mirror of https://github.com/ArduPilot/ardupilot
380 lines
9.5 KiB
C
380 lines
9.5 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef _DEFINES_H
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#define _DEFINES_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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// Flight modes
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// ------------
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#define YAW_HOLD 0
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#define YAW_ACRO 1
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#define YAW_AUTO 2
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#define YAW_LOOK_AT_HOME 3
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#define ROLL_PITCH_STABLE 0
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#define ROLL_PITCH_ACRO 1
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#define ROLL_PITCH_AUTO 2
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#define ROLL_PITCH_STABLE_OF 3
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#define THROTTLE_MANUAL 0
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#define THROTTLE_HOLD 1
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#define THROTTLE_AUTO 2
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// active altitude sensor
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// ----------------------
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#define SONAR 0
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#define BARO 1
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#define SONAR_SOURCE_ADC 1
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#define SONAR_SOURCE_ANALOG_PIN 2
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// CH 7 control
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#define CH7_DO_NOTHING 0
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#define CH7_SET_HOVER 1
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#define CH7_FLIP 2
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#define CH7_SIMPLE_MODE 3
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#define CH7_RTL 4
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#define CH7_AUTO_TRIM 5
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#define CH7_ADC_FILTER 6
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#define CH7_SAVE_WP 7
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// Frame types
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#define QUAD_FRAME 0
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#define TRI_FRAME 1
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#define HEXA_FRAME 2
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#define Y6_FRAME 3
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#define OCTA_FRAME 4
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#define HELI_FRAME 5
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#define OCTA_QUAD_FRAME 6
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#define PLUS_FRAME 0
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#define X_FRAME 1
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#define V_FRAME 2
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// LED output
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#define NORMAL_LEDS 0
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#define AUTO_TRIM_LEDS 1
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// motor LEDs
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#define FR_LED AN12 // Mega PE4 pin, OUT7
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#define RE_LED AN14 // Mega PE5 pin, OUT6
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#define RI_LED AN10 // Mega PH4 pin, OUT5
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#define LE_LED AN8 // Mega PH5 pin, OUT4
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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 60 // for calculating power outside of loiter radius
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#define T6 1000000
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#define T7 10000000
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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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#define GPS_PROTOCOL_MTK16 6
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#define GPS_PROTOCOL_AUTO 7
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#define CH_ROLL CH_1
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#define CH_PITCH CH_2
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#define CH_THROTTLE CH_3
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#define CH_RUDDER CH_4
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#define CH_YAW CH_4
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#define RC_CHANNEL_ANGLE 0
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#define RC_CHANNEL_RANGE 1
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#define RC_CHANNEL_ANGLE_RAW 2
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// HIL enumerations
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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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#define ASCENDING 1
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#define DESCENDING -1
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#define REACHED_ALT 0
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// Auto Pilot modes
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// ----------------
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#define STABILIZE 0 // hold level position
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#define ACRO 1 // rate control
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#define ALT_HOLD 2 // AUTO control
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#define AUTO 3 // AUTO control
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#define GUIDED 4 // AUTO control
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#define LOITER 5 // Hold a single location
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#define RTL 6 // AUTO control
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#define CIRCLE 7 // AUTO control
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#define POSITION 8 // AUTO control
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#define LAND 9 // AUTO control
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#define OF_LOITER 10 // Hold a single location using optical flow sensor
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#define NUM_MODES 11
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#define INITIALISING 9 // in startup routines
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#define SIMPLE_1 1
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#define SIMPLE_2 2
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#define SIMPLE_3 4
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#define SIMPLE_4 8
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#define SIMPLE_5 16
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#define SIMPLE_6 32
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// CH_6 Tuning
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// -----------
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#define CH6_NONE 0
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// Attitude
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#define CH6_STABILIZE_KP 1
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#define CH6_STABILIZE_KI 2
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#define CH6_YAW_KP 3
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// Rate
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#define CH6_RATE_KP 4
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#define CH6_RATE_KI 5
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#define CH6_RATE_KD 21
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#define CH6_YAW_RATE_KP 6
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// Altitude rate controller
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#define CH6_THROTTLE_KP 7
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// Extras
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#define CH6_TOP_BOTTOM_RATIO 8
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#define CH6_RELAY 9
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#define CH6_TRAVERSE_SPEED 10
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#define CH6_NAV_P 11
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#define CH6_LOITER_P 12
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#define CH6_HELI_EXTERNAL_GYRO 13
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// altitude controller
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#define CH6_THR_HOLD_KP 14
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#define CH6_Z_GAIN 15
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#define CH6_DAMP 16
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// optical flow controller
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#define CH6_OPTFLOW_KP 17
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#define CH6_OPTFLOW_KI 18
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#define CH6_OPTFLOW_KD 19
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#define CH6_NAV_I 20
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#define CH6_LOITER_RATE_P 22
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// nav byte mask
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// -------------
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#define NAV_LOCATION 1
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#define NAV_ALTITUDE 2
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#define NAV_DELAY 4
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// Commands - Note that APM now uses a subset of the MAVLink protocol commands. See enum MAV_CMD in the GCS_Mavlink library
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#define CMD_BLANK 0 // there is no command stored in the mem location requested
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#define NO_COMMAND 0
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#define LOITER_MODE 1
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#define WP_MODE 2
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#define CIRCLE_MODE 3
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#define NO_NAV_MODE 4
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// Waypoint options
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#define MASK_OPTIONS_RELATIVE_ALT 1
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#define WP_OPTION_ALT_CHANGE 2
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#define WP_OPTION_YAW 4
