// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
# ifndef _DEFINES_H
# define _DEFINES_H
# include <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
// Flight modes
// ------------
# define YAW_HOLD 0 // heading hold at heading in nav_yaw but allow input from pilot
# define YAW_ACRO 1 // pilot controlled yaw using rate controller
# define YAW_LOOK_AT_NEXT_WP 2 // point towards next waypoint (no pilot input accepted)
# define YAW_LOOK_AT_LOCATION 3 // point towards a location held in yaw_look_at_WP (no pilot input accepted)
# define YAW_CIRCLE 4 // point towards a location held in yaw_look_at_WP (no pilot input accepted)
# define YAW_LOOK_AT_HOME 5 // point towards home (no pilot input accepted)
# define YAW_LOOK_AT_HEADING 6 // point towards a particular angle (not pilot input accepted)
# define YAW_LOOK_AHEAD 7 // WARNING! CODE IN DEVELOPMENT NOT PROVEN
# define YAW_DRIFT 8 //
# define YAW_RESETTOARMEDYAW 9 // point towards heading at time motors were armed
# define ROLL_PITCH_STABLE 0 // pilot input roll, pitch angles
# define ROLL_PITCH_ACRO 1 // pilot inputs roll, pitch rotation rates in body frame
# define ROLL_PITCH_AUTO 2 // no pilot input. autopilot roll, pitch is sent to stabilize controller inputs
# define ROLL_PITCH_STABLE_OF 3 // pilot inputs roll, pitch angles which are mixed with optical flow based position controller lean anbles
# define ROLL_PITCH_DRIFT 4 //
# define ROLL_PITCH_LOITER 5 // pilot inputs the desired horizontal velocities
# define ROLL_PITCH_SPORT 6 // pilot inputs roll, pitch rotation rates in earth frame
# define ROLL_PITCH_AUTOTUNE 7 // description of new roll-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_HOLD 2 // alt hold plus pilot input of climb rate
# define THROTTLE_AUTO 3 // auto pilot altitude controller with target altitude held in next_WP.alt
# define THROTTLE_LAND 4 // landing throttle controller
# define THROTTLE_MANUAL_HELI 5 // pilot manually controlled throttle for traditional helicopters
// sonar - for use with CONFIG_SONAR_SOURCE
# define SONAR_SOURCE_ADC 1
# define SONAR_SOURCE_ANALOG_PIN 2
// Ch6, Ch7 and Ch8 aux switch control
# define AUX_SWITCH_PWM_TRIGGER_HIGH 1800 // pwm value above which the ch7 or ch8 option will be invoked
# define AUX_SWITCH_PWM_TRIGGER_LOW 1200 // pwm value below which the ch7 or ch8 option will be disabled
# define CH6_PWM_TRIGGER_HIGH 1800
# define CH6_PWM_TRIGGER_LOW 1200
# define AUX_SWITCH_DO_NOTHING 0 // aux switch disabled
# define AUX_SWITCH_SET_HOVER 1 // deprecated
# define AUX_SWITCH_FLIP 2 // flip
# define AUX_SWITCH_SIMPLE_MODE 3 // change to simple mode
# define AUX_SWITCH_RTL 4 // change to RTL flight mode
# define AUX_SWITCH_SAVE_TRIM 5 // save current position as level
# define AUX_SWITCH_ADC_FILTER 6 // deprecated
# define AUX_SWITCH_SAVE_WP 7 // save mission waypoint or RTL if in auto mode
# define AUX_SWITCH_MULTI_MODE 8 // depending upon CH6 position Flip (if ch6 is low), RTL (if ch6 in middle) or Save WP (if ch6 is high)
# define AUX_SWITCH_CAMERA_TRIGGER 9 // trigger camera servo or relay
# define AUX_SWITCH_SONAR 10 // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground
# define AUX_SWITCH_FENCE 11 // allow enabling or disabling fence in flight
# define