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ardupilot/ArduCopter/defines.h
rmackay9 9750c14325 ArduCopter: RTL clean-up and slightly improved landing sensor 
Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
2012-12-06 10:31:52 +09:00

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef _DEFINES_H
#define _DEFINES_H
// 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
// Flight modes
// ------------
#define YAW_HOLD 0
#define YAW_ACRO 1
#define YAW_AUTO 2
#define YAW_LOOK_AT_HOME 3
#define YAW_TOY 4 // THOR This is the Yaw mode
#define YAW_LOOK_AHEAD 5 // WARNING! CODE IN DEVELOPMENT NOT PROVEN
#define ROLL_PITCH_STABLE 0
#define ROLL_PITCH_ACRO 1
#define ROLL_PITCH_AUTO 2
#define ROLL_PITCH_STABLE_OF 3
#define ROLL_PITCH_TOY 4 // THOR This is the Roll and Pitch
// mode
#define THROTTLE_MANUAL 0 // manual throttle mode - pilot input goes directly to motors
#define THROTTLE_MANUAL_TILT_COMPENSATED 1 // mostly manual throttle but with some tilt compensation
#define THROTTLE_ACCELERATION 2 // pilot inputs the desired acceleration
#define THROTTLE_RATE 3 // pilot inputs the desired climb rate. Note: this uses the unstabilized rate controller
#define THROTTLE_STABILIZED_RATE 4 // pilot inputs the desired climb rate. Uses stabilized rate controller
#define THROTTLE_DIRECT_ALT 5 // pilot inputs a desired altitude from 0 ~ 10 meters
#define THROTTLE_HOLD 6 // alt hold plus pilot input of climb rate
#define THROTTLE_AUTO 7 // auto pilot altitude controller with target altitude held in next_WP.alt
#define THROTTLE_LAND 8 // landing throttle controller
// active altitude sensor
// ----------------------
#define SONAR 0
#define BARO 1
#define SONAR_SOURCE_ADC 1
#define SONAR_SOURCE_ANALOG_PIN 2
// CH 7 control
#define CH7_DO_NOTHING 0
#define CH7_SET_HOVER 1
#define CH7_FLIP 2
#define CH7_SIMPLE_MODE 3
#define CH7_RTL 4
#define CH7_AUTO_TRIM 5
#define CH7_ADC_FILTER 6
#define CH7_SAVE_WP 7
#define CH7_MULTI_MODE 8
// Frame types
#define QUAD_FRAME 0
#define TRI_FRAME 1
#define HEXA_FRAME 2
#define Y6_FRAME 3
#define OCTA_FRAME 4
#define HELI_FRAME 5
#define OCTA_QUAD_FRAME 6
#define PLUS_FRAME 0
#define X_FRAME 1
#define V_FRAME 2
// LED output
#define NORMAL_LEDS 0
#define SAVE_TRIM_LEDS 1
#define CH_7_PWM_TRIGGER 1800
#define CH_6_PWM_TRIGGER_HIGH 1800
#define CH_6_PWM_TRIGGER 1500
#define CH_6_PWM_TRIGGER_LOW 1200
// Internal defines, don't edit and expect things to work
// -------------------------------------------------------
#define TRUE 1
#define FALSE 0
#define ToRad(x) (x*0.01745329252) // *pi/180
#define ToDeg(x) (x*57.2957795131) // *180/pi
#define DEBUG 0
#define LOITER_RANGE 60 // for calculating power outside of loiter radius
#define T6 1000000
#define T7 10000000
// GPS type codes - use the names, not the numbers
#define GPS_PROTOCOL_NONE -1
#define GPS_PROTOCOL_NMEA 0
#define GPS_PROTOCOL_SIRF 1
#define GPS_PROTOCOL_UBLOX 2
#define GPS_PROTOCOL_IMU 3
#define GPS_PROTOCOL_MTK 4
#define GPS_PROTOCOL_HIL 5
#define GPS_PROTOCOL_MTK16 6
#define GPS_PROTOCOL_AUTO 7
#define CH_ROLL CH_1
#define CH_PITCH CH_2
#define CH_THROTTLE CH_3
#define CH_RUDDER CH_4
#define CH_YAW CH_4
#define RC_CHANNEL_ANGLE 0
