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229 lines
6.5 KiB
229 lines
6.5 KiB
// -*- 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) (x*0.01745329252) // *pi/180 |
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#define ToDeg(x) (x*57.2957795131) // *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 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 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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// Auto Pilot modes |
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// ---------------- |
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#define MANUAL 0 |
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#define CIRCLE 1 // When flying sans GPS, and we loose the radio, just circle |
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#define STABILIZE 2 |
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#define FLY_BY_WIRE_A 5 // Fly By Wire A has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical = manual throttle |
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#define FLY_BY_WIRE_B 6 // Fly By Wire B has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical => desired airspeed |
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#define FLY_BY_WIRE_C 7 // Fly By Wire C has left stick horizontal => desired roll angle, left stick vertical => desired climb rate, right stick vertical => desired airspeed |
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// Fly By Wire B and Fly By Wire C require airspeed sensor |
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#define AUTO 10 |
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#define RTL 11 |
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#define LOITER 12 |
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//#define TAKEOFF 13 // This is not used by APM. It appears here for consistency with ACM |
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//#define LAND 14 // This is not used by APM. It appears here for consistency with ACM |
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#define GUIDED 15 |
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#define INITIALISING 16 // in startup routines |
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// Commands - Note that APM now uses a subset of the MAVLink protocol 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 requested |
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#define NO_COMMAND 0 |
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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 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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#define MAV_CMD_CONDITION_YAW 23 |
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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_STATUS, |
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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_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 50 |
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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_WAYPOINT_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 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))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt |
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#define AIRSPEED_CH 7 // The external ADC channel for the airspeed sensor |
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#define BATTERY_PIN1 0 // These are the pins for the voltage dividers |
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#define BATTERY_PIN2 1 |
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#define BATTERY_PIN3 2 |
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#define BATTERY_PIN4 3 |
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#define VOLTAGE_PIN_0 0 // These are the pins for current sensor: voltage |
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#define CURRENT_PIN_1 1 // and current |
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#define RELAY_PIN 47 |
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// sonar |
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#define MAX_SONAR_XL 0 |
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#define MAX_SONAR_LV 1 |
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#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters |
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#define AN4 4 |
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#define AN5 5 |
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// Hardware Parameters |
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#define SLIDE_SWITCH_PIN 40 |
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#define PUSHBUTTON_PIN 41 |
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#define A_LED_PIN 37 //36 = B, 37 = A, 35 = C |
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#define B_LED_PIN 36 |
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#define C_LED_PIN 35 |
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#define SPEEDFILT 400 // centimeters/second; the speed below which a groundstart will be triggered |
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// EEPROM addresses |
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#define EEPROM_MAX_ADDR 4096 |
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// parameters get the first 1KiB of EEPROM, remainder is for waypoints |
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#define WP_START_BYTE 0x400 // where in memory home WP is stored + all other WP |
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#define WP_SIZE 15 |
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#define ONBOARD_PARAM_NAME_LENGTH 15 |
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#define MAX_WAYPOINTS ((EEPROM_MAX_ADDR - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe |
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// convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps 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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#endif // _DEFINES_H
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