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ardupilot/ArduCopter/defines.h
Jason Short 882edaf787 Copter: add pitch axis flipping 
Added Pitch axis flipping. You must be pushing forward or back 3° to make it flip in Pitch axis or it will flip in the default roll axis.
Added some extra throttle control to maintain altitude
removed the CH7 ability to exit Flip mode. It will exit only if completing flip or user aborts with control sticks.
2014-08-23 23:40:07 +09:00

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef _DEFINES_H
#define _DEFINES_H
#include <AP_HAL_Boards.h>
// Just so that it's completely clear...
#define ENABLED 1
#define DISABLED 0
// this avoids a very common config error
#define ENABLE ENABLED
#define DISABLE DISABLED
// Flight modes
// ------------
#define AUTO_YAW_HOLD 0 // pilot controls the heading
#define AUTO_YAW_LOOK_AT_NEXT_WP 1 // point towards next waypoint (no pilot input accepted)
#define AUTO_YAW_ROI 2 // point towards a location held in roi_WP (no pilot input accepted)
#define AUTO_YAW_LOOK_AT_HEADING 3 // point towards a particular angle (not pilot input accepted)
#define AUTO_YAW_LOOK_AHEAD 4 // point in the direction the copter is moving
#define AUTO_YAW_RESETTOARMEDYAW 5 // point towards heading at time motors were armed
// Ch6, Ch7 and Ch8 aux switch control
#define AUX_SWITCH_PWM_TRIGGER_HIGH 1800 // pwm value above which the ch7 or ch8 option will be invoked
#define AUX_SWITCH_PWM_TRIGGER_LOW 1200 // pwm value below which the ch7 or ch8 option will be disabled
#define CH6_PWM_TRIGGER_HIGH 1800
#define CH6_PWM_TRIGGER_LOW 1200
#define AUX_SWITCH_DO_NOTHING 0 // aux switch disabled
#define AUX_SWITCH_SET_HOVER 1 // deprecated
#define AUX_SWITCH_FLIP 2 // flip
#define AUX_SWITCH_SIMPLE_MODE 3 // change to simple mode
#define AUX_SWITCH_RTL 4 // change to RTL flight mode
#define AUX_SWITCH_SAVE_TRIM 5 // save current position as level
#define AUX_SWITCH_ADC_FILTER 6 // deprecated
#define AUX_SWITCH_SAVE_WP 7 // save mission waypoint or RTL if in auto mode
#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)
#define AUX_SWITCH_CAMERA_TRIGGER 9 // trigger camera servo or relay
#define AUX_SWITCH_SONAR 10 // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground
#define AUX_SWITCH_FENCE 11 // allow enabling or disabling fence in flight
#define AUX_SWITCH_RESETTOARMEDYAW 12 // changes yaw to be same as when quad was armed
#define AUX_SWITCH_SUPERSIMPLE_MODE 13 // change to simple mode in middle, super simple at top
#define AUX_SWITCH_ACRO_TRAINER 14 // low = disabled, middle = leveled, high = leveled and limited
#define AUX_SWITCH_SPRAYER 15 // enable/disable the crop sprayer
#define AUX_SWITCH_AUTO 16 // change to auto flight mode
#define AUX_SWITCH_AUTOTUNE 17 // auto tune
#define AUX_SWITCH_LAND 18 // change to LAND flight mode
#define AUX_SWITCH_EPM 19 // Operate the EPM cargo gripper low=off, middle=neutral, high=on
#define AUX_SWITCH_EKF 20 // Enable NavEKF
#define AUX_SWITCH_PARACHUTE_ENABLE 21 // Parachute enable/disable
#define AUX_SWITCH_PARACHUTE_RELEASE 22 // Parachute release
