mirror of https://github.com/ArduPilot/ardupilot
376 lines
10 KiB
C
376 lines
10 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
// Just so that it's completely clear...
|
|
#define ENABLED 1
|
|
#define DISABLED 0
|
|
|
|
|
|
// Flight modes
|
|
// ------------
|
|
#define YAW_HOLD 0
|
|
#define YAW_ACRO 1
|
|
#define YAW_AUTO 2
|
|
#define YAW_LOOK_AT_HOME 3
|
|
|
|
#define ROLL_PITCH_STABLE 0
|
|
#define ROLL_PITCH_ACRO 1
|
|
#define ROLL_PITCH_AUTO 2
|
|
|
|
#define THROTTLE_MANUAL 0
|
|
#define THROTTLE_HOLD 1
|
|
#define THROTTLE_AUTO 2
|
|
|
|
|
|
// active altitude sensor
|
|
// ----------------------
|
|
#define SONAR 0
|
|
#define BARO 1
|
|
|
|
// CH 7 control
|
|
#define CH7_DO_NOTHING 0
|
|
#define CH7_SET_HOVER 1
|
|
#define CH7_FLIP 2
|
|
#define CH7_SIMPLE_MODE 3
|
|
#define CH7_RTL 4
|
|
|
|
// Frame types
|
|
#define QUAD_FRAME 0
|
|
#define TRI_FRAME 1
|
|
#define HEXA_FRAME 2
|
|
#define Y6_FRAME 3
|
|
#define OCTA_FRAME 4
|
|
#define HELI_FRAME 5
|
|
#define OCTA_QUAD_FRAME 6
|
|
|
|
#define PLUS_FRAME 0
|
|
#define X_FRAME 1
|
|
#define V_FRAME 2
|
|
|
|
// LED output
|
|
#define NORMAL_LEDS 0
|
|
#define AUTO_TRIM_LEDS 1
|
|
|
|
// motor LEDs
|
|
#define FR_LED AN12 // Mega PE4 pin, OUT7
|
|
#define RE_LED AN14 // Mega PE5 pin, OUT6
|
|
#define RI_LED AN10 // Mega PH4 pin, OUT5
|
|
#define LE_LED AN8 // Mega PH5 pin, OUT4
|
|
|
|
// Internal defines, don't edit and expect things to work
|
|
// -------------------------------------------------------
|
|
|
|
#define TRUE 1
|
|
#define FALSE 0
|
|
#define ToRad(x) (x*0.01745329252) // *pi/180
|
|
#define ToDeg(x) (x*57.2957795131) // *180/pi
|
|
|
|
#define DEBUG 0
|
|
#define LOITER_RANGE 60 // for calculating power outside of loiter radius
|
|
|
|
#define T6 1000000
|
|
#define T7 10000000
|
|
|
|
// GPS type codes - use the names, not the numbers
|
|
#define GPS_PROTOCOL_NONE -1
|
|
#define GPS_PROTOCOL_NMEA 0
|
|
#define GPS_PROTOCOL_SIRF 1
|
|
#define GPS_PROTOCOL_UBLOX 2
|
|
#define GPS_PROTOCOL_IMU 3
|
|
#define GPS_PROTOCOL_MTK 4
|
|
#define GPS_PROTOCOL_HIL 5
|
|
#define GPS_PROTOCOL_MTK16 6
|
|
#define GPS_PROTOCOL_AUTO 7
|
|
|
|
// SONAR types:
|
|
#define MAX_SONAR_UNKNOWN 0
|
|
#define MAX_SONAR_XL 1
|
|
|
|
#define CH_ROLL CH_1
|
|
#define CH_PITCH CH_2
|
|
#define CH_THROTTLE CH_3
|
|
#define CH_RUDDER CH_4
|
|
#define CH_YAW CH_4
|
|
|
|
|
|
#define RC_CHANNEL_ANGLE 0
|
|
#define RC_CHANNEL_RANGE 1
|
|
#define RC_CHANNEL_ANGLE_RAW 2
|
|
|
|
// HIL enumerations
|
|
#define HIL_PROTOCOL_XPLANE 1
|
|
#define HIL_PROTOCOL_MAVLINK 2
|
|
|
|
#define HIL_MODE_DISABLED 0
|
|
#define HIL_MODE_ATTITUDE 1
|
|
#define HIL_MODE_SENSORS 2
|
|
|
|
// GCS enumeration
|
|
#define GCS_PROTOCOL_STANDARD 0 // standard APM protocol