#define RC_CHANNEL_RANGE 1
#define RC_CHANNEL_ANGLE_RAW 2
// HIL enumerations
#define HIL_MODE_DISABLED 0
#define HIL_MODE_ATTITUDE 1
#define HIL_MODE_SENSORS 2
#define REACHED_ALT 0
#define DESCENDING 1
#define ASCENDING 2
// Auto Pilot modes
// ----------------
#define STABILIZE 0 // hold level position
#define ACRO 1 // rate control
#define ALT_HOLD 2 // AUTO control
#define AUTO 3 // AUTO control
#define GUIDED 4 // AUTO control
#define LOITER 5 // Hold a single location
#define RTL 6 // AUTO control
#define CIRCLE 7 // AUTO control
#define POSITION 8 // AUTO control
#define LAND 9 // AUTO control
#define OF_LOITER 10 // Hold a single location using optical flow
// sensor
#define TOY_A 11 // THOR Enum for Toy mode
#define TOY_M 12 // THOR Enum for Toy mode
#define NUM_MODES 13
#define SIMPLE_1 1
#define SIMPLE_2 2
#define SIMPLE_3 4
#define SIMPLE_4 8
#define SIMPLE_5 16
#define SIMPLE_6 32
// CH_6 Tuning
// -----------
#define CH6_NONE 0
// Attitude
#define CH6_STABILIZE_KP 1
#define CH6_STABILIZE_KI 2
#define CH6_STABILIZE_KD 29 // duplicate with CH6_DAMP
#define CH6_YAW_KP 3
#define CH6_YAW_KI 24
// Rate
#define CH6_ACRO_KP 25
#define CH6_RATE_KP 4
#define CH6_RATE_KI 5
#define CH6_RATE_KD 21
#define CH6_YAW_RATE_KP 6
#define CH6_YAW_RATE_KD 26
// Throttle
#define CH6_THROTTLE_KP 7
#define CH6_THROTTLE_KI 33
#define CH6_THR_ACCEL_KP 34
#define CH6_THR_ACCEL_KI 35
#define CH6_THR_ACCEL_KD 36
// Extras
#define CH6_TOP_BOTTOM_RATIO 8
#define CH6_RELAY 9
// Navigation
#define CH6_TRAVERSE_SPEED 10 // maximum speed to next way point
#define CH6_NAV_KP 11
#define CH6_LOITER_KP 12
#define CH6_LOITER_KI 27
// Trad Heli specific
#define CH6_HELI_EXTERNAL_GYRO 13
// altitude controller
#define CH6_THR_HOLD_KP 14
#define CH6_Z_GAIN 15
#define CH6_DAMP 16 // duplicate with CH6_YAW_RATE_KD
// optical flow controller
#define CH6_OPTFLOW_KP 17
#define CH6_OPTFLOW_KI 18
#define CH6_OPTFLOW_KD 19
#define CH6_NAV_I 20
#define CH6_LOITER_RATE_KP 22
#define CH6_LOITER_RATE_KI 28
#define CH6_LOITER_RATE_KD 23
#define CH6_AHRS_YAW_KP 30
#define CH6_AHRS_KP 31
// Inertial Nav
#define CH6_INAV_TC 32
// nav byte mask
// -------------
#define NAV_LOCATION 1
#define NAV_ALTITUDE 2
#define NAV_DELAY 4
// Commands - Note that APM now uses a subset of the MAVLink protocol
// commands. See enum MAV_CMD in the GCS_Mavlink library
#define CMD_BLANK 0 // there is no command stored in the mem location
// requested
#define NO_COMMAND 0
// Navigation modes held in wp_control variable
#define LOITER_MODE 1
#define WP_MODE 2
#define CIRCLE_MODE 3
#define NO_NAV_MODE 4
// TOY mixing options
#define TOY_LOOKUP_TABLE 0
#define TOY_LINEAR_MIXER 1
#define TOY_EXTERNAL_MIXER 2
// Waypoint options
#define MASK_OPTIONS_RELATIVE_ALT 1
#define WP_OPTION_ALT_CHANGE 2
#define WP_OPTION_YAW 4
#define WP_OPTION_ALT_REQUIRED 8
#define WP_OPTION_RELATIVE 16
//#define WP_OPTION_ 32
//#define WP_OPTION_ 64
#define WP_OPTION_NEXT_CMD 128
// RTL state
#define RTL_STATE_RETURNING_HOME 0
#define RTL_STATE_LOITERING_AT_HOME 1
#define RTL_STATE_FINAL_DESCENT 2
#define RTL_STATE_LAND 3
//repeating events
#define NO_REPEAT 0
#define CH_5_TOGGLE 1
#define CH_6_TOGGLE 2
