feca411943
this mode gives manual control when the roll or pitch is within the set limits (the same limits as FBW mode), and prevents the pilot from flying beyond those limits, essentially a "attitude limited manual" mode
241 lines
6.7 KiB
C
241 lines
6.7 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef _DEFINES_H
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#define _DEFINES_H
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// Internal defines, don't edit and expect things to work
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// -------------------------------------------------------
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#define TRUE 1
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#define FALSE 0
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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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#define DEBUG 0
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#define LOITER_RANGE 60 // for calculating power outside of loiter radius
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#define SERVO_MAX 4500 // This value represents 45 degrees and is just an
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// arbitrary representation of servo max travel.
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// failsafe
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// ----------------------
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#define FAILSAFE_NONE 0
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#define FAILSAFE_SHORT 1
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#define FAILSAFE_LONG 2
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#define FAILSAFE_GCS 3
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#define FAILSAFE_SHORT_TIME 1500 // Miliiseconds
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#define FAILSAFE_LONG_TIME 20000 // Miliiseconds
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// active altitude sensor
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// ----------------------
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#define SONAR 0
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#define BARO 1
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#define PITOT_SOURCE_ADC 1
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#define PITOT_SOURCE_ANALOG_PIN 2
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#define T6 1000000
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#define T7 10000000
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// GPS type codes - use the names, not the numbers
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#define GPS_PROTOCOL_NONE -1
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#define GPS_PROTOCOL_NMEA 0
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#define GPS_PROTOCOL_SIRF 1
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#define GPS_PROTOCOL_UBLOX 2
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#define GPS_PROTOCOL_IMU 3
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#define GPS_PROTOCOL_MTK 4
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#define GPS_PROTOCOL_HIL 5
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#define GPS_PROTOCOL_MTK16 6
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#define GPS_PROTOCOL_AUTO 7
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#define CH_ROLL CH_1
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#define CH_PITCH CH_2
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#define CH_THROTTLE CH_3
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#define CH_RUDDER CH_4
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#define CH_YAW CH_4
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// HIL enumerations
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#define HIL_MODE_DISABLED 0
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#define HIL_MODE_ATTITUDE 1
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#define HIL_MODE_SENSORS 2
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enum FlightMode {
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MANUAL = 0,
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CIRCLE = 1,
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STABILIZE = 2,
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TRAINING = 3,
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FLY_BY_WIRE_A = 5,
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FLY_BY_WIRE_B = 6,
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AUTO = 10,
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RTL = 11,
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LOITER = 12,
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GUIDED = 15,
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INITIALISING = 16
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};
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// Commands - Note that APM now uses a subset of the MAVLink protocol
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// commands. See enum MAV_CMD in the GCS_Mavlink library
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#define CMD_BLANK 0 // there is no command stored in the mem location
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// requested
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#define NO_COMMAND 0
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#define WAIT_COMMAND 255
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// Command/Waypoint/Location Options Bitmask
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//--------------------
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#define MASK_OPTIONS_RELATIVE_ALT (1<<0) // 1 = Relative
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// altitude
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//repeating events
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#define NO_REPEAT 0
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#define CH_5_TOGGLE 1
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#define CH_6_TOGGLE 2
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#define CH_7_TOGGLE 3
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#define CH_8_TOGGLE 4
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#define RELAY_TOGGLE 5
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#define STOP_REPEAT 10
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// GCS Message ID's
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/// NOTE: to ensure we never block on sending MAVLink messages
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/// please keep each MSG_ to a single MAVLink message. If need be
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/// create new MSG_ IDs for additional messages on the same
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/// stream
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enum ap_message {
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MSG_HEARTBEAT,
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MSG_ATTITUDE,
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MSG_LOCATION,
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MSG_EXTENDED_STATUS1,
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MSG_EXTENDED_STATUS2,
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MSG_NAV_CONTROLLER_OUTPUT,
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MSG_CURRENT_WAYPOINT,
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MSG_VFR_HUD,
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MSG_RADIO_OUT,
