ardupilot/APMrover2/defines.h

142 lines
3.4 KiB
C

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef _DEFINES_H
#define _DEFINES_H
// Internal defines, don't edit and expect things to work
// -------------------------------------------------------
#define TRUE 1
#define FALSE 0
#define ToRad(x) radians(x) // *pi/180
#define ToDeg(x) degrees(x) // *180/pi
#define DEBUG 0
#define SERVO_MAX 4500 // This value represents 45 degrees and is just an arbitrary representation of servo max travel.
// active altitude sensor
// ----------------------
#define SONAR 0
#define BARO 1
// CH 7 control
enum ch7_option {
CH7_DO_NOTHING=0,
CH7_SAVE_WP=1
};
#define T6 1000000
#define T7 10000000
// HIL enumerations
#define HIL_MODE_DISABLED 0
#define HIL_MODE_SENSORS 1
// Auto Pilot modes
// ----------------
enum mode {
MANUAL=0,
LEARNING=2,
STEERING=3,
HOLD=4,
AUTO=10,
RTL=11,
GUIDED=15,
INITIALISING=16
};
// types of failsafe events
#define FAILSAFE_EVENT_THROTTLE (1<<0)
#define FAILSAFE_EVENT_GCS (1<<1)
#define FAILSAFE_EVENT_RC (1<<2)
//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
#define MAV_CMD_CONDITION_YAW 23
// Logging parameters
#define LOG_CTUN_MSG 0x01
#define LOG_NTUN_MSG 0x02
#define LOG_PERFORMANCE_MSG 0x03
#define LOG_CURRENT_MSG 0x05
#define LOG_STARTUP_MSG 0x06
#define LOG_SONAR_MSG 0x07
#define LOG_ATTITUDE_MSG 0x08
#define LOG_MODE_MSG 0x09
#define LOG_COMPASS_MSG 0x0A
#define LOG_COMPASS2_MSG 0x0C
#define LOG_STEERING_MSG 0x0D
#define LOG_COMPASS3_MSG 0x0E
#define TYPE_AIRSTART_MSG 0x00
#define TYPE_GROUNDSTART_MSG 0x01
#define MAX_NUM_LOGS 100
#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_IMU (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CURRENT (1<<9)
#define MASK_LOG_SONAR (1<<10)
#define MASK_LOG_COMPASS (1<<11)
#define MASK_LOG_CAMERA (1<<12)
#define MASK_LOG_STEERING (1<<13)
#define MASK_LOG_RC (1<<14)
#define MASK_LOG_WHEN_DISARMED (1UL<<16)
// 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_COMMAND_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
// sonar
#define MAX_SONAR_XL 0
#define MAX_SONAR_LV 1
#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
#define AN4 4
#define AN5 5
#define SPEEDFILT 400 // centimeters/second; the speed below which a groundstart will be triggered
// EEPROM addresses
// parameters get the first 1KiB of EEPROM, remainder is for mission commands
#define MISSION_START_BYTE 0x500
#define MISSION_END_BYTE HAL_STORAGE_SIZE_AVAILABLE
// convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps to -1)
#define BOOL_TO_SIGN(bvalue) ((bvalue)?-1:1)
// mark a function as not to be inlined
#define NOINLINE __attribute__((noinline))
#endif // _DEFINES_H