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#define WP_OPTION_ALT_REQUIRED 8
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#define WP_OPTION_RELATIVE 16
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//#define WP_OPTION_ 32
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//#define WP_OPTION_ 64
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#define WP_OPTION_NEXT_CMD 128
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//repeating events
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#define NO_REPEAT 0
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#define CH_5_TOGGLE 1
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#define CH_6_TOGGLE 2
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#define CH_7_TOGGLE 3
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#define CH_8_TOGGLE 4
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#define RELAY_TOGGLE 5
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#define STOP_REPEAT 10
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//#define MAV_CMD_CONDITION_YAW 23
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// GCS Message ID's
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/// NOTE: to ensure we never block on sending MAVLink messages
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/// please keep each MSG_ to a single MAVLink message. If need be
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/// create new MSG_ IDs for additional messages on the same
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/// stream
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enum ap_message {
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MSG_HEARTBEAT,
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MSG_ATTITUDE,
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MSG_LOCATION,
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MSG_EXTENDED_STATUS1,
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MSG_EXTENDED_STATUS2,
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MSG_NAV_CONTROLLER_OUTPUT,
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MSG_CURRENT_WAYPOINT,
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MSG_VFR_HUD,
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MSG_RADIO_OUT,
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MSG_RADIO_IN,
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MSG_RAW_IMU1,
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MSG_RAW_IMU2,
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MSG_RAW_IMU3,
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MSG_GPS_STATUS,
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MSG_GPS_RAW,
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MSG_SERVO_OUT,
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MSG_NEXT_WAYPOINT,
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MSG_NEXT_PARAM,
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MSG_STATUSTEXT,
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MSG_RETRY_DEFERRED // this must be last
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};
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enum gcs_severity {
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SEVERITY_LOW=1,
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SEVERITY_MEDIUM,
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SEVERITY_HIGH,
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SEVERITY_CRITICAL
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};
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// Logging parameters
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#define TYPE_AIRSTART_MSG 0x00
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#define TYPE_GROUNDSTART_MSG 0x01
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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_CURRENT_MSG 0x09
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#define LOG_STARTUP_MSG 0x0A
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#define LOG_MOTORS_MSG 0x0B
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#define LOG_OPTFLOW_MSG 0x0C
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#define LOG_DATA_MSG 0x0D
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#define LOG_INDEX_MSG 0xF0
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#define MAX_NUM_LOGS 50
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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_MODE (1<<6)
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#define MASK_LOG_RAW (1<<7)
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#define MASK_LOG_CMD (1<<8)
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#define MASK_LOG_CUR (1<<9)
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#define MASK_LOG_MOTORS (1<<10)
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#define MASK_LOG_OPTFLOW (1<<11)
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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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// 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*(g.input_voltage/1024.0))*g.volt_div_ratio
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#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt
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//#define BARO_FILTER_SIZE 8
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/* ************************************************************** */
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/* Expansion PIN's that people can use for various things. */
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// AN0 - 7 are located at edge of IMU PCB "above" pressure sensor and Expansion port
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// AN0 - 5 are also located next to voltage dividers and sliding SW2 switch
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// AN0 - 3 has 10kOhm resistor in serial, include 3.9kOhm to make it as voltage divider
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// AN4 - 5 are direct GPIO pins from atmega1280 and they are the latest pins next to SW2 switch
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// Look more ArduCopter Wiki for voltage dividers and other ports
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#define AN0 54 // resistor, vdiv use, divider 1 closest to relay
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#define AN1 55 // resistor, vdiv use, divider 2
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#define AN2 56 // resistor, vdiv use, divider 3
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#define AN3 57 // resistor, vdiv use, divider 4 closest to SW2
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#define AN4 58 // direct GPIO pin, default as analog input, next to SW2 switch
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#define AN5 59 // direct GPIO pin, default as analog input, next to SW2 switch
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#define AN6 60 // direct GPIO pin, default as analog input, close to Pressure sensor, Expansion Ports
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#define AN7 61 // direct GPIO pin, default as analog input, close to Pressure sensor, Expansion Ports
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// AN8 - 15 are located at edge of IMU PCB "above" pressure sensor and Expansion port
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// AN8 - 15 PINs are not connected anywhere, they are located as last 8 pins on edge of the board above Expansion Ports
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// even pins (8,10,12,14) are at edge of board, Odd pins (9,11,13,15) are on inner row
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#define AN8 62 // NC
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#define AN9 63 // NC
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#define AN10 64 // NC
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#define AN11 65 // NC
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#define AN12 66 // NC
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#define AN13 67 // NC
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#define AN14 68 // NC
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#define AN15 69 // NC
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#define RELAY_PIN 47
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#define PIEZO_PIN AN5 //Last pin on the back ADC connector
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// sonar
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//#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
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// RADIANS
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#define RADX100 0.000174532925
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#define DEGX100 5729.57795
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// EEPROM addresses
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#define EEPROM_MAX_ADDR 4096
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// parameters get the first 1280 bytes of EEPROM, remainder is for waypoints
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#define WP_START_BYTE 0x500 // where in memory home WP is stored + all other WP
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#define WP_SIZE 15
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#define ONBOARD_PARAM_NAME_LENGTH 15
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#define MAX_WAYPOINTS ((EEPROM_MAX_ADDR - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe
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// mark a function as not to be inlined
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#define NOINLINE __attribute__((noinline))
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// IMU selection
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#define CONFIG_IMU_OILPAN 1
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#define CONFIG_IMU_MPU6000 2
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// APM Hardware selection
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#define APM_HARDWARE_APM1 1
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#define APM_HARDWARE_APM2 2
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#define AP_BARO_BMP085 1
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#define AP_BARO_MS5611 2
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#define LOGGING_SIMPLE 1
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#define LOGGING_VERBOSE 2
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// Channel Config selection
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#define CHANNEL_CONFIG_DEFAULT 1
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#define CHANNEL_CONFIG_CUSTOM 2
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#endif // _DEFINES_H
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