ardupilot/Blimp/defines.h

88 lines
3.1 KiB
C

#pragma once
#include <AP_HAL/AP_HAL_Boards.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
// bit options for DEV_OPTIONS parameter
enum DevOptions {
DevOptionADSBMAVLink = 1,
DevOptionVFR_HUDRelativeAlt = 2,
DevOptionSetAttitudeTarget_ThrustAsThrust = 4,
};
// Logging parameters - only 32 messages are available to the vehicle here.
enum LoggingParameters {
LOG_CONTROL_TUNING_MSG,
LOG_DATA_INT16_MSG,
LOG_DATA_UINT16_MSG,
LOG_DATA_INT32_MSG,
LOG_DATA_UINT32_MSG,
LOG_DATA_FLOAT_MSG,
LOG_PARAMTUNE_MSG,
LOG_HELI_MSG,
LOG_GUIDEDTARGET_MSG,
LOG_SYSIDD_MSG,
LOG_SYSIDS_MSG,
LOG_FINI_MSG,
LOG_FINO_MSG,
LOG_PIDD_MSG,
LOG_PIVN_MSG,
LOG_PIVE_MSG,
LOG_PIVD_MSG,
LOG_PIVY_MSG,
};
#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_RCIN (1<<6)
#define MASK_LOG_IMU (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CURRENT (1<<9)
#define MASK_LOG_RCOUT (1<<10)
#define MASK_LOG_OPTFLOW (1<<11)
#define MASK_LOG_PID (1<<12)
#define MASK_LOG_COMPASS (1<<13)
#define MASK_LOG_INAV (1<<14) // deprecated
#define MASK_LOG_CAMERA (1<<15)
#define MASK_LOG_MOTBATT (1UL<<17)
#define MASK_LOG_IMU_FAST (1UL<<18)
#define MASK_LOG_IMU_RAW (1UL<<19)
#define MASK_LOG_ANY 0xFFFF
// Radio failsafe definitions (FS_THR parameter)
#define FS_THR_DISABLED 0
#define FS_THR_ENABLED_ALWAYS_RTL 1
#define FS_THR_ENABLED_CONTINUE_MISSION 2 // Removed in 4.0+, now use fs_options
#define FS_THR_ENABLED_ALWAYS_LAND 3
#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_RTL 4
#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_LAND 5
// GCS failsafe definitions (FS_GCS_ENABLE parameter)
#define FS_GCS_DISABLED 0
#define FS_GCS_ENABLED_ALWAYS_RTL 1
#define FS_GCS_ENABLED_CONTINUE_MISSION 2 // Removed in 4.0+, now use fs_options
#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL 3
#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4
#define FS_GCS_ENABLED_ALWAYS_LAND 5
// EKF failsafe definitions (FS_EKF_ACTION parameter)
#define FS_EKF_ACTION_LAND 1 // switch to LAND mode on EKF failsafe
#define FS_EKF_ACTION_LAND_EVEN_MANUAL 3 // switch to Land mode on EKF failsafe even if in Manual mode
// for PILOT_THR_BHV parameter
#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
#define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
#define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)