#define AUX_SWITCH_PARACHUTE_3POS 23 // Parachute disable, enable, release with 3 position switch
#define AUX_SWITCH_MISSIONRESET 24 // Reset auto mission to start from first command
#define AUX_SWITCH_ATTCON_FEEDFWD 25 // enable/disable the roll and pitch rate feed forward
#define AUX_SWITCH_ATTCON_ACCEL_LIM 26 // enable/disable the roll, pitch and yaw accel limiting
#define AUX_SWITCH_RETRACT_MOUNT 27 // Retract Mount
#define AUX_SWITCH_RELAY 28 // Relay pin on/off (only supports first relay)
// values used by the ap.ch7_opt and ap.ch8_opt flags
#define AUX_SWITCH_LOW 0 // indicates auxiliar switch is in the low position (pwm <1200)
#define AUX_SWITCH_MIDDLE 1 // indicates auxiliar switch is in the middle position (pwm >1200, <1800)
#define AUX_SWITCH_HIGH 2 // indicates auxiliar switch is in the high position (pwm >1800)
// Frame types
#define UNDEFINED_FRAME 0
#define QUAD_FRAME 1
#define TRI_FRAME 2
#define HEXA_FRAME 3
#define Y6_FRAME 4
#define OCTA_FRAME 5
#define HELI_FRAME 6
#define OCTA_QUAD_FRAME 7
#define SINGLE_FRAME 8
#define COAX_FRAME 9
// Internal defines, don't edit and expect things to work
// -------------------------------------------------------
#define ToRad(x) radians(x) // *pi/180
#define ToDeg(x) degrees(x) // *180/pi
// HIL enumerations
#define HIL_MODE_DISABLED 0
#define HIL_MODE_SENSORS 1
// Auto Pilot modes
// ----------------
#define STABILIZE 0 // hold level position
#define ACRO 1 // rate control
#define ALT_HOLD 2 // AUTO control
#define AUTO 3 // AUTO control
#define GUIDED 4 // AUTO control
#define LOITER 5 // Hold a single location
#define RTL 6 // AUTO control
#define CIRCLE 7 // AUTO control
#define LAND 9 // AUTO control
#define OF_LOITER 10 // Hold a single location using optical flow sensor
#define DRIFT 11 // DRIFT mode (Note: 12 is no longer used)
#define SPORT 13 // earth frame rate control
#define FLIP 14 // flip the vehicle on the roll axis
#define AUTOTUNE 15 // autotune the vehicle's roll and pitch gains
#define POSHOLD 16 // position hold with manual override
#define NUM_MODES 17
// CH_6 Tuning
// -----------
#define CH6_NONE 0 // no tuning performed
#define CH6_STABILIZE_ROLL_PITCH_KP 1 // stabilize roll/pitch angle controller's P term
#define CH6_RATE_ROLL_PITCH_KP 4 // body frame roll/pitch rate controller's P term
#define CH6_RATE_ROLL_PITCH_KI 5 // body frame roll/pitch rate controller's I term
#define CH6_RATE_ROLL_PITCH_KD 21 // body frame roll/pitch rate controller's D term
#define CH6_STABILIZE_YAW_KP 3 // stabilize yaw heading controller's P term
#define CH6_YAW_RATE_KP 6 // body frame yaw rate controller's P term
#define CH6_YAW_RATE_KD 26 // body frame yaw rate controller's D term
#define CH6_ALTITUDE_HOLD_KP 14 // altitude hold controller's P term (alt error to desired rate)
#define CH6_THROTTLE_RATE_KP 7 // throttle rate controller's P term (desired rate to acceleration or motor output)
#define CH6_THROTTLE_ACCEL_KP 34 // accel based throttle controller's P term
#define CH6_THROTTLE_ACCEL_KI 35 // accel based throttle controller's I term
#define CH6_THROTTLE_ACCEL_KD 36 // accel based throttle controller's D term
#define CH6_LOITER_POSITION_KP 12 // loiter distance controller's P term (position error to speed)
