ardupilot/APMrover2/defines.h

154 lines
4.6 KiB
C

#pragma once
// Internal defines, don't edit and expect things to work
// -------------------------------------------------------
// 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
#define SERVO_MAX 4500 // This value represents 45 degrees and is just an arbitrary representation of servo max travel.
// CH 7 control
enum ch7_option {
CH7_DO_NOTHING = 0,
CH7_SAVE_WP = 1,
CH7_LEARN_CRUISE = 2,
CH7_ARM_DISARM = 3,
CH7_MANUAL = 4,
CH7_ACRO = 5,
CH7_STEERING = 6,
CH7_HOLD = 7,
CH7_AUTO = 8,
CH7_RTL = 9,
CH7_SMART_RTL = 10,
CH7_GUIDED = 11
};
// HIL enumerations
#define HIL_MODE_DISABLED 0
#define HIL_MODE_SENSORS 1
// Auto Pilot modes
// ----------------
enum mode {
MANUAL = 0,
ACRO = 1,
STEERING = 3,
HOLD = 4,
LOITER = 5,
AUTO = 10,
RTL = 11,
SMART_RTL = 12,
GUIDED = 15,
INITIALISING = 16
};
// types of failsafe events
#define FAILSAFE_EVENT_THROTTLE (1<<0)
#define FAILSAFE_EVENT_GCS (1<<1)
#define FAILSAFE_EVENT_RC (1<<2)
// Logging parameters
#define LOG_THR_MSG 0x01
#define LOG_NTUN_MSG 0x02
#define LOG_STARTUP_MSG 0x06
#define LOG_RANGEFINDER_MSG 0x07
#define LOG_ARM_DISARM_MSG 0x08
#define LOG_STEERING_MSG 0x0D
#define LOG_GUIDEDTARGET_MSG 0x0E
#define LOG_WHEELENCODER_MSG 0x0F
#define LOG_ERROR_MSG 0x13
#define TYPE_AIRSTART_MSG 0x00
#define TYPE_GROUNDSTART_MSG 0x01
#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_THR (1<<4)
#define MASK_LOG_NTUN (1<<5)
//#define MASK_LOG_MODE (1<<6) // no longer used
#define MASK_LOG_IMU (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CURRENT (1<<9)
#define MASK_LOG_RANGEFINDER (1<<10)
#define MASK_LOG_COMPASS (1<<11)
#define MASK_LOG_CAMERA (1<<12)
#define MASK_LOG_STEERING (1<<13)
#define MASK_LOG_RC (1<<14)
#define MASK_LOG_ARM_DISARM (1<<15)
#define MASK_LOG_IMU_RAW (1UL<<19)
// for mavlink SET_POSITION_TARGET messages
#define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1))
#define MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE ((1<<3) | (1<<4))
#define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7))
#define MAVLINK_SET_POS_TYPE_MASK_FORCE (1<<9)
#define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10)
#define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)
// for mavlink SET_ATTITUDE_TARGET messages
#define MAVLINK_SET_ATT_TYPE_MASK_ROLL_RATE_IGNORE (1<<0)
#define MAVLINK_SET_ATT_TYPE_MASK_PITCH_RATE_IGNORE (1<<1)
#define MAVLINK_SET_ATT_TYPE_MASK_YAW_RATE_IGNORE (1<<2)
#define MAVLINK_SET_ATT_TYPE_MASK_THROTTLE_IGNORE (1<<6)
#define MAVLINK_SET_ATT_TYPE_MASK_ATTITUDE_IGNORE (1<<7)
// general error codes
#define ERROR_CODE_ERROR_RESOLVED 0
// Error message sub systems and error codes
#define ERROR_SUBSYSTEM_FAILSAFE_FENCE 9
#define ERROR_SUBSYSTEM_FLIGHT_MODE 10
#define ERROR_SUBSYSTEM_CRASH_CHECK 12
// subsystem specific error codes -- crash checker
#define ERROR_CODE_CRASH_CHECK_CRASH 1
enum fs_crash_action {
FS_CRASH_DISABLE = 0,
FS_CRASH_HOLD = 1,
FS_CRASH_HOLD_AND_DISARM = 2
};
#define DISTANCE_HOME_MAX 0.5f // Distance max to home location before changing it when disarm
enum mode_reason_t {
MODE_REASON_INITIALISED = 0,
MODE_REASON_TX_COMMAND,
MODE_REASON_GCS_COMMAND,
MODE_REASON_FAILSAFE,
MODE_REASON_MISSION_END,
MODE_REASON_CRASH_FAILSAFE,
MODE_REASON_MISSION_COMMAND,
MODE_REASON_FENCE_BREACH,
};
// values used by the ap.ch7_opt and ap.ch8_opt flags
enum aux_switch_pos {
AUX_SWITCH_LOW,
AUX_SWITCH_MIDDLE,
AUX_SWITCH_HIGH
};
enum pilot_steer_type_t {
PILOT_STEER_TYPE_DEFAULT = 0,
PILOT_STEER_TYPE_TWO_PADDLES = 1,
PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING = 2,
PILOT_STEER_TYPE_DIR_UNCHANGED_WHEN_REVERSING = 3,
};
// frame class enum used for FRAME_CLASS parameter
enum frame_class {
FRAME_UNDEFINED = 0,
FRAME_ROVER = 1,
FRAME_BOAT = 2
};
#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