mirror of https://github.com/ArduPilot/ardupilot
127 lines
3.0 KiB
C
127 lines
3.0 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
#pragma once
|
|
|
|
// Internal defines, don't edit and expect things to work
|
|
// -------------------------------------------------------
|
|
|
|
#define TRUE 1
|
|
#define FALSE 0
|
|
#define ToRad(x) radians(x) // *pi/180
|
|
#define ToDeg(x) degrees(x) // *180/pi
|
|
|
|
#define DEBUG 0
|
|
#define SERVO_MAX 4500 // This value represents 45 degrees and is just an arbitrary representation of servo max travel.
|
|
|
|
// active altitude sensor
|
|
// ----------------------
|
|
#define SONAR 0
|
|
#define BARO 1
|
|
|
|
// CH 7 control
|
|
enum ch7_option {
|
|
CH7_DO_NOTHING=0,
|
|
CH7_SAVE_WP=1
|
|
};
|
|
|
|
#define T6 1000000
|
|
#define T7 10000000
|
|
|
|
// HIL enumerations
|
|
#define HIL_MODE_DISABLED 0
|
|
#define HIL_MODE_SENSORS 1
|
|
|
|
// Auto Pilot modes
|
|
// ----------------
|
|
enum mode {
|
|
MANUAL=0,
|
|
LEARNING=2,
|
|
STEERING=3,
|
|
HOLD=4,
|
|
AUTO=10,
|
|
RTL=11,
|
|
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)
|
|
|
|
//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
|
|
|
|
// Logging parameters
|
|
#define LOG_CTUN_MSG 0x01
|
|
#define LOG_NTUN_MSG 0x02
|
|
#define LOG_PERFORMANCE_MSG 0x03
|
|
#define LOG_STARTUP_MSG 0x06
|
|
#define LOG_SONAR_MSG 0x07
|
|
#define LOG_ARM_DISARM_MSG 0x08
|
|
#define LOG_STEERING_MSG 0x0D
|
|
|
|
#define TYPE_AIRSTART_MSG 0x00
|
|
#define TYPE_GROUNDSTART_MSG 0x01
|
|
#define MAX_NUM_LOGS 100
|
|
|
|
#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_SONAR (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_WHEN_DISARMED (1UL<<16)
|
|
#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
|
|
|
|
// sonar
|
|
#define MAX_SONAR_XL 0
|
|
#define MAX_SONAR_LV 1
|
|
#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
|
|
#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)
|