#define CH6_LOITER_RATE_KP 22 // loiter rate controller's P term (speed error to tilt angle)
#define CH6_LOITER_RATE_KI 28 // loiter rate controller's I term (speed error to tilt angle)
#define CH6_LOITER_RATE_KD 23 // loiter rate controller's D term (speed error to tilt angle)
#define CH6_WP_SPEED 10 // maximum speed to next way point (0 to 10m/s)
#define CH6_ACRO_RP_KP 25 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
#define CH6_ACRO_YAW_KP 40 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
#define CH6_RELAY 9 // deprecated -- remove
#define CH6_HELI_EXTERNAL_GYRO 13 // TradHeli specific external tail gyro gain
#define CH6_OPTFLOW_KP 17 // optical flow loiter controller's P term (position error to tilt angle)
#define CH6_OPTFLOW_KI 18 // optical flow loiter controller's I term (position error to tilt angle)
#define CH6_OPTFLOW_KD 19 // optical flow loiter controller's D term (position error to tilt angle)
#define CH6_AHRS_YAW_KP 30 // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
#define CH6_AHRS_KP 31 // accelerometer effect on roll/pitch angle (0=low)
#define CH6_INAV_TC 32 // deprecated -- remove
#define CH6_DECLINATION 38 // compass declination in radians
#define CH6_CIRCLE_RATE 39 // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
#define CH6_SONAR_GAIN 41 // sonar gain
#define CH6_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
#define CH6_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
#define CH6_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)
#define CH6_RC_FEEL_RP 45 // roll-pitch input smoothing
#define CH6_RATE_PITCH_KP 46 // body frame pitch rate controller's P term
#define CH6_RATE_PITCH_KI 47 // body frame pitch rate controller's I term
#define CH6_RATE_PITCH_KD 48 // body frame pitch rate controller's D term
#define CH6_RATE_ROLL_KP 49 // body frame roll rate controller's P term
#define CH6_RATE_ROLL_KI 50 // body frame roll rate controller's I term
#define CH6_RATE_ROLL_KD 51 // body frame roll rate controller's D term
#define CH6_RATE_PITCH_FF 52 // body frame pitch rate controller FF term
#define CH6_RATE_ROLL_FF 53 // body frame roll rate controller FF term
#define CH6_RATE_YAW_FF 54 // body frame yaw rate controller FF term
// Acro Trainer types
#define ACRO_TRAINER_DISABLED 0
#define ACRO_TRAINER_LEVELING 1
#define ACRO_TRAINER_LIMITED 2
// RC Feel roll/pitch definitions
#define RC_FEEL_RP_VERY_SOFT 0
#define RC_FEEL_RP_SOFT 25
#define RC_FEEL_RP_MEDIUM 50
#define RC_FEEL_RP_CRISP 75
#define RC_FEEL_RP_VERY_CRISP 100
// Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter
#define WP_YAW_BEHAVIOR_NONE 0 // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received)
#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP 1 // auto pilot will face next waypoint or home during rtl
#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
#define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicotpers)
// Auto modes
enum AutoMode {
Auto_TakeOff,
Auto_WP,
Auto_Land,
Auto_RTL,
Auto_CircleMoveToEdge,
Auto_Circle,
Auto_Spline,
Auto_NavGuided
};
// Guided modes
enum GuidedMode {
