mirror of https://github.com/ArduPilot/ardupilot
106 lines
4.1 KiB
C
106 lines
4.1 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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// This is free software; you can redistribute it and/or modify it under
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// the terms of the GNU Lesser General Public License as published by the
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// Free Software Foundation; either version 2.1 of the License, or (at
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// your option) any later version.
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//
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///
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/// @file AP_Common.h
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/// @brief Common definitions and utility routines for the ArduPilot
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/// libraries.
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///
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#ifndef __AP_COMMON_H__
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#define __AP_COMMON_H__
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#pragma GCC diagnostic warning "-Wall"
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#pragma GCC diagnostic warning "-Wextra"
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#pragma GCC diagnostic warning "-Wlogical-op"
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#pragma GCC diagnostic ignored "-Wredundant-decls"
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// Make some dire warnings into errors
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//
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// Some warnings indicate questionable code; rather than let
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// these slide, we force them to become errors so that the
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// developer has to find a safer alternative.
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//
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//#pragma GCC diagnostic error "-Wfloat-equal"
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// The following is strictly for type-checking arguments to printf_P calls
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// in conjunction with a suitably modified Arduino IDE; never define for
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// production as it generates bad code.
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//
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#if PRINTF_FORMAT_WARNING_DEBUG
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# undef PSTR
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# define PSTR(_x) _x // help the compiler with printf_P
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# define float double // silence spurious format warnings for %f
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#endif
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#define FPSTR(s) (wchar_t *)(s)
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#define ToRad(x) radians(x) // *pi/180
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#define ToDeg(x) degrees(x) // *180/pi
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// @}
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////////////////////////////////////////////////////////////////////////////////
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/// @name Types
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///
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/// Data structures and types used throughout the libraries and applications. 0 = default
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/// bit 0: Altitude is stored 0: Absolute, 1: Relative
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/// bit 1: Chnage Alt between WP 0: Gradually, 1: ASAP
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/// bit 2: Direction of loiter command 0: Clockwise 1: Counter-Clockwise
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/// bit 3: Req.to hit WP.alt to continue 0: No, 1: Yes
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/// bit 4: Relative to Home 0: No, 1: Yes
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/// bit 5:
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/// bit 6:
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/// bit 7: Move to next Command 0: YES, 1: Loiter until commanded
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//@{
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struct Location {
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uint8_t id; ///< command id
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uint8_t options; ///< options bitmask (1<<0 = relative altitude)
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uint8_t p1; ///< param 1
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int32_t alt; ///< param 2 - Altitude in centimeters (meters * 100)
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int32_t lat; ///< param 3 - Lattitude * 10**7
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int32_t lng; ///< param 4 - Longitude * 10**7
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};
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//@}
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////////////////////////////////////////////////////////////////////////////////
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/// @name Conversions
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///
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/// Conversion macros and factors.
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///
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//@{
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/* Product IDs for all supported products follow */
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#define AP_PRODUCT_ID_NONE 0x00 // Hardware in the loop
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#define AP_PRODUCT_ID_APM1_1280 0x01 // APM1 with 1280 CPUs
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#define AP_PRODUCT_ID_APM1_2560 0x02 // APM1 with 2560 CPUs
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#define AP_PRODUCT_ID_SITL 0x03 // Software in the loop
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#define AP_PRODUCT_ID_PX4 0x04 // PX4 on NuttX
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#define AP_PRODUCT_ID_APM2ES_REV_C4 0x14 // APM2 with MPU6000ES_REV_C4
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#define AP_PRODUCT_ID_APM2ES_REV_C5 0x15 // APM2 with MPU6000ES_REV_C5
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#define AP_PRODUCT_ID_APM2ES_REV_D6 0x16 // APM2 with MPU6000ES_REV_D6
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#define AP_PRODUCT_ID_APM2ES_REV_D7 0x17 // APM2 with MPU6000ES_REV_D7
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#define AP_PRODUCT_ID_APM2ES_REV_D8 0x18 // APM2 with MPU6000ES_REV_D8
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#define AP_PRODUCT_ID_APM2_REV_C4 0x54 // APM2 with MPU6000_REV_C4
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#define AP_PRODUCT_ID_APM2_REV_C5 0x55 // APM2 with MPU6000_REV_C5
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#define AP_PRODUCT_ID_APM2_REV_D6 0x56 // APM2 with MPU6000_REV_D6
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#define AP_PRODUCT_ID_APM2_REV_D7 0x57 // APM2 with MPU6000_REV_D7
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#define AP_PRODUCT_ID_APM2_REV_D8 0x58 // APM2 with MPU6000_REV_D8
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#define AP_PRODUCT_ID_APM2_REV_D9 0x59 // APM2 with MPU6000_REV_D9
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#endif // _AP_COMMON_H
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