mirror of https://github.com/ArduPilot/ardupilot
466 lines
22 KiB
C
466 lines
22 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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#define BOTTOM_DETECTOR_TRIGGER_SEC 1.0
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#define SURFACE_DETECTOR_TRIGGER_SEC 1.0
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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_WP (no pilot input accepted)
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AUTO_YAW_LOOK_AT_HEADING = 3, // point towards a particular angle (not pilot input accepted)
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AUTO_YAW_LOOK_AHEAD = 4, // point in the direction the vehicle is moving
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AUTO_YAW_RESETTOARMEDYAW = 5, // point towards heading at time motors were armed
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AUTO_YAW_CORRECT_XTRACK = 6 // steer the sub in order to correct for crosstrack error during line following
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};
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// Ch6... Ch12 aux switch control
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#define AUX_SWITCH_PWM_TRIGGER_HIGH 1800 // pwm value above which the ch7 or ch8 option will be invoked
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#define AUX_SWITCH_PWM_TRIGGER_LOW 1200 // pwm value below which the ch7 or ch8 option will be disabled
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#define CH6_PWM_TRIGGER_HIGH 1800
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#define CH6_PWM_TRIGGER_LOW 1200
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// values used by the ap.ch7_opt and ap.ch8_opt flags
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#define AUX_SWITCH_LOW 0 // indicates auxiliary switch is in the low position (pwm <1200)
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#define AUX_SWITCH_MIDDLE 1 // indicates auxiliary switch is in the middle position (pwm >1200, <1800)
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#define AUX_SWITCH_HIGH 2 // indicates auxiliary switch is in the high position (pwm >1800)
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// Aux Switch enumeration
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enum aux_sw_func {
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AUXSW_DO_NOTHING = 0, // aux switch disabled
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// AUXSW_FLIP = 2, // flip
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AUXSW_SIMPLE_MODE = 3, // change to simple mode
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// No RTL mode for Sub
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// AUXSW_RTL = 4, // change to RTL flight mode
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AUXSW_SAVE_TRIM = 5, // save current position as level
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AUXSW_SAVE_WP = 7, // save mission waypoint or RTL if in auto mode
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AUXSW_CAMERA_TRIGGER = 9, // trigger camera servo or relay
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AUXSW_RANGEFINDER = 10, // allow enabling or disabling rangefinder in flight which helps avoid surface tracking when you are far above the ground
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AUXSW_FENCE = 11, // allow enabling or disabling fence in flight
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AUXSW_RESETTOARMEDYAW = 12, // changes yaw to be same as when quad was armed
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AUXSW_SUPERSIMPLE_MODE = 13, // change to simple mode in middle, super simple at top
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AUXSW_ACRO_TRAINER = 14, // low = disabled, middle = leveled, high = leveled and limited
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// No sprayer for Sub, remove
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// AUXSW_SPRAYER = 15, // enable/disable the crop sprayer
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AUXSW_AUTO = 16, // change to auto flight mode
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AUXSW_AUTOTUNE = 17, // auto tune
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AUXSW_LAND = 18, // change to LAND flight mode
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AUXSW_GRIPPER = 19, // Operate cargo grippers low=off, middle=neutral, high=on
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// No parachute for Sub, remove
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// AUXSW_PARACHUTE_ENABLE = 21, // Parachute enable/disable
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// AUXSW_PARACHUTE_RELEASE = 22, // Parachute release
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// AUXSW_PARACHUTE_3POS = 23, // Parachute disable, enable, release with 3 position switch
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AUXSW_MISSION_RESET = 24, // Reset auto mission to start from first command
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AUXSW_ATTCON_FEEDFWD = 25, // enable/disable the roll and pitch rate feed forward
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AUXSW_ATTCON_ACCEL_LIM = 26, // enable/disable the roll, pitch and yaw accel limiting
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AUXSW_RETRACT_MOUNT = 27, // Retract Mount
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AUXSW_RELAY = 28, // Relay pin on/off (only supports first relay)
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// No landing gear for sub, remove
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// AUXSW_LANDING_GEAR = 29, // Landing gear controller
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AUXSW_LOST_VEHICLE_SOUND = 30, // Play lost vehicle sound
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AUXSW_MOTOR_ESTOP = 31, // Emergency Stop Switch
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AUXSW_MOTOR_INTERLOCK = 32, // Motor On/Off switch
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// AUXSW_BRAKE = 33, // Brake flight mode
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AUXSW_RELAY2 = 34, // Relay2 pin on/off (in Mission planner set CH8_OPT = 34)
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AUXSW_RELAY3 = 35, // Relay3 pin on/off (in Mission planner set CH9_OPT = 35)