|
|
#define GCS_PROTOCOL_LEGACY 1 // legacy ArduPilot protocol
|
|
#define GCS_PROTOCOL_XPLANE 2 // X-Plane HIL simulation
|
|
#define GCS_PROTOCOL_DEBUGTERMINAL 3 //Human-readable debug interface for use with a dumb terminal
|
|
#define GCS_PROTOCOL_MAVLINK 4 // binary protocol for qgroundcontrol
|
|
#define GCS_PROTOCOL_NONE -1 // No GCS output
|
|
|
|
// 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 NUM_MODES 8
|
|
|
|
#define SIMPLE_1 1
|
|
#define SIMPLE_2 2
|
|
#define SIMPLE_3 4
|
|
#define SIMPLE_4 8
|
|
#define SIMPLE_5 16
|
|
#define SIMPLE_6 32
|
|
|
|
// CH_6 Tuning
|
|
// -----------
|
|
#define CH6_NONE 0
|
|
// Attitude
|
|
#define CH6_STABILIZE_KP 1
|
|
#define CH6_STABILIZE_KI 2
|
|
#define CH6_YAW_KP 3
|
|
// Rate
|
|
#define CH6_RATE_KP 4
|
|
#define CH6_RATE_KI 5
|
|
#define CH6_YAW_RATE_KP 6
|
|
// Altitude
|
|
#define CH6_THROTTLE_KP 7
|
|
// Extras
|
|
#define CH6_TOP_BOTTOM_RATIO 8
|
|
#define CH6_RELAY 9
|
|
#define CH6_TRAVERSE_SPEED 10
|
|
|
|
#define CH6_NAV_P 11
|
|
|
|
// nav byte mask
|
|
// -------------
|
|
#define NAV_LOCATION 1
|
|
#define NAV_ALTITUDE 2
|
|
#define NAV_DELAY 4
|
|
|
|
|
|
// Commands - Note that APM now uses a subset of the MAVLink protocol commands. See enum MAV_CMD in the GCS_Mavlink library
|
|
#define CMD_BLANK 0 // there is no command stored in the mem location requested
|
|
#define NO_COMMAND 0
|
|
|
|
|
|
#define LOITER_MODE 1
|
|
#define WP_MODE 2
|
|
#define CIRCLE_MODE 3
|
|
|
|
// Waypoint options
|
|
#define WP_OPTION_ALT_RELATIVE 1
|
|
#define WP_OPTION_ALT_CHANGE 2
|
|
#define WP_OPTION_YAW 4
|
|
#define WP_OPTION_ALT_REQUIRED 8
|
|
#define WP_OPTION_RELATIVE 16
|
|
//#define WP_OPTION_ 32
|
|
//#define WP_OPTION_ 64
|
|
#define WP_OPTION_NEXT_CMD 128
|
|
|
|
//repeating events
|
|
#define NO_REPEAT 0
|
|
#define CH_5_TOGGLE 1
|
|
#define CH_6_TOGGLE 2
|
|
#define CH_7_TOGGLE 3
|
|
#define CH_8_TOGGLE 4
|
|
#define RELAY_TOGGLE 5
|
|
#define STOP_REPEAT 10
|
|
|
|
//#define MAV_CMD_CONDITION_YAW 23
|
|
|
|
// GCS Message ID's
|
|
#define MSG_ACKNOWLEDGE 0x00
|
|
#define MSG_HEARTBEAT 0x01
|
|
#define MSG_ATTITUDE 0x02
|
|
#define MSG_LOCATION 0x03
|
|
#define MSG_PRESSURE 0x04
|
|
#define MSG_STATUS_TEXT 0x05
|
|
#define MSG_PERF_REPORT 0x06
|
|
#define MSG_MODE_CHANGE 0x07 //This is different than HEARTBEAT because it occurs only when the mode is actually changed
|
|
#define MSG_VERSION_REQUEST 0x08
|
|
#define MSG_VERSION 0x09
|
|
#define MSG_EXTENDED_STATUS1 0x0a
|
|
#define MSG_EXTENDED_STATUS2 0x0b
|
|
#define MSG_CPU_LOAD 0x0c
|
|
#define MSG_NAV_CONTROLLER_OUTPUT 0x0d
|
|
|
|
#define MSG_COMMAND_REQUEST 0x20
|
|
#define MSG_COMMAND_UPLOAD 0x21
|
|
#define MSG_COMMAND_LIST 0x22
|
|
#define MSG_COMMAND_MODE_CHANGE 0x23
