mirror of https://github.com/ArduPilot/ardupilot
429 lines
18 KiB
C
429 lines
18 KiB
C
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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// Just so that it's completely clear...
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#define ENABLED 1
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#define DISABLED 0
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// this avoids a very common config error
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#define ENABLE ENABLED
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#define DISABLE DISABLED
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// Autopilot Yaw Mode enumeration
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enum autopilot_yaw_mode {
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AUTO_YAW_HOLD = 0, // pilot controls the heading
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AUTO_YAW_LOOK_AT_NEXT_WP = 1, // point towards next waypoint (no pilot input accepted)
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AUTO_YAW_ROI = 2, // point towards a location held in roi (no pilot input accepted)
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AUTO_YAW_FIXED = 3, // point towards a particular angle (no pilot input accepted)
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AUTO_YAW_LOOK_AHEAD = 4, // point in the direction the copter is moving
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AUTO_YAW_RESETTOARMEDYAW = 5, // point towards heading at time motors were armed
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AUTO_YAW_RATE = 6, // turn at a specified rate (held in auto_yaw_rate)
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};
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// Frame types
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#define UNDEFINED_FRAME 0
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#define MULTICOPTER_FRAME 1
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#define HELI_FRAME 2
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// HIL enumerations
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#define HIL_MODE_DISABLED 0
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#define HIL_MODE_SENSORS 1
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// Auto Pilot Modes enumeration
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enum control_mode_t {
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STABILIZE = 0, // manual airframe angle with manual throttle
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ACRO = 1, // manual body-frame angular rate with manual throttle
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ALT_HOLD = 2, // manual airframe angle with automatic throttle
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AUTO = 3, // fully automatic waypoint control using mission commands
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GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
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LOITER = 5, // automatic horizontal acceleration with automatic throttle
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RTL = 6, // automatic return to launching point
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CIRCLE = 7, // automatic circular flight with automatic throttle
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LAND = 9, // automatic landing with horizontal position control
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DRIFT = 11, // semi-automous position, yaw and throttle control
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SPORT = 13, // manual earth-frame angular rate control with manual throttle
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FLIP = 14, // automatically flip the vehicle on the roll axis
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AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains
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POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
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BRAKE = 17, // full-brake using inertial/GPS system, no pilot input
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THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input
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AVOID_ADSB = 19, // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
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GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude
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SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps
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FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder
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FOLLOW = 23, // follow attempts to follow another vehicle or ground station
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};
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enum mode_reason_t {
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MODE_REASON_UNKNOWN=0,
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MODE_REASON_TX_COMMAND,
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MODE_REASON_GCS_COMMAND,
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MODE_REASON_RADIO_FAILSAFE,
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MODE_REASON_BATTERY_FAILSAFE,
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MODE_REASON_GCS_FAILSAFE,
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MODE_REASON_EKF_FAILSAFE,
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MODE_REASON_GPS_GLITCH,
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MODE_REASON_MISSION_END,
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MODE_REASON_THROTTLE_LAND_ESCAPE,
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MODE_REASON_FENCE_BREACH,
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MODE_REASON_TERRAIN_FAILSAFE,
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MODE_REASON_BRAKE_TIMEOUT,
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MODE_REASON_FLIP_COMPLETE,
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MODE_REASON_AVOIDANCE,
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MODE_REASON_AVOIDANCE_RECOVERY,
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MODE_REASON_THROW_COMPLETE,
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MODE_REASON_TERMINATE,
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MODE_REASON_TMODE,
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};
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// Tuning enumeration
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enum tuning_func {
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TUNING_NONE = 0, //
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TUNING_STABILIZE_ROLL_PITCH_KP = 1, // stabilize roll/pitch angle controller's P term
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TUNING_STABILIZE_YAW_KP = 3, // stabilize yaw heading controller's P term