Guided_TakeOff,
Guided_WP,
Guided_Velocity
};
// RTL states
enum RTLState {
InitialClimb,
ReturnHome,
LoiterAtHome,
FinalDescent,
Land
};
// Flip states
enum FlipState {
Flip_Start,
Flip_Roll,
Flip_Pitch_A,
Flip_Pitch_B,
Flip_Recover,
Flip_Abandon
};
// LAND state
#define LAND_STATE_FLY_TO_LOCATION 0
#define LAND_STATE_DESCENDING 1
// Logging parameters
#define TYPE_AIRSTART_MSG 0x00
#define TYPE_GROUNDSTART_MSG 0x01
#define LOG_ATTITUDE_MSG 0x01
#define LOG_MODE_MSG 0x03
#define LOG_CONTROL_TUNING_MSG 0x04
#define LOG_NAV_TUNING_MSG 0x05
#define LOG_PERFORMANCE_MSG 0x06
#define LOG_CURRENT_MSG 0x09
#define LOG_STARTUP_MSG 0x0A
#define LOG_OPTFLOW_MSG 0x0C
#define LOG_EVENT_MSG 0x0D
#define LOG_PID_MSG 0x0E // deprecated
#define LOG_COMPASS_MSG 0x0F
#define LOG_INAV_MSG 0x11 // deprecated
#define LOG_CAMERA_MSG_DEPRECATED 0x12 // deprecated
#define LOG_ERROR_MSG 0x13
#define LOG_DATA_INT16_MSG 0x14
#define LOG_DATA_UINT16_MSG 0x15
#define LOG_DATA_INT32_MSG 0x16
#define LOG_DATA_UINT32_MSG 0x17
#define LOG_DATA_FLOAT_MSG 0x18
#define LOG_AUTOTUNE_MSG 0x19
#define LOG_AUTOTUNEDETAILS_MSG 0x1A
#define LOG_COMPASS2_MSG 0x1B
#define LOG_COMPASS3_MSG 0x1C
#define MASK_LOG_ATTITUDE_FAST (1<<0)
#define MASK_LOG_ATTITUDE_MED (1<<1)
#define MASK_LOG_GPS (1<<2)
#define MASK_LOG_PM (1<<3)
#define MASK_LOG_CTUN (1<<4)
#define MASK_LOG_NTUN (1<<5)
#define MASK_LOG_RCIN (1<<6)
#define MASK_LOG_IMU (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CURRENT (1<<9)
#define MASK_LOG_RCOUT (1<<10)
#define MASK_LOG_OPTFLOW (1<<11)
#define MASK_LOG_PID (1<<12) // deprecated
#define MASK_LOG_COMPASS (1<<13)
#define MASK_LOG_INAV (1<<14) // deprecated
#define MASK_LOG_CAMERA (1<<15)
// DATA - event logging
#define DATA_MAVLINK_FLOAT 1
#define DATA_MAVLINK_INT32 2
#define DATA_MAVLINK_INT16 3
#define DATA_MAVLINK_INT8 4
#define DATA_AP_STATE 7
#define DATA_INIT_SIMPLE_BEARING 9
#define DATA_ARMED 10
#define DATA_DISARMED 11
#define DATA_AUTO_ARMED 15
#define DATA_TAKEOFF 16
#define DATA_LAND_COMPLETE 18
#define DATA_NOT_LANDED 28
#define DATA_LOST_GPS 19
#define DATA_FLIP_START 21
#define DATA_FLIP_END 22
#define DATA_SET_HOME 25
#define DATA_SET_SIMPLE_ON 26
#define DATA_SET_SIMPLE_OFF 27
#define DATA_SET_SUPERSIMPLE_ON 29
#define DATA_AUTOTUNE_INITIALISED 30
#define DATA_AUTOTUNE_OFF 31
#define DATA_AUTOTUNE_RESTART 32
#define DATA_AUTOTUNE_SUCCESS 33
#define DATA_AUTOTUNE_FAILED 34
#define DATA_AUTOTUNE_REACHED_LIMIT 35
#define DATA_AUTOTUNE_PILOT_TESTING 36
#define DATA_AUTOTUNE_SAVEDGAINS 37
#define DATA_SAVE_TRIM 38
#define DATA_SAVEWP_ADD_WP 39
#define DATA_SAVEWP_CLEAR_MISSION_RTL 40
#define DATA_FENCE_ENABLE 41
#define DATA_FENCE_DISABLE 42
#define DATA_ACRO_TRAINER_DISABLED 43
#define DATA_ACRO_TRAINER_LEVELING 44
#define DATA_ACRO_TRAINER_LIMITED 45
#define DATA_EPM_ON 46
#define DATA_EPM_OFF 47
#define DATA_EPM_NEUTRAL 48
#define DATA_PARACHUTE_DISABLED 49
#define DATA_PARACHUTE_ENABLED 50
#define DATA_PARACHUTE_RELEASED 51
// Centi-degrees to radians
#define DEGX100 5729.57795f
// mark a function as not to be inlined
#define NOINLINE __attribute__((noinline))
// Error message sub systems and error codes