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AUXSW_RELAY4 = 36, // Relay4 pin on/off (in Mission planner set CH10_OPT = 36)
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};
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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 angle with manual depth/throttle
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ACRO = 1, // manual body-frame angular rate with manual depth/throttle
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ALT_HOLD = 2, // manual angle with automatic depth/throttle
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AUTO = 3, // not implemented in sub // fully automatic waypoint control using mission commands
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GUIDED = 4, // not implemented in sub // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
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VELHOLD = 5, // automatic x/y velocity control and automatic depth/throttle
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// RTL = 6, // not implemented in sub // automatic return to launching point
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CIRCLE = 7, // not implemented in sub // automatic circular flight with automatic throttle
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SURFACE = 9, // automatically return to surface, pilot maintains horizontal control
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OF_LOITER = 10, // deprecated
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AUTOTUNE = 15, // not implemented in sub // 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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MANUAL = 19 // Pass-through input with no stabilization
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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_SURFACE_COMPLETE,
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MODE_REASON_LEAK_FAILSAFE
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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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};
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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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// RC Feel roll/pitch definitions
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#define RC_FEEL_RP_VERY_SOFT 0
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#define RC_FEEL_RP_SOFT 25
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#define RC_FEEL_RP_MEDIUM 50
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#define RC_FEEL_RP_CRISP 75
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#define RC_FEEL_RP_VERY_CRISP 100
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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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#define WP_YAW_BEHAVIOR_CORRECT_XTRACK 4 // point towards intermediate position target during line following
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// Auto modes
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enum AutoMode {
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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_TerrainRecover
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};
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// Guided modes
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enum GuidedMode {
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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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// Alt_Hold states
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enum AltHoldModeState {
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AltHold_MotorStopped,
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AltHold_NotAutoArmed,
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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_NotAutoArmed,
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Loiter_Flying,
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Loiter_Landed
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};
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// LAND state
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#define LAND_STATE_FLY_TO_LOCATION 0
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#define LAND_STATE_DESCENDING 1
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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_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_OPTFLOW_MSG 0x0C
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#define LOG_EVENT_MSG 0x0D
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#define LOG_PID_MSG 0x0E // deprecated
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#define LOG_INAV_MSG 0x11 // deprecated
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#define LOG_CAMERA_MSG_DEPRECATED 0x12 // deprecated
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#define LOG_ERROR_MSG 0x13
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#define LOG_DATA_INT16_MSG 0x14
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#define LOG_DATA_UINT16_MSG 0x15
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#define LOG_DATA_INT32_MSG 0x16
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#define LOG_DATA_UINT32_MSG 0x17
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#define LOG_DATA_FLOAT_MSG 0x18
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#define LOG_AUTOTUNE_MSG 0x19
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#define LOG_AUTOTUNEDETAILS_MSG 0x1A
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#define LOG_MOTBATT_MSG 0x1E
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#define LOG_PARAMTUNE_MSG 0x1F
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#define LOG_HELI_MSG 0x20
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//#define LOG_PRECLAND_MSG 0x21 // Remove
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#define LOG_GUIDEDTARGET_MSG 0x22
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#define LOG_PROXIMITY_MSG 0x24
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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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#define DATA_SYSTEM_TIME_SET 8
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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 // Remove