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TUNING_RATE_ROLL_PITCH_KP = 4, // body frame roll/pitch rate controller's P term
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TUNING_RATE_ROLL_PITCH_KI = 5, // body frame roll/pitch rate controller's I term
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TUNING_YAW_RATE_KP = 6, // body frame yaw rate controller's P term
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TUNING_THROTTLE_RATE_KP = 7, // throttle rate controller's P term (desired rate to acceleration or motor output)
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TUNING_WP_SPEED = 10, // maximum speed to next way point (0 to 10m/s)
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TUNING_LOITER_POSITION_KP = 12, // loiter distance controller's P term (position error to speed)
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TUNING_HELI_EXTERNAL_GYRO = 13, // TradHeli specific external tail gyro gain
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TUNING_ALTITUDE_HOLD_KP = 14, // altitude hold controller's P term (alt error to desired rate)
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TUNING_RATE_ROLL_PITCH_KD = 21, // body frame roll/pitch rate controller's D term
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TUNING_VEL_XY_KP = 22, // loiter rate controller's P term (speed error to tilt angle)
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TUNING_ACRO_RP_KP = 25, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
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TUNING_YAW_RATE_KD = 26, // body frame yaw rate controller's D term
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TUNING_VEL_XY_KI = 28, // loiter rate controller's I term (speed error to tilt angle)
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TUNING_AHRS_YAW_KP = 30, // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
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TUNING_AHRS_KP = 31, // accelerometer effect on roll/pitch angle (0=low)
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TUNING_ACCEL_Z_KP = 34, // accel based throttle controller's P term
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TUNING_ACCEL_Z_KI = 35, // accel based throttle controller's I term
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TUNING_ACCEL_Z_KD = 36, // accel based throttle controller's D term
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TUNING_DECLINATION = 38, // compass declination in radians
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TUNING_CIRCLE_RATE = 39, // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
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TUNING_ACRO_YAW_KP = 40, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
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TUNING_RANGEFINDER_GAIN = 41, // rangefinder gain
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TUNING_EKF_VERTICAL_POS = 42, // EKF's baro vs accel (higher rely on accels more, baro impact is reduced). Range should be 0.2 ~ 4.0? 2.0 is default
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TUNING_EKF_HORIZONTAL_POS = 43, // EKF's gps vs accel (higher rely on accels more, gps impact is reduced). Range should be 1.0 ~ 3.0? 1.5 is default
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TUNING_EKF_ACCEL_NOISE = 44, // EKF's accel noise (lower means trust accels more, gps & baro less). Range should be 0.02 ~ 0.5 0.5 is default (but very robust at that level)
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TUNING_RC_FEEL_RP = 45, // roll-pitch input smoothing
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TUNING_RATE_PITCH_KP = 46, // body frame pitch rate controller's P term
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TUNING_RATE_PITCH_KI = 47, // body frame pitch rate controller's I term
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TUNING_RATE_PITCH_KD = 48, // body frame pitch rate controller's D term
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TUNING_RATE_ROLL_KP = 49, // body frame roll rate controller's P term
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TUNING_RATE_ROLL_KI = 50, // body frame roll rate controller's I term
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TUNING_RATE_ROLL_KD = 51, // body frame roll rate controller's D term
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TUNING_RATE_PITCH_FF = 52, // body frame pitch rate controller FF term
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TUNING_RATE_ROLL_FF = 53, // body frame roll rate controller FF term
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TUNING_RATE_YAW_FF = 54, // body frame yaw rate controller FF term
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TUNING_RATE_MOT_YAW_HEADROOM = 55, // motors yaw headroom minimum
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TUNING_RATE_YAW_FILT = 56, // yaw rate input filter
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TUNING_WINCH = 57 // winch control (not actually a value to be tuned)
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};
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// Acro Trainer types
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#define ACRO_TRAINER_DISABLED 0
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#define ACRO_TRAINER_LEVELING 1
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#define ACRO_TRAINER_LIMITED 2
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// Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter
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#define WP_YAW_BEHAVIOR_NONE 0 // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received)
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#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP 1 // auto pilot will face next waypoint or home during rtl
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#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL 2 // auto pilot will face next waypoint except when doing RTL at which time it will stay in it's last
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#define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicotpers)
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// Auto modes
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enum AutoMode {
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Auto_TakeOff,
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Auto_WP,
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Auto_Land,
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Auto_RTL,
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Auto_CircleMoveToEdge,
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Auto_Circle,
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Auto_Spline,
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Auto_NavGuided,
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Auto_Loiter,
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Auto_NavPayloadPlace,
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};
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// Guided modes
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enum GuidedMode {
