repeating events
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#define NO_REPEAT 0
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#define CH_5_TOGGLE 1
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#define CH_6_TOGGLE 2
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#define CH_7_TOGGLE 3
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#define CH_8_TOGGLE 4
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#define RELAY_TOGGLE 5
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#define STOP_REPEAT 10
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#define MAV_CMD_CONDITION_YAW 23
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// GCS Message ID's
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/// NOTE: to ensure we never block on sending MAVLink messages
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/// please keep each MSG_ to a single MAVLink message. If need be
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/// create new MSG_ IDs for additional messages on the same
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/// stream
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enum ap_message {
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MSG_HEARTBEAT,
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MSG_ATTITUDE,
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MSG_LOCATION,
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MSG_EXTENDED_STATUS1,
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MSG_EXTENDED_STATUS2,
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MSG_NAV_CONTROLLER_OUTPUT,
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MSG_CURRENT_WAYPOINT,
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MSG_VFR_HUD,
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MSG_RADIO_OUT,
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MSG_RADIO_IN,
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MSG_RAW_IMU1,
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MSG_RAW_IMU2,
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MSG_RAW_IMU3,
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MSG_GPS_STATUS,
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MSG_GPS_RAW,
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MSG_SERVO_OUT,
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MSG_NEXT_WAYPOINT,
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MSG_NEXT_PARAM,
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MSG_STATUSTEXT,
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MSG_FENCE_STATUS,
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MSG_AHRS,
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MSG_SIMSTATE,
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MSG_HWSTATUS,
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MSG_RETRY_DEFERRED // this must be last
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};
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enum gcs_severity {
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SEVERITY_LOW=1,
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SEVERITY_MEDIUM,
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SEVERITY_HIGH,
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SEVERITY_CRITICAL
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};
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// Logging parameters
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#define LOG_INDEX_MSG 0xF0
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#define LOG_ATTITUDE_MSG 0x01
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#define LOG_GPS_MSG 0x02
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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_RAW_MSG 0x07
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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 TYPE_AIRSTART_MSG 0x00
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#define TYPE_GROUNDSTART_MSG 0x01
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#define MAX_NUM_LOGS 100
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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_MODE (1<<6)
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#define MASK_LOG_RAW (1<<7)
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#define MASK_LOG_CMD (1<<8)
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#define MASK_LOG_CUR (1<<9)
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// Waypoint Modes
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// ----------------
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#define ABS_WP 0
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#define REL_WP 1
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// Command Queues
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// ---------------
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#define COMMAND_MUST 0
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#define COMMAND_MAY 1
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#define COMMAND_NOW 2
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// Events
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// ------
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#define EVENT_WILL_REACH_WAYPOINT 1
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#define EVENT_SET_NEW_COMMAND_INDEX 2
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#define EVENT_LOADED_WAYPOINT 3
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#define EVENT_LOOP 4
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// Climb rate calculations
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#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to regress a climb rate from
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#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*g.volt_div_ratio
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#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt
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#define RELAY_PIN 47
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// sonar
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#define MAX_SONAR_XL 0
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#define MAX_SONAR_LV 1
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#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
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#define AN4 4
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#define AN5 5
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#define SPEEDFILT 400 // centimeters/second; the speed below which a groundstart will be triggered
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// EEPROM addresses
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#define EEPROM_MAX_ADDR 4096
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// parameters get the first 1KiB of EEPROM, remainder is for waypoints
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#define WP_START_BYTE 0x400 // where in memory home WP is stored + all other 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 20
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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 // - 1 to be safe
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#define ONBOARD_PARAM_NAME_LENGTH 15
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// convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps to -1)
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#define BOOL_TO_SIGN(bvalue) ((bvalue)?-1:1)
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// mark a function as not to be inlined
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#define NOINLINE __attribute__((noinline))
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#define CONFIG_IMU_OILPAN 1
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#define CONFIG_IMU_MPU6000 2
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#define APM_HARDWARE_APM1 1
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#define APM_HARDWARE_APM2 2
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#define AP_BARO_BMP085 1
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#define AP_BARO_MS5611 2
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#endif // _DEFINES_H
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