AUX_SWITCH_RESETTOARMEDYAW 12 // changes yaw to be same as when quad was armed
# define AUX_SWITCH_SUPERSIMPLE_MODE 13 // change to simple mode in middle, super simple at top
# define AUX_SWITCH_ACRO_TRAINER 14 // low = disabled, middle = leveled, high = leveled and limited
# define AUX_SWITCH_SPRAYER 15 // enable/disable the crop sprayer
# define AUX_SWITCH_AUTO 16 // change to auto flight mode
# define AUX_SWITCH_AUTOTUNE 17 // auto tune
# define AUX_SWITCH_LAND 18 // change to LAND flight mode
// values used by the ap.ch7_opt and ap.ch8_opt flags
# define AUX_SWITCH_LOW 0 // indicates auxiliar switch is in the low position (pwm <1200)
# define AUX_SWITCH_MIDDLE 1 // indicates auxiliar switch is in the middle position (pwm >1200, <1800)
# define AUX_SWITCH_HIGH 2 // indicates auxiliar switch is in the high position (pwm >1800)
// Frame types
# define UNDEFINED_FRAME 0
# define QUAD_FRAME 1
# define TRI_FRAME 2
# define HEXA_FRAME 3
# define Y6_FRAME 4
# define OCTA_FRAME 5
# define HELI_FRAME 6
# define OCTA_QUAD_FRAME 7
# define SINGLE_FRAME 8
# define PLUS_FRAME 0
# define X_FRAME 1
# define V_FRAME 2
// LED output
# define NORMAL_LEDS 0
# define SAVE_TRIM_LEDS 1
// 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 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_MTK19 6
# define GPS_PROTOCOL_AUTO 7
// HIL enumerations
# define HIL_MODE_DISABLED 0
# define HIL_MODE_ATTITUDE 1
# define HIL_MODE_SENSORS 2
// Altitude status definitions
# 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 DRIFT 11 // DRIFT mode (Note: 12 is no longer used)
# define SPORT 13 // earth frame rate control
# define NUM_MODES 14
// CH_6 Tuning
// -----------
# define CH6_NONE 0 // no tuning performed
# define CH6_STABILIZE_ROLL_PITCH_KP 1 // stabilize roll/pitch angle controller's P term
# define CH6_RATE_ROLL_PITCH_KP 4 // body frame roll/pitch rate controller's P term
# define CH6_RATE_ROLL_PITCH_KI 5 // body frame roll/pitch rate controller's I term
# define CH6_RATE_ROLL_PITCH_KD 21 // body frame roll/pitch rate controller's D term
# define CH6_STABILIZE_YAW_KP 3 // stabilize yaw heading controller's P term
# define CH6_YAW_RATE_KP 6 // body frame yaw rate controller's P term
# define CH6_YAW_RATE_KD 26 // body frame yaw rate controller's D term
# define CH6_ALTITUDE_HOLD_KP 14 // altitude hold controller's P term (alt error to desired rate)
# define CH6_THROTTLE_RATE_KP 7 // throttle rate controller's P term (desired rate to acceleration or motor output)
# define CH6_THROTTLE_RATE_KD 37 // throttle rate controller's D term (desired rate to acceleration or motor output)
# define CH6_THROTTLE_ACCEL_KP 34 // accel based throttle controller's P term
# define CH6_THROTTLE_ACCEL_KI 35 // accel based throttle controller's I term
# define CH6_THROTTLE_ACCEL_KD 36 // accel based throttle controller's D term
# define CH6_LOITER_POSITION_KP 12 // loiter distance controller's P term (position error to speed)
# define CH6_LOITER_RATE_KP 22 // loiter rate controller's P term (speed error to tilt angle)
# define CH6_LOITER_RATE_KI 28 // loiter rate controller's I term (speed error to tilt angle)
# define CH6_LOITER_RATE_KD 23 // loiter rate controller's D term (speed error to tilt angle)
# define CH6_WP_SPEED 10 // maximum