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Guided_TakeOff,
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Guided_WP,
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Guided_Velocity,
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Guided_PosVel,
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Guided_Angle,
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};
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// RTL states
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enum RTLState {
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RTL_InitialClimb,
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RTL_ReturnHome,
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RTL_LoiterAtHome,
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RTL_FinalDescent,
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RTL_Land
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};
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// Safe RTL states
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enum SmartRTLState {
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SmartRTL_WaitForPathCleanup,
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SmartRTL_PathFollow,
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SmartRTL_PreLandPosition,
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SmartRTL_Descend,
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SmartRTL_Land
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};
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// Alt_Hold states
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enum AltHoldModeState {
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AltHold_MotorStopped,
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AltHold_Takeoff,
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AltHold_Flying,
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AltHold_Landed
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};
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// Loiter states
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enum LoiterModeState {
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Loiter_MotorStopped,
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Loiter_Takeoff,
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Loiter_Flying,
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Loiter_Landed
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};
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// Sport states
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enum SportModeState {
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Sport_MotorStopped,
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Sport_Takeoff,
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Sport_Flying,
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Sport_Landed
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};
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// Flip states
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enum FlipState {
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Flip_Start,
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Flip_Roll,
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Flip_Pitch_A,
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Flip_Pitch_B,
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Flip_Recover,
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Flip_Abandon
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};
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enum LandStateType {
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LandStateType_FlyToLocation = 0,
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LandStateType_Descending = 1
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};
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enum PayloadPlaceStateType {
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PayloadPlaceStateType_FlyToLocation,
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PayloadPlaceStateType_Calibrating_Hover_Start,
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PayloadPlaceStateType_Calibrating_Hover,
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PayloadPlaceStateType_Descending_Start,
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PayloadPlaceStateType_Descending,
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PayloadPlaceStateType_Releasing_Start,
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PayloadPlaceStateType_Releasing,
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PayloadPlaceStateType_Released,
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PayloadPlaceStateType_Ascending_Start,
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PayloadPlaceStateType_Ascending,
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PayloadPlaceStateType_Done,
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};
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// bit options for DEV_OPTIONS parameter
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enum DevOptions {
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DevOptionADSBMAVLink = 1,
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};
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// Logging parameters
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enum LoggingParameters {
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TYPE_AIRSTART_MSG,
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TYPE_GROUNDSTART_MSG,
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LOG_CONTROL_TUNING_MSG,
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LOG_OPTFLOW_MSG,
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LOG_EVENT_MSG,
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LOG_ERROR_MSG,
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LOG_DATA_INT16_MSG,
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LOG_DATA_UINT16_MSG,
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LOG_DATA_INT32_MSG,
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LOG_DATA_UINT32_MSG,
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LOG_DATA_FLOAT_MSG,
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LOG_AUTOTUNE_MSG,
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LOG_AUTOTUNEDETAILS_MSG,
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LOG_MOTBATT_MSG,
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LOG_PARAMTUNE_MSG,
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LOG_HELI_MSG,
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LOG_PRECLAND_MSG,
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LOG_GUIDEDTARGET_MSG,
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};
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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_RCIN (1<<6)
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#define MASK_LOG_IMU (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_RCOUT (1<<10)
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#define MASK_LOG_OPTFLOW (1<<11)
