mirror of https://github.com/ArduPilot/ardupilot
439 lines
19 KiB
C
439 lines
19 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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// Flight modes
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// ------------
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#define YAW_HOLD 0 // heading hold at heading in nav_yaw but allow input from pilot
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#define YAW_ACRO 1 // pilot controlled yaw using rate controller
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#define YAW_LOOK_AT_NEXT_WP 2 // point towards next waypoint (no pilot input accepted)
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#define YAW_LOOK_AT_LOCATION 3 // point towards a location held in yaw_look_at_WP (no pilot input accepted)
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#define YAW_CIRCLE 4 // point towards a location held in yaw_look_at_WP (no pilot input accepted)
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#define YAW_LOOK_AT_HOME 5 // point towards home (no pilot input accepted)
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#define YAW_LOOK_AT_HEADING 6 // point towards a particular angle (not pilot input accepted)
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#define YAW_LOOK_AHEAD 7 // WARNING! CODE IN DEVELOPMENT NOT PROVEN
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#define YAW_TOY 8 // THOR This is the Yaw mode
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#define YAW_RESETTOARMEDYAW 9 // point towards heading at time motors were armed
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#define ROLL_PITCH_STABLE 0 // pilot input roll, pitch angles
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#define ROLL_PITCH_ACRO 1 // pilot inputs roll, pitch rotation rates
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#define ROLL_PITCH_AUTO 2 // no pilot input. autopilot roll, pitch is sent to stabilize controller inputs
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#define ROLL_PITCH_STABLE_OF 3 // pilot inputs roll, pitch angles which are mixed with optical flow based position controller lean anbles
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#define ROLL_PITCH_TOY 4 // THOR This is the Roll and Pitch mode
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#define ROLL_PITCH_LOITER 5 // pilot inputs the desired horizontal velocities
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#define THROTTLE_MANUAL 0 // manual throttle mode - pilot input goes directly to motors
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#define THROTTLE_MANUAL_TILT_COMPENSATED 1 // mostly manual throttle but with some tilt compensation
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#define THROTTLE_HOLD 2 // alt hold plus pilot input of climb rate
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#define THROTTLE_AUTO 3 // auto pilot altitude controller with target altitude held in next_WP.alt
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#define THROTTLE_LAND 4 // landing throttle controller
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// sonar - for use with CONFIG_SONAR_SOURCE
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#define SONAR_SOURCE_ADC 1
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#define SONAR_SOURCE_ANALOG_PIN 2
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// Ch7 and Ch8 aux switch control
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#define AUX_SWITCH_PWM_TRIGGER 1800 // pwm value above which the ch7 or ch8 option will be invoked
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#define CH6_PWM_TRIGGER_HIGH 1800
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#define CH6_PWM_TRIGGER_LOW 1200
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#define AUX_SWITCH_DO_NOTHING 0 // aux switch disabled
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#define AUX_SWITCH_SET_HOVER 1 // deprecated
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#define AUX_SWITCH_FLIP 2 // flip
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#define AUX_SWITCH_SIMPLE_MODE 3 // change to simple mode
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#define AUX_SWITCH_RTL 4 // change to RTL flight mode
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#define AUX_SWITCH_SAVE_TRIM 5 // save current position as level
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#define AUX_SWITCH_ADC_FILTER 6 // deprecated
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#define AUX_SWITCH_SAVE_WP 7 // save mission waypoint or RTL if in auto mode
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#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)
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#define AUX_SWITCH_CAMERA_TRIGGER 9 // trigger camera servo or relay
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#define AUX_SWITCH_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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#define AUX_SWITCH_FENCE 11 // allow enabling or disabling fence in flight
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#define AUX_SWITCH_RESETTOARMEDYAW 12 // changes yaw to be same as when quad was armed
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// Frame types
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#define QUAD_FRAME 0
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#define TRI_FRAME 1
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#define HEXA_FRAME 2
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#define Y6_FRAME 3
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#define OCTA_FRAME 4
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#define HELI_FRAME 5
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#define OCTA_QUAD_FRAME 6
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#define PLUS_FRAME 0
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#define X_FRAME 1
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#define V_FRAME 2
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// LED output
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#define NORMAL_LEDS 0
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#define SAVE_TRIM_LEDS 1
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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) radians(x) // *pi/180
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#define ToDeg(x) degrees(x) // *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 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_MTK19 6
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#define GPS_PROTOCOL_AUTO 7
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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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// Altitude status definitions
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#define REACHED_ALT 0
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#define DESCENDING 1
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#define ASCENDING 2
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// Auto Pilot modes
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// ----------------
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#define STABILIZE 0 // hold level position
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#define ACRO 1 // rate control
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#define ALT_HOLD 2 // AUTO control
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#define AUTO 3 // AUTO control
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#define GUIDED 4 // AUTO control
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#define LOITER 5 // Hold a single location
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#define RTL 6 // AUTO control
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#define CIRCLE 7 // AUTO control
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#define POSITION 8 // AUTO control
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#define LAND 9 // AUTO control
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#define OF_LOITER 10 // Hold a single location using optical flow
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// sensor
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#define TOY_A 11 // THOR Enum for Toy mode
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#define TOY_M 12 // THOR Enum for Toy mode