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MSG_RADIO_IN,
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MSG_RAW_IMU1,
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MSG_RAW_IMU2,
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MSG_RAW_IMU3,
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MSG_GPS_RAW,
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MSG_SERVO_OUT,
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MSG_NEXT_WAYPOINT,
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MSG_NEXT_PARAM,
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MSG_STATUSTEXT,
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MSG_FENCE_STATUS,
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MSG_AHRS,
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MSG_SIMSTATE,
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MSG_HWSTATUS,
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MSG_WIND,
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MSG_RETRY_DEFERRED // this must be last
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};
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enum gcs_severity {
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SEVERITY_LOW=1,
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SEVERITY_MEDIUM,
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SEVERITY_HIGH,
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SEVERITY_CRITICAL
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};
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// Logging parameters
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#define LOG_INDEX_MSG 0xF0
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#define LOG_ATTITUDE_MSG 0x01
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#define LOG_GPS_MSG 0x02
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#define LOG_MODE_MSG 0X03
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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_RAW_MSG 0x07
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#define LOG_CMD_MSG 0x08
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#define LOG_CURRENT_MSG 0x09
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#define LOG_STARTUP_MSG 0x0A
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#define TYPE_AIRSTART_MSG 0x00
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#define TYPE_GROUNDSTART_MSG 0x01
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#define MAX_NUM_LOGS 100
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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_MODE (1<<6)
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#define MASK_LOG_RAW (1<<7)
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#define MASK_LOG_CMD (1<<8)
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#define MASK_LOG_CUR (1<<9)
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// Waypoint Modes
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// ----------------
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#define ABS_WP 0
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#define REL_WP 1
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// Command Queues
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// ---------------
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#define COMMAND_MUST 0
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#define COMMAND_MAY 1
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#define COMMAND_NOW 2
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// Events
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// ------
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#define EVENT_WILL_REACH_WAYPOINT 1
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#define EVENT_SET_NEW_COMMAND_INDEX 2
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#define EVENT_LOADED_WAYPOINT 3
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#define EVENT_LOOP 4
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// Climb rate calculations
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#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to
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// regress a climb rate from
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#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*g.volt_div_ratio
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#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-g.curr_amp_offset)*g.curr_amp_per_volt
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#define RELAY_PIN 47
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#define AN4 4
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#define AN5 5
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#define SPEEDFILT 400 // centimeters/second; the speed below
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// which a groundstart will be
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// triggered
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// EEPROM addresses
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#define EEPROM_MAX_ADDR 4096
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// parameters get the first 1280 bytes of EEPROM, remainder is for waypoints
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#define WP_START_BYTE 0x500 // where in memory home WP is stored + all other
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// WP
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#define WP_SIZE 15
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// fence points are stored at the end of the EEPROM
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#define MAX_FENCEPOINTS 20
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#define FENCE_WP_SIZE sizeof(Vector2l)
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#define FENCE_START_BYTE (EEPROM_MAX_ADDR-(MAX_FENCEPOINTS*FENCE_WP_SIZE))
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#define MAX_WAYPOINTS ((FENCE_START_BYTE - WP_START_BYTE) / WP_SIZE) - 1 // -
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// 1
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// to
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// be
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// safe
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// convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps
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// to -1)
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#define BOOL_TO_SIGN(bvalue) ((bvalue) ? -1 : 1)
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// mark a function as not to be inlined
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#define NOINLINE __attribute__((noinline))
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#define CONFIG_INS_OILPAN 1
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#define CONFIG_INS_MPU6000 2
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#define CONFIG_INS_STUB 3
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#define AP_BARO_BMP085 1
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#define AP_BARO_MS5611 2
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// altitude control algorithms
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enum {
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ALT_CONTROL_DEFAULT=0,
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ALT_CONTROL_NON_AIRSPEED=1
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};
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#endif // _DEFINES_H
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