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#define MASK_LOG_PID (1<<12)
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#define MASK_LOG_COMPASS (1<<13)
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#define MASK_LOG_INAV (1<<14) // deprecated
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#define MASK_LOG_CAMERA (1<<15)
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#define MASK_LOG_MOTBATT (1UL<<17)
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#define MASK_LOG_IMU_FAST (1UL<<18)
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#define MASK_LOG_IMU_RAW (1UL<<19)
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#define MASK_LOG_ANY 0xFFFF
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// DATA - event logging
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#define DATA_AP_STATE 7
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// 8 was DATA_SYSTEM_TIME_SET
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#define DATA_INIT_SIMPLE_BEARING 9
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#define DATA_ARMED 10
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#define DATA_DISARMED 11
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#define DATA_AUTO_ARMED 15
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#define DATA_LAND_COMPLETE_MAYBE 17
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#define DATA_LAND_COMPLETE 18
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#define DATA_NOT_LANDED 28
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#define DATA_LOST_GPS 19
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#define DATA_FLIP_START 21
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#define DATA_FLIP_END 22
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#define DATA_SET_HOME 25
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#define DATA_SET_SIMPLE_ON 26
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#define DATA_SET_SIMPLE_OFF 27
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#define DATA_SET_SUPERSIMPLE_ON 29
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#define DATA_AUTOTUNE_INITIALISED 30
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#define DATA_AUTOTUNE_OFF 31
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#define DATA_AUTOTUNE_RESTART 32
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#define DATA_AUTOTUNE_SUCCESS 33
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#define DATA_AUTOTUNE_FAILED 34
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#define DATA_AUTOTUNE_REACHED_LIMIT 35
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#define DATA_AUTOTUNE_PILOT_TESTING 36
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#define DATA_AUTOTUNE_SAVEDGAINS 37
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#define DATA_SAVE_TRIM 38
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#define DATA_SAVEWP_ADD_WP 39
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#define DATA_FENCE_ENABLE 41
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#define DATA_FENCE_DISABLE 42
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#define DATA_ACRO_TRAINER_DISABLED 43
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#define DATA_ACRO_TRAINER_LEVELING 44
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#define DATA_ACRO_TRAINER_LIMITED 45
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#define DATA_GRIPPER_GRAB 46
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#define DATA_GRIPPER_RELEASE 47
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#define DATA_PARACHUTE_DISABLED 49
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#define DATA_PARACHUTE_ENABLED 50
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#define DATA_PARACHUTE_RELEASED 51
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#define DATA_LANDING_GEAR_DEPLOYED 52
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#define DATA_LANDING_GEAR_RETRACTED 53
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#define DATA_MOTORS_EMERGENCY_STOPPED 54
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#define DATA_MOTORS_EMERGENCY_STOP_CLEARED 55
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#define DATA_MOTORS_INTERLOCK_DISABLED 56
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#define DATA_MOTORS_INTERLOCK_ENABLED 57
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#define DATA_ROTOR_RUNUP_COMPLETE 58 // Heli only
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#define DATA_ROTOR_SPEED_BELOW_CRITICAL 59 // Heli only
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#define DATA_EKF_ALT_RESET 60
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#define DATA_LAND_CANCELLED_BY_PILOT 61
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#define DATA_EKF_YAW_RESET 62
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#define DATA_AVOIDANCE_ADSB_ENABLE 63
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#define DATA_AVOIDANCE_ADSB_DISABLE 64
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#define DATA_AVOIDANCE_PROXIMITY_ENABLE 65
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#define DATA_AVOIDANCE_PROXIMITY_DISABLE 66
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#define DATA_GPS_PRIMARY_CHANGED 67
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#define DATA_WINCH_RELAXED 68
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#define DATA_WINCH_LENGTH_CONTROL 69
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#define DATA_WINCH_RATE_CONTROL 70
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// Error message sub systems and error codes
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#define ERROR_SUBSYSTEM_MAIN 1
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#define ERROR_SUBSYSTEM_RADIO 2
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#define ERROR_SUBSYSTEM_COMPASS 3
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#define ERROR_SUBSYSTEM_OPTFLOW 4
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#define ERROR_SUBSYSTEM_FAILSAFE_RADIO 5
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#define ERROR_SUBSYSTEM_FAILSAFE_BATT 6
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#define ERROR_SUBSYSTEM_FAILSAFE_GPS 7 // not used
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#define ERROR_SUBSYSTEM_FAILSAFE_GCS 8
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#define ERROR_SUBSYSTEM_FAILSAFE_FENCE 9
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#define ERROR_SUBSYSTEM_FLIGHT_MODE 10
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#define ERROR_SUBSYSTEM_GPS 11
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#define ERROR_SUBSYSTEM_CRASH_CHECK 12
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#define ERROR_SUBSYSTEM_FLIP 13
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#define ERROR_SUBSYSTEM_AUTOTUNE 14
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#define ERROR_SUBSYSTEM_PARACHUTE 15
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#define ERROR_SUBSYSTEM_EKFCHECK 16
