ardupilot/ArduPlane/defines.h

236 lines
6.4 KiB
C

#pragma once
// Internal defines, don't edit and expect things to work
// -------------------------------------------------------
#define TRUE 1
#define FALSE 0
#define DEBUG 0
#define LOITER_RANGE 60 // for calculating power outside of loiter radius
#define SERVO_MAX 4500 // This value represents 45 degrees and is just an
// arbitrary representation of servo max travel.
// failsafe
// ----------------------
enum failsafe_state {
FAILSAFE_NONE=0,
FAILSAFE_SHORT=1,
FAILSAFE_LONG=2,
FAILSAFE_GCS=3
};
// GCS failsafe types for FS_GCS_ENABL parameter
enum gcs_failsafe {
GCS_FAILSAFE_OFF = 0, // no GCS failsafe
GCS_FAILSAFE_HEARTBEAT = 1, // failsafe if we stop receiving heartbeat
GCS_FAILSAFE_HB_RSSI = 2, // failsafe if we stop receiving
// heartbeat or if RADIO.remrssi
// drops to 0
GCS_FAILSAFE_HB_AUTO = 3 // failsafe if we stop receiving heartbeat
// while in AUTO mode
};
// active altitude sensor
// ----------------------
#define SONAR 0
#define BARO 1
#define PITOT_SOURCE_ADC 1
#define PITOT_SOURCE_ANALOG_PIN 2
#define T6 1000000
#define T7 10000000
enum FlightMode {
MANUAL = 0,
CIRCLE = 1,
STABILIZE = 2,
TRAINING = 3,
ACRO = 4,
FLY_BY_WIRE_A = 5,
FLY_BY_WIRE_B = 6,
CRUISE = 7,
AUTOTUNE = 8,
AUTO = 10,
RTL = 11,
LOITER = 12,
AVOID_ADSB = 14,
GUIDED = 15,
INITIALISING = 16,
QSTABILIZE = 17,
QHOVER = 18,
QLOITER = 19,
QLAND = 20,
QRTL = 21
};
enum mode_reason_t {
MODE_REASON_UNKNOWN=0,
MODE_REASON_TX_COMMAND,
MODE_REASON_GCS_COMMAND,
MODE_REASON_RADIO_FAILSAFE,
MODE_REASON_BATTERY_FAILSAFE,
MODE_REASON_GCS_FAILSAFE,
MODE_REASON_EKF_FAILSAFE,
MODE_REASON_GPS_GLITCH,
MODE_REASON_MISSION_END,
MODE_REASON_FENCE_BREACH,
MODE_REASON_AVOIDANCE,
MODE_REASON_AVOIDANCE_RECOVERY,
MODE_REASON_SOARING_FBW_B_WITH_MOTOR_RUNNING,
MODE_REASON_SOARING_THERMAL_DETECTED,
MODE_REASON_SOARING_IN_THERMAL,
MODE_REASON_SOARING_THERMAL_ESTIMATE_DETERIORATED
};
// type of stick mixing enabled
enum StickMixing {
STICK_MIXING_DISABLED = 0,
STICK_MIXING_FBW = 1,
STICK_MIXING_DIRECT = 2
};
enum ChannelMixing {
MIXING_DISABLED = 0,
MIXING_UPUP = 1,
MIXING_UPDN = 2,
MIXING_DNUP = 3,
MIXING_DNDN = 4,
MIXING_UPUP_SWP = 5,
MIXING_UPDN_SWP = 6,
MIXING_DNUP_SWP = 7,
MIXING_DNDN_SWP = 8,
};
/*
* The cause for the most recent fence enable
*/
typedef enum GeofenceEnableReason {
NOT_ENABLED = 0, //The fence is not enabled
PWM_TOGGLED, //Fence enabled/disabled by PWM signal
AUTO_TOGGLED, //Fence auto enabled/disabled at takeoff.
GCS_TOGGLED //Fence enabled/disabled by the GCS via Mavlink
} GeofenceEnableReason;
//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
// Logging message types
enum log_messages {
LOG_CTUN_MSG,
LOG_NTUN_MSG,
LOG_PERFORMANCE_MSG,
LOG_STARTUP_MSG,
TYPE_AIRSTART_MSG,
TYPE_GROUNDSTART_MSG,
LOG_RC_MSG,
LOG_SONAR_MSG,
LOG_ARM_DISARM_MSG,
LOG_STATUS_MSG,
LOG_OPTFLOW_MSG,
LOG_QTUN_MSG,
LOG_PARAMTUNE_MSG,
LOG_THERMAL_MSG,
LOG_VARIO_MSG,
LOG_PIQR_MSG,
LOG_PIQP_MSG,
LOG_PIQY_MSG,
LOG_PIQA_MSG,
};
#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_IMU (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CURRENT (1<<9)
#define MASK_LOG_COMPASS (1<<10)
#define MASK_LOG_TECS (1<<11)
#define MASK_LOG_CAMERA (1<<12)
#define MASK_LOG_RC (1<<13)
#define MASK_LOG_SONAR (1<<14)
#define MASK_LOG_ARM_DISARM (1<<15)
#define MASK_LOG_IMU_RAW (1UL<<19)
// 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_COMMAND_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 AN4 4
#define AN5 5
#define SPEEDFILT 400 // centimeters/second; the speed below
// which a groundstart will be
// triggered
// convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps
// to -1)
#define BOOL_TO_SIGN(bvalue) ((bvalue) ? -1 : 1)
// altitude control algorithms
enum {
ALT_CONTROL_DEFAULT = 0,
ALT_CONTROL_NON_AIRSPEED = 1,
ALT_CONTROL_TECS = 2,
ALT_CONTROL_AIRSPEED = 3
};
// attitude controller choice
enum {
ATT_CONTROL_PID = 0,
ATT_CONTROL_APMCONTROL = 1
};
enum {
CRASH_DETECT_ACTION_BITMASK_DISABLED = 0,
CRASH_DETECT_ACTION_BITMASK_DISARM = (1<<0),
// note: next enum will be (1<<1), then (1<<2), then (1<<3)
};
enum {
USE_REVERSE_THRUST_NEVER = 0,
USE_REVERSE_THRUST_AUTO_ALWAYS = (1<<0),
USE_REVERSE_THRUST_AUTO_LAND_APPROACH = (1<<1),
USE_REVERSE_THRUST_AUTO_LOITER_TO_ALT = (1<<2),
USE_REVERSE_THRUST_AUTO_LOITER_ALL = (1<<3),
USE_REVERSE_THRUST_AUTO_WAYPOINT = (1<<4),
USE_REVERSE_THRUST_LOITER = (1<<5),
USE_REVERSE_THRUST_RTL = (1<<6),
USE_REVERSE_THRUST_CIRCLE = (1<<7),
USE_REVERSE_THRUST_CRUISE = (1<<8),
USE_REVERSE_THRUST_FBWB = (1<<9),
USE_REVERSE_THRUST_GUIDED = (1<<10),
};