speed to next way point (0 to 10m/s)
# define CH6_ACRO_RP_KP 25 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
# define CH6_ACRO_YAW_KP 40 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
# define CH6_RELAY 9 // switch relay on if ch6 high, off if low
# define CH6_HELI_EXTERNAL_GYRO 13 // TradHeli specific external tail gyro gain
# define CH6_OPTFLOW_KP 17 // optical flow loiter controller's P term (position error to tilt angle)
# define CH6_OPTFLOW_KI 18 // optical flow loiter controller's I term (position error to tilt angle)
# define CH6_OPTFLOW_KD 19 // optical flow loiter controller's D term (position error to tilt angle)
# define CH6_AHRS_YAW_KP 30 // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
# define CH6_AHRS_KP 31 // accelerometer effect on roll/pitch angle (0=low)
# define CH6_INAV_TC 32 // inertial navigation baro/accel and gps/accel time constant (1.5 = strong baro/gps correction on accel estimatehas very strong does not correct accel estimate, 7 = very weak correction)
# define CH6_DECLINATION 38 // compass declination in radians
# define CH6_CIRCLE_RATE 39 // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
# define CH6_SONAR_GAIN 41 // sonar gain
// Acro Trainer types
# define ACRO_TRAINER_DISABLED 0
# define ACRO_TRAINER_LEVELING 1
# define ACRO_TRAINER_LIMITED 2
// 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 nav_mode variable
# define NAV_NONE 0
# define NAV_CIRCLE 1
# define NAV_LOITER 2
# define NAV_WP 3
// Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter
# define WP_YAW_BEHAVIOR_NONE 0 // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received)
# define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP 1 // auto pilot will face next waypoint or home during rtl
# 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
# define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicotpers)
// 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_START 0
# define RTL_STATE_INITIAL_CLIMB 1
# define RTL_STATE_RETURNING_HOME 2
# define RTL_STATE_LOITERING_AT_HOME 3
# define RTL_STATE_FINAL_DESCENT 4
# define RTL_STATE_LAND 5
// LAND state
# define LAND_STATE_FLY_TO_LOCATION 0
# define LAND_STATE_DESCENDING 1
//repeating events
# define RELAY_TOGGLE 5
// 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_RAW ,
MSG_SYSTEM_TIME ,
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
} ;
// Logging parameters
# define TYPE_AIRSTART_MSG 0x00
# define TYPE_GROUNDSTART_MSG 0x01
# define LOG_ATTITUDE_MSG 0x01
# define LOG_MODE_MSG 0x03
# define LOG_CONTROL_TUNING_MSG 0x04
# define LOG_NAV_TUNING_MSG 0x05
# define LOG_PERFORMANCE_MSG 0x06
# 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_EVENT_MSG 0x0D
# define LOG_PID_MSG 0x0E
# define LOG_COMPASS_MSG 0x0F
# define LOG_INAV_MSG 0x11
# define LOG_CAMERA_MSG 0x12
# define LOG_ERROR_MSG 0x13
# define LOG_DATA_INT16_MSG 0x14
# define LOG_DATA_UINT16_MSG 0x15
# define LOG_DATA_INT32_MSG 0x16
# define LOG_DATA_UINT32_MSG 0x17
# define LOG_DATA_FLOAT_MSG 0x18
# define LOG_AUTOTUNE_MSG 0x19
# define LOG_AUTOTUNEDETAILS_MSG 0x1A
# 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) // not used
# define MASK_LOG_IMU (1<<7)
# define MASK_LOG_CMD (1<<8)
# define MASK_LOG_CURRENT (1<<9)
# define MASK_LOG_MOTORS (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)
# define MASK_LOG_CAMERA (1<<15)
// 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_AP_STATE 7
