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86 lines
2.4 KiB
86 lines
2.4 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#pragma once |
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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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// Just so that it's completely clear... |
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#define ENABLED 1 |
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#define DISABLED 0 |
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// this avoids a very common config error |
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#define ENABLE ENABLED |
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#define DISABLE DISABLED |
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#define DEBUG 0 |
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#define SERVO_MAX 4500 // This value represents 45 degrees and is just an arbitrary representation of servo max travel. |
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// CH 7 control |
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enum ch7_option { |
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CH7_DO_NOTHING=0, |
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CH7_SAVE_WP=1 |
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}; |
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// HIL enumerations |
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#define HIL_MODE_DISABLED 0 |
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#define HIL_MODE_SENSORS 1 |
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// Auto Pilot modes |
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// ---------------- |
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enum mode { |
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MANUAL=0, |
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LEARNING=2, |
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STEERING=3, |
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HOLD=4, |
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AUTO=10, |
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RTL=11, |
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GUIDED=15, |
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INITIALISING=16 |
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}; |
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// types of failsafe events |
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#define FAILSAFE_EVENT_THROTTLE (1<<0) |
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#define FAILSAFE_EVENT_GCS (1<<1) |
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#define FAILSAFE_EVENT_RC (1<<2) |
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// Logging parameters |
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#define LOG_CTUN_MSG 0x01 |
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#define LOG_NTUN_MSG 0x02 |
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#define LOG_PERFORMANCE_MSG 0x03 |
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#define LOG_STARTUP_MSG 0x06 |
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#define LOG_SONAR_MSG 0x07 |
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#define LOG_ARM_DISARM_MSG 0x08 |
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#define LOG_STEERING_MSG 0x0D |
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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_IMU (1<<7) |
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#define MASK_LOG_CMD (1<<8) |
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#define MASK_LOG_CURRENT (1<<9) |
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#define MASK_LOG_SONAR (1<<10) |
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#define MASK_LOG_COMPASS (1<<11) |
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#define MASK_LOG_CAMERA (1<<12) |
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#define MASK_LOG_STEERING (1<<13) |
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#define MASK_LOG_RC (1<<14) |
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#define MASK_LOG_ARM_DISARM (1<<15) |
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#define MASK_LOG_IMU_RAW (1UL<<19) |
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// for mavlink SET_POSITION_TARGET messages |
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#define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1) | (1<<2)) |
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#define MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE ((1<<3) | (1<<4) | (1<<5)) |
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#define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7) | (1<<8)) |
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#define MAVLINK_SET_POS_TYPE_MASK_FORCE (1<<9) |
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#define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10) |
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#define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)
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