ardupilot/APMrover2/defines.h

87 lines
2.4 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
// Just so that it's completely clear...
#define ENABLED 1
#define DISABLED 0
// this avoids a very common config error
#define ENABLE ENABLED
#define DISABLE DISABLED
#define DEBUG 0
#define SERVO_MAX 4500 // This value represents 45 degrees and is just an arbitrary representation of servo max travel.
// CH 7 control
enum ch7_option {
CH7_DO_NOTHING=0,
CH7_SAVE_WP=1
};
// 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)
// 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_IMU_RAW (1UL<<19)
// for mavlink SET_POSITION_TARGET messages
#define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1) | (1<<2))
#define MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE ((1<<3) | (1<<4) | (1<<5))
#define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7) | (1<<8))
#define MAVLINK_SET_POS_TYPE_MASK_FORCE (1<<9)
#define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10)
#define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)