|
|
#define MSG_CURRENT_WAYPOINT 0x24
|
|
|
|
#define MSG_VALUE_REQUEST 0x30
|
|
#define MSG_VALUE_SET 0x31
|
|
#define MSG_VALUE 0x32
|
|
|
|
#define MSG_PID_REQUEST 0x40
|
|
#define MSG_PID_SET 0x41
|
|
#define MSG_PID 0x42
|
|
#define MSG_VFR_HUD 0x4a
|
|
|
|
#define MSG_TRIM_STARTUP 0x50
|
|
#define MSG_TRIM_MIN 0x51
|
|
#define MSG_TRIM_MAX 0x52
|
|
#define MSG_RADIO_OUT 0x53
|
|
#define MSG_RADIO_IN 0x54
|
|
|
|
#define MSG_RAW_IMU1 0x60
|
|
#define MSG_RAW_IMU2 0x61
|
|
#define MSG_RAW_IMU3 0x62
|
|
#define MSG_GPS_STATUS 0x63
|
|
#define MSG_GPS_RAW 0x64
|
|
|
|
#define MSG_SERVO_OUT 0x70
|
|
|
|
#define MSG_PIN_REQUEST 0x80
|
|
#define MSG_PIN_SET 0x81
|
|
|
|
#define MSG_DATAFLASH_REQUEST 0x90
|
|
#define MSG_DATAFLASH_SET 0x91
|
|
|
|
#define MSG_EEPROM_REQUEST 0xa0
|
|
#define MSG_EEPROM_SET 0xa1
|
|
|
|
#define MSG_POSITION_CORRECT 0xb0
|
|
#define MSG_ATTITUDE_CORRECT 0xb1
|
|
#define MSG_POSITION_SET 0xb2
|
|
#define MSG_ATTITUDE_SET 0xb3
|
|
#define MSG_RETRY_DEFERRED 0xff
|
|
|
|
#define SEVERITY_LOW 1
|
|
#define SEVERITY_MEDIUM 2
|
|
#define SEVERITY_HIGH 3
|
|
#define SEVERITY_CRITICAL 4
|
|
|
|
// Logging parameters
|
|
#define TYPE_AIRSTART_MSG 0x00
|
|
#define TYPE_GROUNDSTART_MSG 0x01
|
|
#define LOG_ATTITUDE_MSG 0x01
|
|
#define LOG_GPS_MSG 0x02
|
|
#define LOG_MODE_MSG 0X03
|
|
#define LOG_CONTROL_TUNING_MSG 0X04
|
|
#define LOG_NAV_TUNING_MSG 0X05
|
|
#define LOG_PERFORMANCE_MSG 0X06
|
|
#define LOG_RAW_MSG 0x07
|
|
#define LOG_CMD_MSG 0x08
|
|
#define LOG_CURRENT_MSG 0x09
|
|
#define LOG_STARTUP_MSG 0x0A
|
|
#define LOG_MOTORS_MSG 0x0B
|
|
#define LOG_OPTFLOW_MSG 0x0C
|
|
#define LOG_INDEX_MSG 0xF0
|
|
#define MAX_NUM_LOGS 50
|
|
|
|
#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_MODE (1<<6)
|
|
#define MASK_LOG_RAW (1<<7)
|
|
#define MASK_LOG_CMD (1<<8)
|
|
#define MASK_LOG_CUR (1<<9)
|
|
#define MASK_LOG_MOTORS (1<<10)
|
|
#define MASK_LOG_OPTFLOW (1<<11)
|
|
|
|
// Waypoint Modes
|
|
// ----------------
|
|
#define ABS_WP 0
|
|
#define REL_WP 1
|
|
|
|
// Command Queues
|
|
// ---------------
|
|
#define COMMAND_MUST 0
|
|
#define COMMAND_MAY 1
|
|
#define COMMAND_NOW 2
|
|
|
|
// Events
|
|
// ------
|
|
#define EVENT_WILL_REACH_WAYPOINT 1
|
|
#define EVENT_SET_NEW_WAYPOINT_INDEX 2
|
|
#define EVENT_LOADED_WAYPOINT 3
|
|
#define EVENT_LOOP 4
|
|
|
|
// Climb rate calculations
|
|
#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to regress a climb rate from
|
|
|
|
|
|
#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*VOLT_DIV_RATIO
|
|
#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-CURR_AMPS_OFFSET)*CURR_AMP_PER_VOLT
|
|
//#define BARO_FILTER_SIZE 8
|
|
|
|
/* ************************************************************** */
|
|
