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104 lines
3.1 KiB
104 lines
3.1 KiB
#pragma once |
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// Internal defines, don't edit and expect things to work |
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// ------------------------------------------------------- |
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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 SERVO_MAX 4500.0 // This value represents 45 degrees and is just an arbitrary representation of servo max travel. |
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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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// Logging parameters - only 32 messages are available to the vehicle here. |
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enum LoggingParameters { |
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LOG_THR_MSG, |
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LOG_NTUN_MSG, |
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LOG_STEERING_MSG, |
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LOG_GUIDEDTARGET_MSG, |
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}; |
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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_THR (1<<4) |
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#define MASK_LOG_NTUN (1<<5) |
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//#define MASK_LOG_MODE (1<<6) // no longer used |
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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_RANGEFINDER (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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#define MASK_LOG_VIDEO_STABILISATION (1UL<<20) |
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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)) |
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#define MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE ((1<<3) | (1<<4)) |
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#define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7)) |
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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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// for mavlink SET_ATTITUDE_TARGET messages |
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#define MAVLINK_SET_ATT_TYPE_MASK_ROLL_RATE_IGNORE (1<<0) |
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#define MAVLINK_SET_ATT_TYPE_MASK_PITCH_RATE_IGNORE (1<<1) |
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#define MAVLINK_SET_ATT_TYPE_MASK_YAW_RATE_IGNORE (1<<2) |
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#define MAVLINK_SET_ATT_TYPE_MASK_THROTTLE_IGNORE (1<<6) |
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#define MAVLINK_SET_ATT_TYPE_MASK_ATTITUDE_IGNORE (1<<7) |
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// radio failsafe enum (FS_THR_ENABLE parameter) |
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enum fs_thr_enable { |
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FS_THR_DISABLED = 0, |
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FS_THR_ENABLED, |
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FS_THR_ENABLED_CONTINUE_MISSION, |
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}; |
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// gcs failsafe enum (FS_GCS_ENABLE parameter) |
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enum fs_gcs_enable { |
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FS_GCS_DISABLED = 0, |
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FS_GCS_ENABLED, |
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FS_GCS_ENABLED_CONTINUE_MISSION, |
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}; |
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enum fs_crash_action { |
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FS_CRASH_DISABLE = 0, |
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FS_CRASH_HOLD = 1, |
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FS_CRASH_HOLD_AND_DISARM = 2 |
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}; |
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enum fs_ekf_action { |
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FS_EKF_DISABLE = 0, |
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FS_EKF_HOLD = 1, |
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FS_EKF_REPORT_ONLY = 2, |
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}; |
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#define DISTANCE_HOME_MINCHANGE 0.5f // minimum distance to adjust home location |
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enum pilot_steer_type_t { |
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PILOT_STEER_TYPE_DEFAULT = 0, |
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PILOT_STEER_TYPE_TWO_PADDLES = 1, |
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PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING = 2, |
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PILOT_STEER_TYPE_DIR_UNCHANGED_WHEN_REVERSING = 3, |
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}; |
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// frame class enum used for FRAME_CLASS parameter |
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enum frame_class { |
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FRAME_UNDEFINED = 0, |
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FRAME_ROVER = 1, |
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FRAME_BOAT = 2, |
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FRAME_BALANCEBOT = 3, |
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};
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