mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-07 08:28:30 -04:00
8f17f95cbc
updated motor setup test to be sequencial pulses of the motors in CW order. Fixed Mission scripting logic fixed Free yaw error in neutral throttle fixed D term issue with Baro hold - was too high incremented firmware revision, removed frame var removed setup show from startup removed unused EEPROM functions fixed broken demo mission fixed non working loiter with delay git-svn-id: https://arducopter.googlecode.com/svn/trunk@2275 f9c3cf11-9bcb-44bc-f272-b75c42450872
304 lines
7.4 KiB
C
304 lines
7.4 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// ACM:
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// Motors
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#define RIGHT CH_1
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#define LEFT CH_2
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#define FRONT CH_3
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#define BACK CH_4
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#define RIGHTFRONT CH_7
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#define LEFTBACK CH_8
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#define MAX_SERVO_OUTPUT 2700
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// active altitude sensor
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// ----------------------
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#define SONAR 0
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#define BARO 1
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// Frame types
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#define QUADP_FRAME 0
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#define QUADX_FRAME 1
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#define TRI_FRAME 2
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#define HEXAX_FRAME 3
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#define Y6_FRAME 4
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#define HEXAP_FRAME 5
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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) (x*0.01745329252) // *pi/180
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#define ToDeg(x) (x*57.2957795131) // *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_MTK16 6
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// Radio channels
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// Note channels are from 0!
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//
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// XXX these should be CH_n defines from RC.h at some point.
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#define CH_1 0
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#define CH_2 1
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#define CH_3 2
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#define CH_4 3
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#define CH_5 4
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#define CH_6 5
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#define CH_7 6
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#define CH_8 7
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#define CH_ROLL CH_1
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#define CH_PITCH CH_2
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#define CH_THROTTLE CH_3
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#define CH_RUDDER CH_4
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#define CH_YAW CH_4
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#define RC_CHANNEL_ANGLE 0
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#define RC_CHANNEL_RANGE 1
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#define RC_CHANNEL_ANGLE_RAW 2
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// HIL enumerations
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#define HIL_PROTOCOL_XPLANE 1
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#define HIL_PROTOCOL_MAVLINK 2
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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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// GCS enumeration
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#define GCS_PROTOCOL_STANDARD 0 // standard APM protocol
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#define GCS_PROTOCOL_LEGACY 1 // legacy ArduPilot protocol
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#define GCS_PROTOCOL_XPLANE 2 // X-Plane HIL simulation
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#define GCS_PROTOCOL_DEBUGTERMINAL 3 //Human-readable debug interface for use with a dumb terminal
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#define GCS_PROTOCOL_MAVLINK 4 // binary protocol for qgroundcontrol
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#define GCS_PROTOCOL_NONE -1 // No GCS output
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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 SIMPLE 3 //
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#define AUTO 4 // AUTO control
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#define GCS_AUTO 5 // AUTO control
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#define LOITER 6 // Hold a single location
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#define RTL 7 // AUTO control
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#define NUM_MODES 8
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// YAW debug
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// ---------
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#define YAW_HOLD 0
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#define YAW_BRAKE 1
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#define YAW_RATE 2
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// CH_6 Tuning
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// -----------
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#define CH6_NONE 0
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#define CH6_STABLIZE_KP 1
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#define CH6_STABLIZE_KD 2
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#define CH6_BARO_KP 3
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#define CH6_BARO_KD 4
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#define CH6_SONAR_KP 5
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#define CH6_SONAR_KD 6
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#define CH6_Y6_SCALING 7
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#define CH6_PMAX 8
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// nav byte mask
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// -------------
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#define NAV_LOCATION 1
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#define NAV_ALTITUDE 2
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#define NAV_DELAY 4
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// Commands - Note that APM now uses a subset of the MAVLink protocol 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 requested
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#define NO_COMMAND 0
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#define LOITER_MODE 1
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#define WP_MODE 2
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// Waypoint options
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#define WP_OPTION_ALT_RELATIVE 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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//repeating events
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#define NO_REPEAT 0
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#define CH_5_TOGGLE 1
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#define CH_6_TOGGLE 2
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#define CH_7_TOGGLE 3
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#define CH_8_TOGGLE 4
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#define RELAY_TOGGLE 5
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#define STOP_REPEAT 10
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//#define MAV_CMD_CONDITION_YAW 23
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// GCS Message ID's
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#define MSG_ACKNOWLEDGE 0x00
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#define MSG_HEARTBEAT 0x01
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#define MSG_ATTITUDE 0x02