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#define NUM_MODES 13
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// CH_6 Tuning
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// -----------
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#define CH6_NONE 0 // no tuning performed
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#define CH6_STABILIZE_KP 1 // stabilize roll/pitch angle controller's P term
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#define CH6_STABILIZE_KI 2 // stabilize roll/pitch angle controller's I term
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#define CH6_STABILIZE_KD 29 // stabilize roll/pitch angle controller's D term
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#define CH6_YAW_KP 3 // stabilize yaw heading controller's P term
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#define CH6_YAW_KI 24 // stabilize yaw heading controller's P term
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#define CH6_ACRO_KP 25 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
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#define CH6_RATE_KP 4 // body frame roll/pitch rate controller's P term
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#define CH6_RATE_KI 5 // body frame roll/pitch rate controller's I term
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#define CH6_RATE_KD 21 // body frame roll/pitch rate controller's D term
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#define CH6_YAW_RATE_KP 6 // body frame yaw rate controller's P term
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#define CH6_YAW_RATE_KD 26 // body frame yaw rate controller's D term
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#define CH6_THR_HOLD_KP 14 // altitude hold controller's P term (alt error to desired rate)
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#define CH6_THROTTLE_KP 7 // throttle rate controller's P term (desired rate to acceleration or motor output)
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#define CH6_THROTTLE_KI 33 // throttle rate controller's I term (desired rate to acceleration or motor output)
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#define CH6_THROTTLE_KD 37 // throttle rate controller's D term (desired rate to acceleration or motor output)
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#define CH6_THR_ACCEL_KP 34 // accel based throttle controller's P term
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#define CH6_THR_ACCEL_KI 35 // accel based throttle controller's I term
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#define CH6_THR_ACCEL_KD 36 // accel based throttle controller's D term
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#define CH6_RELAY 9 // switch relay on if ch6 high, off if low
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#define CH6_WP_SPEED 10 // maximum speed to next way point (0 to 10m/s)
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#define CH6_LOITER_KP 12 // loiter distance controller's P term (position error to speed)
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#define CH6_LOITER_KI 27 // loiter distance controller's I term (position error to speed)
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#define CH6_HELI_EXTERNAL_GYRO 13 // TradHeli specific external tail gyro gain
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#define CH6_OPTFLOW_KP 17 // optical flow loiter controller's P term (position error to tilt angle)
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#define CH6_OPTFLOW_KI 18 // optical flow loiter controller's I term (position error to tilt angle)
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#define CH6_OPTFLOW_KD 19 // optical flow loiter controller's D term (position error to tilt angle)
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#define CH6_LOITER_RATE_KP 22 // loiter rate controller's P term (speed error to tilt angle)
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#define CH6_LOITER_RATE_KI 28 // loiter rate controller's I term (speed error to tilt angle)
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#define CH6_LOITER_RATE_KD 23 // loiter rate controller's D term (speed error to tilt angle)
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#define CH6_AHRS_YAW_KP 30 // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
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#define CH6_AHRS_KP 31 // accelerometer effect on roll/pitch angle (0=low)
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#define CH6_INAV_TC 32 // inertial navigation baro/accel and gps/accel time constant (1.5 = strong baro/gps correction on accel estimatehas very strong does not correct accel estimate, 7 = very weak correction)
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#define CH6_DECLINATION 38 // compass declination in radians
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#define CH6_CIRCLE_RATE 39 // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
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// Commands - Note that APM now uses a subset of the MAVLink protocol
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// 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
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// requested
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#define NO_COMMAND 0
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// Navigation modes held in nav_mode variable
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#define NAV_NONE 0
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#define NAV_CIRCLE 1
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#define NAV_LOITER 2
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#define NAV_WP 3
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#define NAV_WP_INAV 5
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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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// TOY mixing options
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#define TOY_LOOKUP_TABLE 0
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#define TOY_LINEAR_MIXER 1
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#define TOY_EXTERNAL_MIXER 2
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// Waypoint options
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#define MASK_OPTIONS_RELATIVE_ALT 1
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#define WP_OPTION_ALT_CHANGE 2
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#define WP_OPTION_YAW 4
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#define WP_OPTION_ALT_REQUIRED 8
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#define WP_OPTION_RELATIVE 16
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//#define WP_OPTION_ 32
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//#define WP_OPTION_ 64
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#define WP_OPTION_NEXT_CMD 128
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// RTL state
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#define RTL_STATE_START 0
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#define RTL_STATE_INITIAL_CLIMB 1
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#define RTL_STATE_RETURNING_HOME 2
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#define RTL_STATE_LOITERING_AT_HOME 3
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#define RTL_STATE_FINAL_DESCENT 4
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#define RTL_STATE_LAND 5
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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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//repeating events
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#define RELAY_TOGGLE 5
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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_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_LIMITS_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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// 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_ATTITUDE_MSG 0x01
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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_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 LOG_MOTORS_MSG 0x0B
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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