# define DATA_INIT_SIMPLE_BEARING 9
# define DATA_ARMED 10
# define DATA_DISARMED 11
# define DATA_AUTO_ARMED 15
# define DATA_TAKEOFF 16
# define DATA_LAND_COMPLETE 18
# define DATA_NOT_LANDED 28
# define DATA_LOST_GPS 19
# define DATA_BEGIN_FLIP 21
# define DATA_END_FLIP 22
# define DATA_EXIT_FLIP 23
# define DATA_SET_HOME 25
# define DATA_SET_SIMPLE_ON 26
# define DATA_SET_SIMPLE_OFF 27
# define DATA_SET_SUPERSIMPLE_ON 29
# define DATA_AUTOTUNE_INITIALISED 30
# define DATA_AUTOTUNE_OFF 31
# define DATA_AUTOTUNE_RESTART 32
# define DATA_AUTOTUNE_COMPLETE 33
# define DATA_AUTOTUNE_ABANDONED 34
# define DATA_AUTOTUNE_REACHED_LIMIT 35
# define DATA_AUTOTUNE_TESTING 36
# define DATA_AUTOTUNE_SAVEDGAINS 37
# define DATA_SAVE_TRIM 38
# define DATA_SAVEWP_ADD_WP 39
# define DATA_SAVEWP_CLEAR_MISSION_RTL 40
# define DATA_FENCE_ENABLE 41
# define DATA_FENCE_DISABLE 42
# define DATA_ACRO_TRAINER_DISABLED 43
# define DATA_ACRO_TRAINER_LEVELING 44
# define DATA_ACRO_TRAINER_LIMITED 45
/* ************************************************************** */
/* 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_APM1_PIN 47
# define RELAY_APM2_PIN 13
# define PIEZO_PIN AN5 //Last pin on the back ADC connector
// RADIANS
# define RADX100 0.000174532925f
# define DEGX100 5729.57795f
// 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
# define CONFIG_IMU_SITL 3
# define CONFIG_IMU_PX4 4
# define CONFIG_IMU_FLYMAPLE 5
# define AP_BARO_BMP085 1
# define AP_BARO_MS5611 2
# define AP_BARO_PX4 3
# define AP_BARO_MS5611_SPI 1
# define AP_BARO_MS5611_I2C 2
// Error message sub systems and error codes
# define ERROR_SUBSYSTEM_MAIN 1
# define ERROR_SUBSYSTEM_RADIO 2
# define ERROR_SUBSYSTEM_COMPASS 3
# define ERROR_SUBSYSTEM_OPTFLOW 4
# define ERROR_SUBSYSTEM_FAILSAFE_RADIO 5
# define ERROR_SUBSYSTEM_FAILSAFE_BATT 6
# define ERROR_SUBSYSTEM_FAILSAFE_GPS 7
# define ERROR_SUBSYSTEM_FAILSAFE_GCS 8
# define ERROR_SUBSYSTEM_FAILSAFE_FENCE 9
# define ERROR_SUBSYSTEM_FLIGHT_MODE 10
# define ERROR_SUBSYSTEM_GPS 11
# define ERROR_SUBSYSTEM_CRASH_CHECK 12
// general error codes
# define ERROR_CODE_ERROR_RESOLVED 0
# define ERROR_CODE_FAILED_TO_INITIALISE 1
// subsystem specific error codes -- radio
# define ERROR_CODE_RADIO_LATE_FRAME 2
// subsystem specific error codes -- failsafe_thr, batt, gps
# define ERROR_CODE_FAILSAFE_RESOLVED 0
# define ERROR_CODE_FAILSAFE_OCCURRED 1
// subsystem specific error codes -- compass
# define ERROR_CODE_COMPASS_FAILED_TO_READ 2
// subsystem specific error codes -- gps
# define ERROR_CODE_GPS_GLITCH 2
// subsystem specific error codes -- main
# define ERROR_CODE_MAIN_INS_DELAY 1
// subsystem specific error codes -- crash checker
# define ERROR_CODE_CRASH_CHECK_CRASH 1
// Arming Check Enable/Disable bits
# define ARMING_CHECK_NONE 0x00
# define ARMING_CHECK_ALL 0x01
# define ARMING_CHECK_BARO 0x02
# define ARMING_CHECK_COMPASS 0x04
# define ARMING_CHECK_GPS 0x08
# define ARMING_CHECK_INS 0x10
# define ARMING_CHECK_PARAMETERS 0x20
# define ARMING_CHECK_RC 0x40
# define ARMING_CHECK_VOLTAGE 0x80
# endif // _DEFINES_H