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#define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV 17
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#define ERROR_SUBSYSTEM_BARO 18
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#define ERROR_SUBSYSTEM_CPU 19
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#define ERROR_SUBSYSTEM_FAILSAFE_ADSB 20
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#define ERROR_SUBSYSTEM_TERRAIN 21
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#define ERROR_SUBSYSTEM_NAVIGATION 22
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#define ERROR_SUBSYSTEM_FAILSAFE_TERRAIN 23
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#define ERROR_SUBSYSTEM_EKF_PRIMARY 24
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// general error codes
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#define ERROR_CODE_ERROR_RESOLVED 0
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#define ERROR_CODE_FAILED_TO_INITIALISE 1
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#define ERROR_CODE_UNHEALTHY 4
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// subsystem specific error codes -- radio
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#define ERROR_CODE_RADIO_LATE_FRAME 2
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// subsystem specific error codes -- failsafe_thr, batt, gps
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#define ERROR_CODE_FAILSAFE_RESOLVED 0
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#define ERROR_CODE_FAILSAFE_OCCURRED 1
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// subsystem specific error codes -- compass
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#define ERROR_CODE_COMPASS_FAILED_TO_READ 2
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// subsystem specific error codes -- main
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#define ERROR_CODE_MAIN_INS_DELAY 1
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// subsystem specific error codes -- crash checker
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#define ERROR_CODE_CRASH_CHECK_CRASH 1
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#define ERROR_CODE_CRASH_CHECK_LOSS_OF_CONTROL 2
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// subsystem specific error codes -- flip
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#define ERROR_CODE_FLIP_ABANDONED 2
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// subsystem specific error codes -- terrain
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#define ERROR_CODE_MISSING_TERRAIN_DATA 2
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// subsystem specific error codes -- navigation
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#define ERROR_CODE_FAILED_TO_SET_DESTINATION 2
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#define ERROR_CODE_RESTARTED_RTL 3
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#define ERROR_CODE_FAILED_CIRCLE_INIT 4
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#define ERROR_CODE_DEST_OUTSIDE_FENCE 5
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// parachute failed to deploy because of low altitude or landed
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#define ERROR_CODE_PARACHUTE_TOO_LOW 2
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#define ERROR_CODE_PARACHUTE_LANDED 3
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// EKF check definitions
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#define ERROR_CODE_EKFCHECK_BAD_VARIANCE 2
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#define ERROR_CODE_EKFCHECK_VARIANCE_CLEARED 0
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// Baro specific error codes
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#define ERROR_CODE_BARO_GLITCH 2
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// GPS specific error coces
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#define ERROR_CODE_GPS_GLITCH 2
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// Radio failsafe definitions (FS_THR parameter)
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#define FS_THR_DISABLED 0
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#define FS_THR_ENABLED_ALWAYS_RTL 1
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#define FS_THR_ENABLED_CONTINUE_MISSION 2
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#define FS_THR_ENABLED_ALWAYS_LAND 3
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#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_RTL 4
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#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_LAND 5
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// GCS failsafe definitions (FS_GCS_ENABLE parameter)
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#define FS_GCS_DISABLED 0
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#define FS_GCS_ENABLED_ALWAYS_RTL 1
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#define FS_GCS_ENABLED_CONTINUE_MISSION 2
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#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL 3
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#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4
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// EKF failsafe definitions (FS_EKF_ACTION parameter)
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#define FS_EKF_ACTION_LAND 1 // switch to LAND mode on EKF failsafe
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#define FS_EKF_ACTION_ALTHOLD 2 // switch to ALTHOLD mode on EKF failsafe
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#define FS_EKF_ACTION_LAND_EVEN_STABILIZE 3 // switch to Land mode on EKF failsafe even if in a manual flight mode like stabilize
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// for mavlink SET_POSITION_TARGET messages
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#define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1) | (1<<2))
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#define MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE ((1<<3) | (1<<4) | (1<<5))
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#define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7) | (1<<8))
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#define MAVLINK_SET_POS_TYPE_MASK_FORCE (1<<9)
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#define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10)
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#define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)
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// for PILOT_THR_BHV parameter
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#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
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#define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
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#define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)
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