#define CH_7_TOGGLE 3
#define CH_8_TOGGLE 4
#define RELAY_TOGGLE 5
#define STOP_REPEAT 10
// GCS Message ID's
/// NOTE: to ensure we never block on sending MAVLink messages
/// please keep each MSG_ to a single MAVLink message. If need be
/// create new MSG_ IDs for additional messages on the same
/// stream
enum ap_message {
MSG_HEARTBEAT,
MSG_ATTITUDE,
MSG_LOCATION,
MSG_EXTENDED_STATUS1,
MSG_EXTENDED_STATUS2,
MSG_NAV_CONTROLLER_OUTPUT,
MSG_CURRENT_WAYPOINT,
MSG_VFR_HUD,
MSG_RADIO_OUT,
MSG_RADIO_IN,
MSG_RAW_IMU1,
MSG_RAW_IMU2,
MSG_RAW_IMU3,
MSG_GPS_STATUS,
MSG_GPS_RAW,
MSG_SERVO_OUT,
MSG_NEXT_WAYPOINT,
MSG_NEXT_PARAM,
MSG_STATUSTEXT,
MSG_LIMITS_STATUS,
MSG_AHRS,
MSG_SIMSTATE,
MSG_HWSTATUS,
MSG_RETRY_DEFERRED // this must be last
};
enum gcs_severity {
SEVERITY_LOW=1,
SEVERITY_MEDIUM,
SEVERITY_HIGH,
SEVERITY_CRITICAL
};
// Logging parameters
#define TYPE_AIRSTART_MSG 0x00
#define TYPE_GROUNDSTART_MSG 0x01
#define LOG_ATTITUDE_MSG 0x01
#define LOG_GPS_MSG 0x02
#define LOG_MODE_MSG 0x03
#define LOG_CONTROL_TUNING_MSG 0x04
#define LOG_NAV_TUNING_MSG 0x05
#define LOG_PERFORMANCE_MSG 0x06
#define LOG_RAW_MSG 0x07
#define LOG_CMD_MSG 0x08
#define LOG_CURRENT_MSG 0x09
#define LOG_STARTUP_MSG 0x0A
#define LOG_MOTORS_MSG 0x0B
#define LOG_OPTFLOW_MSG 0x0C
#define LOG_DATA_MSG 0x0D
#define LOG_PID_MSG 0x0E
#define LOG_ITERM_MSG 0x0F
#define LOG_DMP_MSG 0x10
#define LOG_INAV_MSG 0x11
#define LOG_INDEX_MSG 0xF0
#define MAX_NUM_LOGS 50
#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_RAW (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CUR (1<<9)
#define MASK_LOG_MOTORS (1<<10)
#define MASK_LOG_OPTFLOW (1<<11)
#define MASK_LOG_PID (1<<12)
#define MASK_LOG_ITERM (1<<13)
#define MASK_LOG_INAV (1<<14)
#define MASK_LOG_CTUN (1<<4)
#define MASK_LOG_NTUN (1<<5)
#define MASK_LOG_MODE (1<<6)
#define MASK_LOG_RAW (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CUR (1<<9)
#define MASK_LOG_MOTORS (1<<10)
#define MASK_LOG_OPTFLOW (1<<11)
#define MASK_LOG_PID (1<<12)
#define MASK_LOG_ITERM (1<<13)
// DATA - event logging
#define DATA_MAVLINK_FLOAT 1
#define DATA_MAVLINK_INT32 2
#define DATA_MAVLINK_INT16 3
#define DATA_MAVLINK_INT8 4
#define DATA_FAST_LOOP 5
#define DATA_MED_LOOP 6
#define DATA_AP_STATE 7
#define DATA_SIMPLE_BEARING 8
#define DATA_INIT_SIMPLE_BEARING 9
#define DATA_ARMED 10
#define DATA_DISARMED 11
#define DATA_FAILSAFE_ON 12
#define DATA_FAILSAFE_OFF 13
#define DATA_LOW_BATTERY 14
#define DATA_AUTO_ARMED 15
#define DATA_TAKEOFF 16
#define DATA_DID_REACH_ALT 17
#define DATA_LAND_COMPLETE 18
#define DATA_LOST_GPS 19
#define DATA_LOST_COMPASS 20
#define DATA_BEGIN_FLIP 21
#define DATA_END_FLIP 22
#define DATA_EXIT_FLIP 23
#define DATA_FLIP_ABORTED 24
#define DATA_SET_HOME 25
#define DATA_SET_SIMPLE_ON 26
#define DATA_SET_SIMPLE_OFF 27
#define DATA_REACHED_ALT 28
#define DATA_ASCENDING 29
#define DATA_DESCENDING 30
#define DATA_RTL_REACHED_ALT 31
// Waypoint Modes
// ----------------
#define ABS_WP 0
#define REL_WP 1
// Command Queues
// ---------------
#define COMMAND_MUST 0
#define COMMAND_MAY 1
#define COMMAND_NOW 2
// Events
// ------
#define EVENT_WILL_REACH_WAYPOINT 1
#define EVENT_SET_NEW_WAYPOINT_INDEX 2