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//#define DATA_PARACHUTE_ENABLED 50 // Remove
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//#define DATA_PARACHUTE_RELEASED 51 // Remove
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//#define DATA_LANDING_GEAR_DEPLOYED 52 // Remove
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//#define DATA_LANDING_GEAR_RETRACTED 53 // Remove
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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_SURFACED 63 // Sub only
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#define DATA_NOT_SURFACED 64 // Sub only
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#define DATA_BOTTOMED 65 // Sub only
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#define DATA_NOT_BOTTOMED 66 // Sub only
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// Centi-degrees to radians
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#define DEGX100 5729.57795f
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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_INPUT 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 // not used
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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 // Remove
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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 // Remove
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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_FAILSAFE_LEAK 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 -- 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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// 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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// Arming Check Enable/Disable bits
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#define ARMING_CHECK_NONE 0x00
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#define ARMING_CHECK_ALL 0x01
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#define ARMING_CHECK_BARO 0x02
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#define ARMING_CHECK_COMPASS 0x04
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#define ARMING_CHECK_GPS 0x08
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#define ARMING_CHECK_INS 0x10
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#define ARMING_CHECK_PARAMETERS 0x20
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#define ARMING_CHECK_RC 0x40
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#define ARMING_CHECK_VOLTAGE 0x80
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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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// Battery failsafe definitions (FS_BATT_ENABLE parameter)
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#define FS_BATT_DISABLED 0 // battery failsafe disabled
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#define FS_BATT_LAND 1 // switch to LAND mode on battery failsafe
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#define FS_BATT_RTL 2 // switch to RTL mode on battery failsafe
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// GCS failsafe definitions (FS_GCS_ENABLE parameter)
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#define FS_GCS_DISABLED 0 // Disabled
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#define FS_GCS_WARN_ONLY 1 // Only send warning to gcs (only useful with multiple gcs links)
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#define FS_GCS_DISARM 2 // Disarm
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#define FS_GCS_HOLD 3 // Switch depth hold mode or poshold mode if available
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#define FS_GCS_SURFACE 4 // Switch to surface mode
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// Leak failsafe definitions (FS_LEAK_ENABLE parameter)
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#define FS_LEAK_DISABLED 0 // Disabled
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#define FS_LEAK_WARN_ONLY 1 // Only send waring to gcs
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#define FS_LEAK_SURFACE 2 // Switch to surface mode
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// Internal pressure failsafe threshold (FS_PRESS_MAX parameter)
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#define FS_PRESS_MAX_DEFAULT 105000 // Maximum internal pressure in pascal before failsafe is triggered
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// Internal pressure failsafe definitions (FS_PRESS_ENABLE parameter)
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#define FS_PRESS_DISABLED 0
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#define FS_PRESS_WARN_ONLY 1
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// Internal temperature failsafe threshold (FS_TEMP_MAX parameter)
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#define FS_TEMP_MAX_DEFAULT 62 // Maximum internal pressure in degrees C before failsafe is triggered
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// Internal temperature failsafe definitions (FS_TEMP_ENABLE parameter)
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#define FS_TEMP_DISABLED 0
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#define FS_TEMP_WARN_ONLY 1
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// Terrain failsafe actions for AUTO mode
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#define FS_TERRAIN_DISARM 0
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#define FS_TERRAIN_HOLD 1
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#define FS_TERRAIN_SURFACE 2
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// Amount of time to attempt recovery of valid rangefinder data before
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// initiating terrain failsafe action
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#define FS_TERRAIN_RECOVER_TIMEOUT_MS 10000
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// EKF failsafe definitions (FS_EKF_ENABLE parameter)
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#define FS_EKF_ACTION_DISABLED 1 // Disabled, not implemented yet in Sub
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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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