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#define LOG_COMPASS_MSG 0x0F
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#define LOG_DMP_MSG 0x10
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#define LOG_INAV_MSG 0x11
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#define LOG_CAMERA_MSG 0x12
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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_INDEX_MSG 0xF0
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#define MAX_NUM_LOGS 50
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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) // not 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_MOTORS (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)
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#define MASK_LOG_CAMERA (1<<15)
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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_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 18
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#define DATA_LOST_GPS 19
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#define DATA_BEGIN_FLIP 21
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#define DATA_END_FLIP 22
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#define DATA_EXIT_FLIP 23
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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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// battery monitoring macros
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#define BATTERY_VOLTAGE(x) (x->voltage_average()*g.volt_div_ratio)
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#define CURRENT_AMPS(x) (x->voltage_average()-CURR_AMPS_OFFSET)*g.curr_amp_per_volt
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#define BATT_MONITOR_DISABLED 0
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#define BATT_MONITOR_VOLTAGE_ONLY 3
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#define BATT_MONITOR_VOLTAGE_AND_CURRENT 4
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/* ************************************************************** */
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/* Expansion PIN's that people can use for various things. */
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// AN0 - 7 are located at edge of IMU PCB "above" pressure sensor and
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// Expansion port
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// AN0 - 5 are also located next to voltage dividers and sliding SW2 switch
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// AN0 - 3 has 10kOhm resistor in serial, include 3.9kOhm to make it as
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// voltage divider
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// AN4 - 5 are direct GPIO pins from atmega1280 and they are the latest pins
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// next to SW2 switch
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// Look more ArduCopter Wiki for voltage dividers and other ports
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#define AN0 54 // resistor, vdiv use, divider 1 closest to relay
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#define AN1 55 // resistor, vdiv use, divider 2
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#define AN2 56 // resistor, vdiv use, divider 3
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#define AN3 57 // resistor, vdiv use, divider 4 closest to SW2
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#define AN4 58 // direct GPIO pin, default as analog input, next to SW2
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// switch
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#define AN5 59 // direct GPIO pin, default as analog input, next to SW2
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// switch
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#define AN6 60 // direct GPIO pin, default as analog input, close to
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// Pressure sensor, Expansion Ports
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#define AN7 61 // direct GPIO pin, default as analog input, close to
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// Pressure sensor, Expansion Ports
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// AN8 - 15 are located at edge of IMU PCB "above" pressure sensor and
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// Expansion port
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// AN8 - 15 PINs are not connected anywhere, they are located as last 8 pins
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// on edge of the board above Expansion Ports
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// even pins (8,10,12,14) are at edge of board, Odd pins (9,11,13,15) are on
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// inner row
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#define AN8 62 // NC
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#define AN9 63 // NC
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#define AN10 64 // NC
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#define AN11 65 // NC
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#define AN12 66 // NC
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#define AN13 67 // NC
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#define AN14 68 // NC
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#define AN15 69 // NC
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#define RELAY_APM1_PIN 47
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#define RELAY_APM2_PIN 13
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#define PIEZO_PIN AN5 //Last pin on the back ADC connector
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// RADIANS
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#define RADX100 0.000174532925f
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#define DEGX100 5729.57795f
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// EEPROM addresses
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#define EEPROM_MAX_ADDR 4096
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// parameters get the first 1536 bytes of EEPROM, remainder is for waypoints
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#define WP_START_BYTE 0x600 // where in memory home WP is stored + all other
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// 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 6
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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 // -
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// 1
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// to
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// be
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// safe
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// mark a function as not to be inlined
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#define NOINLINE __attribute__((noinline))
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// IMU selection
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#define CONFIG_IMU_OILPAN 1
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#define CONFIG_IMU_MPU6000 2
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#define CONFIG_IMU_SITL 3
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#define CONFIG_IMU_PX4 4
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#define AP_BARO_BMP085 1
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#define AP_BARO_MS5611 2
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#define AP_BARO_PX4 3
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#define AP_BARO_MS5611_SPI 1
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#define AP_BARO_MS5611_I2C 2
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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
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#define ERROR_SUBSYSTEM_FAILSAFE_GCS 8
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#define ERROR_SUBSYSTEM_FAILSAFE_FENCE 9
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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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#endif // _DEFINES_H
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