#define EVENT_LOADED_WAYPOINT 3
#define EVENT_LOOP 4
// Climb rate calculations
#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to
// regress a climb rate from
#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*g.volt_div_ratio
#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt
//#define BARO_FILTER_SIZE 8
/* ************************************************************** */
/* Expansion PIN's that people can use for various things. */
// AN0 - 7 are located at edge of IMU PCB "above" pressure sensor and
// Expansion port
// AN0 - 5 are also located next to voltage dividers and sliding SW2 switch
// AN0 - 3 has 10kOhm resistor in serial, include 3.9kOhm to make it as
// voltage divider
// AN4 - 5 are direct GPIO pins from atmega1280 and they are the latest pins
// next to SW2 switch
// Look more ArduCopter Wiki for voltage dividers and other ports
#define AN0 54 // resistor, vdiv use, divider 1 closest to relay
#define AN1 55 // resistor, vdiv use, divider 2
#define AN2 56 // resistor, vdiv use, divider 3
#define AN3 57 // resistor, vdiv use, divider 4 closest to SW2
#define AN4 58 // direct GPIO pin, default as analog input, next to SW2
// switch
#define AN5 59 // direct GPIO pin, default as analog input, next to SW2
// switch
#define AN6 60 // direct GPIO pin, default as analog input, close to
// Pressure sensor, Expansion Ports
#define AN7 61 // direct GPIO pin, default as analog input, close to
// Pressure sensor, Expansion Ports
// AN8 - 15 are located at edge of IMU PCB "above" pressure sensor and
// Expansion port
// AN8 - 15 PINs are not connected anywhere, they are located as last 8 pins
// on edge of the board above Expansion Ports
// even pins (8,10,12,14) are at edge of board, Odd pins (9,11,13,15) are on
// inner row
#define AN8 62 // NC
#define AN9 63 // NC
#define AN10 64 // NC
#define AN11 65 // NC
#define AN12 66 // NC
#define AN13 67 // NC
#define AN14 68 // NC
#define AN15 69 // NC
#define RELAY_PIN 47
#define PIEZO_PIN AN5 //Last pin on the back ADC connector
// sonar
//#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
// RADIANS
#define RADX100 0.000174532925
#define DEGX100 5729.57795
// EEPROM addresses
#define EEPROM_MAX_ADDR 4096
// parameters get the first 1536 bytes of EEPROM, remainder is for waypoints
#define WP_START_BYTE 0x600 // where in memory home WP is stored + all other
// WP
#define WP_SIZE 15
// fence points are stored at the end of the EEPROM
#define MAX_FENCEPOINTS 6
#define FENCE_WP_SIZE sizeof(Vector2l)
#define FENCE_START_BYTE (EEPROM_MAX_ADDR-(MAX_FENCEPOINTS*FENCE_WP_SIZE))
#define MAX_WAYPOINTS ((FENCE_START_BYTE - WP_START_BYTE) / WP_SIZE) - 1 // -
// 1
// to
// be
// safe
// mark a function as not to be inlined
#define NOINLINE __attribute__((noinline))
// IMU selection
#define CONFIG_IMU_OILPAN 1
#define CONFIG_IMU_MPU6000 2
// APM Hardware selection
#define APM_HARDWARE_APM1 1
#define APM_HARDWARE_APM2 2
#define AP_BARO_BMP085 1
#define AP_BARO_MS5611 2
#define LOGGING_SIMPLE 1
#define LOGGING_VERBOSE 2
// Channel Config selection
#define CHANNEL_CONFIG_DEFAULT 1
#define CHANNEL_CONFIG_CUSTOM 2
#endif // _DEFINES_H
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