mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.1 KiB
C
51 lines
1.1 KiB
C
#pragma once
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// Controller modes
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// ----------------
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enum ControlMode {
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MANUAL=0,
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STOP=1,
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SCAN=2,
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SERVO_TEST=3,
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AUTO=10,
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INITIALISING=16
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};
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enum ServoType {
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SERVO_TYPE_POSITION=0,
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SERVO_TYPE_ONOFF=1,
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SERVO_TYPE_CR=2
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};
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enum AltSource {
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ALT_SOURCE_BARO=0,
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ALT_SOURCE_GPS=1,
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ALT_SOURCE_GPS_VEH_ONLY=2
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};
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enum mode_reason_t {
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MODE_REASON_INITIALISED = 0,
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MODE_REASON_STARTUP,
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MODE_REASON_SERVOTEST,
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MODE_REASON_GCS_COMMAND,
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};
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// Filter
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#define SERVO_OUT_FILT_HZ 0.1f
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#define G_Dt 0.02f
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// Logging parameters
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#define MASK_LOG_ATTITUDE (1<<0)
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#define MASK_LOG_GPS (1<<1)
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#define MASK_LOG_RCIN (1<<2)
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#define MASK_LOG_IMU (1<<3)
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#define MASK_LOG_RCOUT (1<<4)
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#define MASK_LOG_COMPASS (1<<5)
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#define MASK_LOG_CURRENT (1<<6)
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#define MASK_LOG_ANY 0xFFFF
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// Logging messages
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#define LOG_V_BAR_MSG 0x04
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#define LOG_V_POS_MSG 0x05
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