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#define MSG_LOCATION 0x03
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#define MSG_PRESSURE 0x04
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#define MSG_STATUS_TEXT 0x05
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#define MSG_PERF_REPORT 0x06
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#define MSG_MODE_CHANGE 0x07 //This is different than HEARTBEAT because it occurs only when the mode is actually changed
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#define MSG_VERSION_REQUEST 0x08
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#define MSG_VERSION 0x09
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#define MSG_EXTENDED_STATUS 0x0a
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#define MSG_CPU_LOAD 0x0b
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#define MSG_NAV_CONTROLLER_OUTPUT 0x0c
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#define MSG_COMMAND_REQUEST 0x20
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#define MSG_COMMAND_UPLOAD 0x21
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#define MSG_COMMAND_LIST 0x22
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#define MSG_COMMAND_MODE_CHANGE 0x23
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#define MSG_CURRENT_WAYPOINT 0x24
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#define MSG_VALUE_REQUEST 0x30
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#define MSG_VALUE_SET 0x31
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#define MSG_VALUE 0x32
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#define MSG_PID_REQUEST 0x40
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#define MSG_PID_SET 0x41
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#define MSG_PID 0x42
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#define MSG_VFR_HUD 0x4a
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#define MSG_TRIM_STARTUP 0x50
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#define MSG_TRIM_MIN 0x51
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#define MSG_TRIM_MAX 0x52
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#define MSG_RADIO_OUT 0x53
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#define MSG_RADIO_IN 0x54
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#define MSG_RAW_IMU 0x60
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#define MSG_GPS_STATUS 0x61
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#define MSG_GPS_RAW 0x62
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#define MSG_SERVO_OUT 0x70
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#define MSG_PIN_REQUEST 0x80
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#define MSG_PIN_SET 0x81
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#define MSG_DATAFLASH_REQUEST 0x90
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#define MSG_DATAFLASH_SET 0x91
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#define MSG_EEPROM_REQUEST 0xa0
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#define MSG_EEPROM_SET 0xa1
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#define MSG_POSITION_CORRECT 0xb0
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#define MSG_ATTITUDE_CORRECT 0xb1
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#define MSG_POSITION_SET 0xb2
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#define MSG_ATTITUDE_SET 0xb3
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#define MSG_LOCAL_LOCATION 0xb4
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#define SEVERITY_LOW 1
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#define SEVERITY_MEDIUM 2
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#define SEVERITY_HIGH 3
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#define SEVERITY_CRITICAL 4
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// Logging parameters
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#define LOG_INDEX_MSG 0xF0
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#define LOG_ATTITUDE_MSG 0x01
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#define LOG_GPS_MSG 0x02
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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_RAW_MSG 0x07
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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 TYPE_AIRSTART_MSG 0x00
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#define TYPE_GROUNDSTART_MSG 0x01
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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)
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#define MASK_LOG_RAW (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_SET_DEFAULTS (1<<15)
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// Waypoint Modes
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// ----------------
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#define ABS_WP 0
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#define REL_WP 1
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// Command Queues
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// ---------------
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#define COMMAND_MUST 0
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#define COMMAND_MAY 1
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#define COMMAND_NOW 2
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// Events
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// ------
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#define EVENT_WILL_REACH_WAYPOINT 1
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#define EVENT_SET_NEW_WAYPOINT_INDEX 2
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#define EVENT_LOADED_WAYPOINT 3
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#define EVENT_LOOP 4
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// Climb rate calculations
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#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to regress a climb rate from
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#define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_DIV_RATIO
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#define CURRENT_AMPS(x) ((x*(INPUT_VOLTAGE/1024.0))-CURR_AMPS_OFFSET)*CURR_AMP_PER_VOLT
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#define AIRSPEED_CH 7 // The external ADC channel for the airspeed sensor
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#define BATTERY_PIN1 0 // These are the pins for the voltage dividers
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#define BATTERY_PIN2 1
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#define BATTERY_PIN3 2
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#define BATTERY_PIN4 3
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#define VOLTAGE_PIN_0 0 // These are the pins for current sensor: voltage
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#define CURRENT_PIN_1 1 // and current
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#define RELAY_PIN 47
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// sonar
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#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
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// Hardware Parameters
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#define SLIDE_SWITCH_PIN 40
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#define PUSHBUTTON_PIN 41
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#define A_LED_PIN 37 //36 = B, 37 = A, 35 = C
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#define B_LED_PIN 36
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#define C_LED_PIN 35
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// EEPROM addresses
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#define EEPROM_MAX_ADDR 4096
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// parameters get the first 1KiB of EEPROM, remainder is for waypoints
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#define WP_START_BYTE 0x400 // where in memory home WP is stored + all other WP
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#define WP_SIZE 15
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#define ONBOARD_PARAM_NAME_LENGTH 15
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#define MAX_WAYPOINTS ((EEPROM_MAX_ADDR - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe
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