mirror of https://github.com/ArduPilot/ardupilot
311 lines
8.0 KiB
C
311 lines
8.0 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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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 30 // for calculating power outside of loiter radius
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// GPS baud rates
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// --------------
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#define NO_GPS 38400
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#define NMEA_GPS 38400
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#define EM406_GPS 57600
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#define UBLOX_GPS 38400
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#define ARDU_IMU 38400
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#define MTK_GPS 38400
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#define SIM_GPS 38400
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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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// 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_ROLL 0
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#define CH_PITCH 1
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#define CH_THROTTLE 2
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#define CH_RUDDER 3
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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 WP_SIZE 14
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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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// PID enumeration
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// ---------------
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#define CASE_SERVO_ROLL 0
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#define CASE_SERVO_PITCH 1
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#define CASE_SERVO_RUDDER 2
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#define CASE_NAV_ROLL 3
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#define CASE_NAV_PITCH_ASP 4
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#define CASE_NAV_PITCH_ALT 5
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#define CASE_TE_THROTTLE 6
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#define CASE_ALT_THROTTLE 7
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// Feedforward cases
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// ----------------
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#define CASE_PITCH_COMP 0
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#define CASE_RUDDER_MIX 1
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#define CASE_P_TO_T 2
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// Auto Pilot modes
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// ----------------
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#define MANUAL 0
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#define CIRCLE 1 // When flying sans GPS, and we loose the radio, just circle
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#define STABILIZE 2
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#define FLY_BY_WIRE_A 5 // Fly By Wire A has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical = manual throttle
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#define FLY_BY_WIRE_B 6 // Fly By Wire B has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical => desired airspeed
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// Fly By Wire B = Fly By Wire A if you have AIRSPEED_SENSOR 0
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#define AUTO 10
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#define RTL 11
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#define LOITER 12
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#define TAKEOFF 13
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#define LAND 14
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// Command IDs - Must
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#define CMD_BLANK 0x00 // there is no command stored in the mem location requested
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#define CMD_WAYPOINT 0x10
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#define CMD_LOITER 0x11
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#define CMD_LOITER_N_TURNS 0x12
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#define CMD_LOITER_TIME 0x13
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#define CMD_RTL 0x14
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#define CMD_LAND 0x15
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#define CMD_TAKEOFF 0x16
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// Command IDs - May
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#define CMD_DELAY 0x20
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#define CMD_CLIMB 0x21 // NOT IMPLEMENTED
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#define CMD_LAND_OPTIONS 0x22 // pitch in deg, airspeed m/s, throttle %, track WP 1 or 0
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// Command IDs - Now
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//#define CMD_AP_MODE 0x30
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#define CMD_RESET_INDEX 0x31
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#define CMD_GOTO_INDEX 0x32 // NOT IMPLEMENTED
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#define CMD_GETVAR_INDEX 0x33
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#define CMD_SENDVAR_INDEX 0x34
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#define CMD_TELEMETRY 0x35
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#define CMD_THROTTLE_CRUISE 0x40
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#define CMD_AIRSPEED_CRUISE 0x41
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#define CMD_RESET_HOME 0x44
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#define CMD_KP_GAIN 0x60
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#define CMD_KI_GAIN 0x61
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#define CMD_KD_GAIN 0x62
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#define CMD_KI_MAX 0x63
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#define CMD_KFF_GAIN 0x64
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#define CMD_RADIO_TRIM 0x70
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#define CMD_RADIO_MAX 0x71
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#define CMD_RADIO_MIN 0x72
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#define CMD_RADIO_MIN 0x72
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#define CMD_ELEVON_TRIM 0x73
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#define CMD_INDEX 0x75 // sets the current Must index
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#define CMD_REPEAT 0x80
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#define CMD_RELAY 0x81
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#define CMD_SERVO 0x82 // move servo N to PWM value
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//repeating events
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#define NO_REPEAT 0
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#define CH_4_TOGGLE 1
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#define CH_5_TOGGLE 2
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#define CH_6_TOGGLE 3
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#define CH_7_TOGGLE 4
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#define RELAY_TOGGLE 5
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#define STOP_REPEAT 10
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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_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_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_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_AIRSPEED 0x63
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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_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_STARTUP_MSG 0x09
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#define TYPE_AIRSTART_MSG 0x00
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#define TYPE_GROUNDSTART_MSG 0x01
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#define MASK_LOG_ATTITUDE_FAST 0
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#define MASK_LOG_ATTITUDE_MED 2
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#define MASK_LOG_GPS 4
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#define MASK_LOG_PM 8
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#define MASK_LOG_CTUN 16
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#define MASK_LOG_NTUN 32
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#define MASK_LOG_MODE 64
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#define MASK_LOG_RAW 128
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#define MASK_LOG_CMD 256
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// Yaw modes
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#define YAW_MODE_COORDINATE_TURNS 0
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#define YAW_MODE_HOLD_HEADING 1
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#define YAW_MODE_SLIP 2
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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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//GPS_fix
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#define VALID_GPS 0x00
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#define BAD_GPS 0x01
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#define FAILED_GPS 0x03
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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 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 RELAY_PIN 47
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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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#define HOLD_ALT_ABOVE_HOME 8 // bitmask value
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#define SPEEDFILT 400 // centimeters/second; the speed below which a groundstart will be triggered
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#define EEPROM_MAX_ADDR 4096
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// log
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#define EE_END_OF_PARAMS getAddress(PARAM_LAST_UINT32)
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#define EE_LAST_LOG_PAGE EE_END_OF_PARAMS+1
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#define EE_LAST_LOG_NUM EE_END_OF_PARAMS+3
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#define EE_LOG_1_START EE_END_OF_PARAMS+5
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#define WP_START_BYTE EE_END_OF_PARAMS+45 // where in memory home WP is stored + all other WP
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// add 19 to account for log files
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// bits in log_bitmask
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#define LOGBIT_ATTITUDE_FAST (1<<0)
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#define LOGBIT_ATTITUDE_MED (1<<1)
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#define LOGBIT_GPS (1<<2)
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#define LOGBIT_PM (1<<3)
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#define LOGBIT_CTUN (1<<4)
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#define LOGBIT_NTUN (1<<5)
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#define LOGBIT_MODE (1<<6)
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#define LOGBIT_RAW (1<<7)
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#define LOGBIT_CMD (1<<8)
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