mirror of https://github.com/ArduPilot/ardupilot
198 lines
5.7 KiB
C
198 lines
5.7 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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#define TRUE 1
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#define FALSE 0
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#define DEBUG 0
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#define SERVO_MAX 4500.0 // This value represents 45 degrees and is just an
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// arbitrary representation of servo max travel.
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// failsafe
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// ----------------------
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enum failsafe_state {
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FAILSAFE_NONE=0,
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FAILSAFE_SHORT=1,
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FAILSAFE_LONG=2,
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FAILSAFE_GCS=3
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};
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// GCS failsafe types for FS_GCS_ENABL parameter
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enum gcs_failsafe {
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GCS_FAILSAFE_OFF = 0, // no GCS failsafe
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GCS_FAILSAFE_HEARTBEAT = 1, // failsafe if we stop receiving heartbeat
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GCS_FAILSAFE_HB_RSSI = 2, // failsafe if we stop receiving
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// heartbeat or if RADIO.remrssi
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// drops to 0
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GCS_FAILSAFE_HB_AUTO = 3 // failsafe if we stop receiving heartbeat
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// while in AUTO mode
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};
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enum failsafe_action_short {
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FS_ACTION_SHORT_BESTGUESS = 0, // CIRCLE/no change(if already in AUTO|GUIDED|LOITER)
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FS_ACTION_SHORT_CIRCLE = 1,
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FS_ACTION_SHORT_FBWA = 2,
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FS_ACTION_SHORT_DISABLED = 3,
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FS_ACTION_SHORT_FBWB = 4,
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};
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enum failsafe_action_long {
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FS_ACTION_LONG_CONTINUE = 0,
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FS_ACTION_LONG_RTL = 1,
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FS_ACTION_LONG_GLIDE = 2,
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FS_ACTION_LONG_PARACHUTE = 3,
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};
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// type of stick mixing enabled
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enum class StickMixing {
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NONE = 0,
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FBW = 1,
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DIRECT = 2,
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VTOL_YAW = 3,
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};
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enum ChannelMixing {
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MIXING_DISABLED = 0,
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MIXING_UPUP = 1,
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MIXING_UPDN = 2,
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MIXING_DNUP = 3,
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MIXING_DNDN = 4,
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MIXING_UPUP_SWP = 5,
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MIXING_UPDN_SWP = 6,
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MIXING_DNUP_SWP = 7,
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MIXING_DNDN_SWP = 8,
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};
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// PID broadcast bitmask
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enum tuning_pid_bits {
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TUNING_BITS_ROLL = (1 << 0),
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TUNING_BITS_PITCH = (1 << 1),
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TUNING_BITS_YAW = (1 << 2),
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TUNING_BITS_STEER = (1 << 3),
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TUNING_BITS_LAND = (1 << 4),
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TUNING_BITS_ACCZ = (1 << 5),
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TUNING_BITS_END // dummy just used for static checking
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};
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static_assert(TUNING_BITS_END <= (1 << 24) + 1, "Tuning bit mask is too large to be set by MAVLink");
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// Logging message types - only 32 messages are available to the vehicle here.
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enum log_messages {
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LOG_CTUN_MSG,
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LOG_NTUN_MSG,
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LOG_STARTUP_MSG,
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TYPE_GROUNDSTART_MSG,
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LOG_STATUS_MSG,
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LOG_QTUN_MSG,
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LOG_PIQR_MSG,
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LOG_PIQP_MSG,
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LOG_PIQY_MSG,
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LOG_PIQA_MSG,
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LOG_PIDG_MSG,
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LOG_AETR_MSG,
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LOG_OFG_MSG,
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LOG_CMDI_MSG,
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LOG_CMDA_MSG,
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LOG_CMDS_MSG,
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LOG_CMDH_MSG,
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};
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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) // 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_COMPASS (1<<10)
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#define MASK_LOG_TECS (1<<11)
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#define MASK_LOG_CAMERA (1<<12)
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#define MASK_LOG_RC (1<<13)
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#define MASK_LOG_SONAR (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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#define MASK_LOG_ATTITUDE_FULLRATE (1U<<20)
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#define MASK_LOG_VIDEO_STABILISATION (1UL<<21)
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// altitude control algorithms
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enum {
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ALT_CONTROL_DEFAULT = 0,
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ALT_CONTROL_NON_AIRSPEED = 1,
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ALT_CONTROL_TECS = 2,
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ALT_CONTROL_AIRSPEED = 3
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};
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enum {
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CRASH_DETECT_ACTION_BITMASK_DISABLED = 0,
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CRASH_DETECT_ACTION_BITMASK_DISARM = (1<<0),
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// note: next enum will be (1<<1), then (1<<2), then (1<<3)
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};
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enum {
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USE_REVERSE_THRUST_NEVER = 0,
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USE_REVERSE_THRUST_AUTO_ALWAYS = (1<<0),
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USE_REVERSE_THRUST_AUTO_LAND_APPROACH = (1<<1),
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USE_REVERSE_THRUST_AUTO_LOITER_TO_ALT = (1<<2),
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USE_REVERSE_THRUST_AUTO_LOITER_ALL = (1<<3),
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USE_REVERSE_THRUST_AUTO_WAYPOINT = (1<<4),
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USE_REVERSE_THRUST_LOITER = (1<<5),
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USE_REVERSE_THRUST_RTL = (1<<6),
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USE_REVERSE_THRUST_CIRCLE = (1<<7),
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USE_REVERSE_THRUST_CRUISE = (1<<8),
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USE_REVERSE_THRUST_FBWB = (1<<9),
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USE_REVERSE_THRUST_GUIDED = (1<<10),
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USE_REVERSE_THRUST_AUTO_LANDING_PATTERN = (1<<11),
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USE_REVERSE_THRUST_FBWA = (1<<12),
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USE_REVERSE_THRUST_ACRO = (1<<13),
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USE_REVERSE_THRUST_STABILIZE = (1<<14),
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USE_REVERSE_THRUST_THERMAL = (1<<15),
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};
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enum FlightOptions {
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DIRECT_RUDDER_ONLY = (1 << 0),
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CRUISE_TRIM_THROTTLE = (1 << 1),
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DISABLE_TOFF_ATTITUDE_CHK = (1 << 2),
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CRUISE_TRIM_AIRSPEED = (1 << 3),
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CLIMB_BEFORE_TURN = (1 << 4),
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ACRO_YAW_DAMPER = (1 << 5),
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SURPRESS_TKOFF_SCALING = (1<<6),
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ENABLE_DEFAULT_AIRSPEED = (1<<7),
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GCS_REMOVE_TRIM_PITCH_CD = (1 << 8),
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OSD_REMOVE_TRIM_PITCH_CD = (1 << 9),
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CENTER_THROTTLE_TRIM = (1<<10),
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DISABLE_GROUND_PID_SUPPRESSION = (1<<11),
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};
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enum CrowFlapOptions {
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FLYINGWING = (1 << 0),
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FULLSPAN = (1 << 1),
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PROGRESSIVE_CROW = (1 << 2),
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};
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enum guided_heading_type_t {
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GUIDED_HEADING_NONE = 0, // no heading track
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GUIDED_HEADING_COG, // maintain ground track
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GUIDED_HEADING_HEADING, // maintain a heading
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};
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enum class AirMode {
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OFF,
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ON,
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ASSISTED_FLIGHT_ONLY,
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};
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enum class FenceAutoEnable : uint8_t {
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OFF=0,
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Auto=1,
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AutoDisableFloorOnly=2,
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WhenArmed=3
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};
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