#define ERROR_SUBSYSTEM_MAIN 1
#define ERROR_SUBSYSTEM_RADIO 2
#define ERROR_SUBSYSTEM_COMPASS 3
#define ERROR_SUBSYSTEM_OPTFLOW 4
#define ERROR_SUBSYSTEM_FAILSAFE_RADIO 5
#define ERROR_SUBSYSTEM_FAILSAFE_BATT 6
#define ERROR_SUBSYSTEM_FAILSAFE_GPS 7
#define ERROR_SUBSYSTEM_FAILSAFE_GCS 8
#define ERROR_SUBSYSTEM_FAILSAFE_FENCE 9
#define ERROR_SUBSYSTEM_FLIGHT_MODE 10
#define ERROR_SUBSYSTEM_GPS 11
#define ERROR_SUBSYSTEM_CRASH_CHECK 12
#define ERROR_SUBSYSTEM_FLIP 13
#define ERROR_SUBSYSTEM_AUTOTUNE 14
#define ERROR_SUBSYSTEM_PARACHUTE 15
#define ERROR_SUBSYSTEM_EKFINAV_CHECK 16
#define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV 17
#define ERROR_SUBSYSTEM_BARO 18
// general error codes
#define ERROR_CODE_ERROR_RESOLVED 0
#define ERROR_CODE_FAILED_TO_INITIALISE 1
// subsystem specific error codes -- radio
#define ERROR_CODE_RADIO_LATE_FRAME 2
// subsystem specific error codes -- failsafe_thr, batt, gps
#define ERROR_CODE_FAILSAFE_RESOLVED 0
#define ERROR_CODE_FAILSAFE_OCCURRED 1
// subsystem specific error codes -- compass
#define ERROR_CODE_COMPASS_FAILED_TO_READ 2
// subsystem specific error codes -- gps
#define ERROR_CODE_GPS_GLITCH 2
// subsystem specific error codes -- main
#define ERROR_CODE_MAIN_INS_DELAY 1
// subsystem specific error codes -- crash checker
#define ERROR_CODE_CRASH_CHECK_CRASH 1
#define ERROR_CODE_CRASH_CHECK_LOSS_OF_CONTROL 2
// subsystem specific error codes -- flip
#define ERROR_CODE_FLIP_ABANDONED 2
// subsystem specific error codes -- autotune
#define ERROR_CODE_AUTOTUNE_BAD_GAINS 2
// parachute failed to deploy because of low altitude
#define ERROR_CODE_PARACHUTE_TOO_LOW 2
// EKF check definitions
#define ERROR_CODE_EKFINAV_CHECK_BAD_VARIANCE 2
#define ERROR_CODE_EKFINAV_CHECK_VARIANCE_CLEARED 0
// Baro specific error codes
#define ERROR_CODE_BARO_GLITCH 2
// Arming Check Enable/Disable bits
#define ARMING_CHECK_NONE 0x00
#define ARMING_CHECK_ALL 0x01
#define ARMING_CHECK_BARO 0x02
#define ARMING_CHECK_COMPASS 0x04
#define ARMING_CHECK_GPS 0x08
#define ARMING_CHECK_INS 0x10
#define ARMING_CHECK_PARAMETERS 0x20
#define ARMING_CHECK_RC 0x40
#define ARMING_CHECK_VOLTAGE 0x80
// Radio failsafe definitions (FS_THR parameter)
#define FS_THR_DISABLED 0
#define FS_THR_ENABLED_ALWAYS_RTL 1
#define FS_THR_ENABLED_CONTINUE_MISSION 2
#define FS_THR_ENABLED_ALWAYS_LAND 3
// Battery failsafe definitions (FS_BATT_ENABLE parameter)
#define FS_BATT_DISABLED 0 // battery failsafe disabled
#define FS_BATT_LAND 1 // switch to LAND mode on battery failsafe
#define FS_BATT_RTL 2 // switch to RTL mode on battery failsafe
// GPS Failsafe definitions (FS_GPS_ENABLE parameter)
#define FS_GPS_DISABLED 0 // GPS failsafe disabled
#define FS_GPS_LAND 1 // switch to LAND mode on GPS Failsafe
#define FS_GPS_ALTHOLD 2 // switch to ALTHOLD mode on GPS failsafe
#define FS_GPS_LAND_EVEN_STABILIZE 3 // switch to LAND mode on GPS failsafe even if in a manual flight mode like Stabilize
enum Serial2Protocol {
SERIAL2_MAVLINK = 1,
SERIAL2_FRSKY_DPORT = 2,
SERIAL2_FRSKY_SPORT = 3 // not supported yet
};
#endif // _DEFINES_H
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