/* Expansion PIN's that people can use for various things. */
|
|
|
|
// AN0 - 7 are located at edge of IMU PCB "above" pressure sensor and Expansion port
|
|
// AN0 - 5 are also located next to voltage dividers and sliding SW2 switch
|
|
// AN0 - 3 has 10kOhm resistor in serial, include 3.9kOhm to make it as voltage divider
|
|
// AN4 - 5 are direct GPIO pins from atmega1280 and they are the latest pins next to SW2 switch
|
|
// Look more ArduCopter Wiki for voltage dividers and other ports
|
|
#define AN0 54 // resistor, vdiv use, divider 1 closest to relay
|
|
#define AN1 55 // resistor, vdiv use, divider 2
|
|
#define AN2 56 // resistor, vdiv use, divider 3
|
|
#define AN3 57 // resistor, vdiv use, divider 4 closest to SW2
|
|
#define AN4 58 // direct GPIO pin, default as analog input, next to SW2 switch
|
|
#define AN5 59 // direct GPIO pin, default as analog input, next to SW2 switch
|
|
#define AN6 60 // direct GPIO pin, default as analog input, close to Pressure sensor, Expansion Ports
|
|
#define AN7 61 // direct GPIO pin, default as analog input, close to Pressure sensor, Expansion Ports
|
|
|
|
// AN8 - 15 are located at edge of IMU PCB "above" pressure sensor and Expansion port
|
|
// AN8 - 15 PINs are not connected anywhere, they are located as last 8 pins on edge of the board above Expansion Ports
|
|
// even pins (8,10,12,14) are at edge of board, Odd pins (9,11,13,15) are on inner row
|
|
#define AN8 62 // NC
|
|
#define AN9 63 // NC
|
|
#define AN10 64 // NC
|
|
#define AN11 65 // NC
|
|
#define AN12 66 // NC
|
|
#define AN13 67 // NC
|
|
#define AN14 68 // NC
|
|
#define AN15 69 // NC
|
|
|
|
#define VOLTAGE_PIN_0 0 // These are the pins for current sensor: voltage
|
|
#define CURRENT_PIN_1 1 // and current
|
|
|
|
#define RELAY_PIN 47
|
|
|
|
#define AIRSPEED_CH 7 // The external ADC channel for the airspeed sensor
|
|
#define BATTERY_PIN1 0 // These are the pins for the voltage dividers
|
|
#define BATTERY_PIN2 1
|
|
#define BATTERY_PIN3 2
|
|
#define BATTERY_PIN4 3
|
|
#define PIEZO_PIN AN5 //Last pin on the back ADC connector
|
|
|
|
|
|
|
|
// sonar
|
|
//#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
|
|
|
|
// Hardware Parameters
|
|
#define SLIDE_SWITCH_PIN 40
|
|
#define PUSHBUTTON_PIN 41
|
|
|
|
#define A_LED_PIN 37 //36 = B, 37 = A, 35 = C
|
|
#define B_LED_PIN 36
|
|
#define C_LED_PIN 35
|
|
|
|
|
|
// EEPROM addresses
|
|
#define EEPROM_MAX_ADDR 4096
|
|
// parameters get the first 1KiB of EEPROM, remainder is for waypoints
|
|
#define WP_START_BYTE 0x400 // where in memory home WP is stored + all other WP
|
|
#define WP_SIZE 15
|
|
|
|
#define ONBOARD_PARAM_NAME_LENGTH 15
|
|
#define MAX_WAYPOINTS ((EEPROM_MAX_ADDR - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe
|