mirror of https://github.com/ArduPilot/ardupilot
145 lines
7.7 KiB
C
145 lines
7.7 KiB
C
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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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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// 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_RATE = 25, // acro controller's desired roll and pitch rate in deg/s
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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_RATE = 40, // acro controller's desired yaw rate in deg/s
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TUNING_RANGEFINDER_GAIN = 41, // unused
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TUNING_EKF_VERTICAL_POS = 42, // unused
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TUNING_EKF_HORIZONTAL_POS = 43, // unused
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TUNING_EKF_ACCEL_NOISE = 44, // unused
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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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UNUSED = 57, // was winch control
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TUNING_SYSTEM_ID_MAGNITUDE = 58, // magnitude of the system ID signal
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TUNING_POS_CONTROL_ANGLE_MAX = 59 // position controller maximum angle
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};
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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 helicopters)
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// Airmode
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enum class AirMode {
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AIRMODE_NONE,
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AIRMODE_DISABLED,
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AIRMODE_ENABLED,
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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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DevOptionVFR_HUDRelativeAlt = 2,
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};
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// Logging parameters - only 32 messages are available to the vehicle here.
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enum LoggingParameters {
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LOG_CONTROL_TUNING_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_PARAMTUNE_MSG,
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LOG_HELI_MSG,
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LOG_GUIDED_POSITION_TARGET_MSG,
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LOG_SYSIDD_MSG,
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LOG_SYSIDS_MSG,
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LOG_GUIDED_ATTITUDE_TARGET_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_VIDEO_STABILISATION (1UL<<20)
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#define MASK_LOG_FTN_FAST (1UL<<21)
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#define MASK_LOG_ANY 0xFFFF
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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 // Removed in 4.0+, now use fs_options
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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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#define FS_THR_ENABLED_AUTO_RTL_OR_RTL 6
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#define FS_THR_ENABLED_BRAKE_OR_LAND 7
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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 // Removed in 4.0+, now use fs_options
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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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#define FS_GCS_ENABLED_ALWAYS_LAND 5
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#define FS_GCS_ENABLED_AUTO_RTL_OR_RTL 6
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#define FS_GCS_ENABLED_BRAKE_OR_LAND 7
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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 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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