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175 lines
9.0 KiB
175 lines
9.0 KiB
#pragma once |
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#include <AP_HAL/AP_HAL_Boards.h> |
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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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// Autopilot Yaw Mode enumeration |
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enum autopilot_yaw_mode { |
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AUTO_YAW_HOLD = 0, // pilot controls the heading |
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AUTO_YAW_LOOK_AT_NEXT_WP = 1, // point towards next waypoint (no pilot input accepted) |
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AUTO_YAW_ROI = 2, // point towards a location held in roi (no pilot input accepted) |
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AUTO_YAW_FIXED = 3, // point towards a particular angle (no pilot input accepted) |
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AUTO_YAW_LOOK_AHEAD = 4, // point in the direction the copter is moving |
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AUTO_YAW_RESETTOARMEDYAW = 5, // point towards heading at time motors were armed |
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AUTO_YAW_ANGLE_RATE = 6, // turn at a specified rate from a starting angle |
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AUTO_YAW_RATE = 7, // turn at a specified rate (held in auto_yaw_rate) |
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AUTO_YAW_CIRCLE = 8, // use AC_Circle's provided yaw (used during Loiter-Turns commands) |
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}; |
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// Frame types |
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#define UNDEFINED_FRAME 0 |
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#define MULTICOPTER_FRAME 1 |
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#define HELI_FRAME 2 |
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// Tuning enumeration |
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enum tuning_func { |
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TUNING_NONE = 0, // |
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TUNING_STABILIZE_ROLL_PITCH_KP = 1, // stabilize roll/pitch angle controller's P term |
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TUNING_STABILIZE_YAW_KP = 3, // stabilize yaw heading controller's P term |
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TUNING_RATE_ROLL_PITCH_KP = 4, // body frame roll/pitch rate controller's P term |
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TUNING_RATE_ROLL_PITCH_KI = 5, // body frame roll/pitch rate controller's I term |
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TUNING_YAW_RATE_KP = 6, // body frame yaw rate controller's P term |
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TUNING_THROTTLE_RATE_KP = 7, // throttle rate controller's P term (desired rate to acceleration or motor output) |
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TUNING_WP_SPEED = 10, // maximum speed to next way point (0 to 10m/s) |
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TUNING_LOITER_POSITION_KP = 12, // loiter distance controller's P term (position error to speed) |
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TUNING_HELI_EXTERNAL_GYRO = 13, // TradHeli specific external tail gyro gain |
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TUNING_ALTITUDE_HOLD_KP = 14, // altitude hold controller's P term (alt error to desired rate) |
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TUNING_RATE_ROLL_PITCH_KD = 21, // body frame roll/pitch rate controller's D term |
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TUNING_VEL_XY_KP = 22, // loiter rate controller's P term (speed error to tilt angle) |
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TUNING_ACRO_RP_RATE = 25, // acro controller's desired roll and pitch rate in deg/s |
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TUNING_YAW_RATE_KD = 26, // body frame yaw rate controller's D term |
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TUNING_VEL_XY_KI = 28, // loiter rate controller's I term (speed error to tilt angle) |
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TUNING_AHRS_YAW_KP = 30, // ahrs's compass effect on yaw angle (0 = very low, 1 = very high) |
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TUNING_AHRS_KP = 31, // accelerometer effect on roll/pitch angle (0=low) |
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TUNING_ACCEL_Z_KP = 34, // accel based throttle controller's P term |
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TUNING_ACCEL_Z_KI = 35, // accel based throttle controller's I term |
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TUNING_ACCEL_Z_KD = 36, // accel based throttle controller's D term |
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TUNING_DECLINATION = 38, // compass declination in radians |
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TUNING_CIRCLE_RATE = 39, // circle turn rate in degrees (hard coded to about 45 degrees in either direction) |
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TUNING_ACRO_YAW_RATE = 40, // acro controller's desired yaw rate in deg/s |
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TUNING_RANGEFINDER_GAIN = 41, // unused |
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TUNING_EKF_VERTICAL_POS = 42, // unused |
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TUNING_EKF_HORIZONTAL_POS = 43, // unused |
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TUNING_EKF_ACCEL_NOISE = 44, // unused |
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TUNING_RC_FEEL_RP = 45, // roll-pitch input smoothing |
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TUNING_RATE_PITCH_KP = 46, // body frame pitch rate controller's P term |
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TUNING_RATE_PITCH_KI = 47, // body frame pitch rate controller's I term |
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TUNING_RATE_PITCH_KD = 48, // body frame pitch rate controller's D term |
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TUNING_RATE_ROLL_KP = 49, // body frame roll rate controller's P term |
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TUNING_RATE_ROLL_KI = 50, // body frame roll rate controller's I term |
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TUNING_RATE_ROLL_KD = 51, // body frame roll rate controller's D term |
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TUNING_RATE_PITCH_FF = 52, // body frame pitch rate controller FF term |
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TUNING_RATE_ROLL_FF = 53, // body frame roll rate controller FF term |
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TUNING_RATE_YAW_FF = 54, // body frame yaw rate controller FF term |
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TUNING_RATE_MOT_YAW_HEADROOM = 55, // motors yaw headroom minimum |
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TUNING_RATE_YAW_FILT = 56, // yaw rate input filter |
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UNUSED = 57, // was winch control |
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TUNING_SYSTEM_ID_MAGNITUDE = 58 // magnitude of the system ID signal |
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}; |
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// Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter |
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#define WP_YAW_BEHAVIOR_NONE 0 // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received) |
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#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP 1 // auto pilot will face next waypoint or home during rtl |
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#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 |
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#define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicopters) |
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// Airmode |
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enum class AirMode { |
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AIRMODE_NONE, |
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AIRMODE_DISABLED, |
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AIRMODE_ENABLED, |
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}; |
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enum PayloadPlaceStateType { |
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PayloadPlaceStateType_FlyToLocation, |
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PayloadPlaceStateType_Calibrating_Hover_Start, |
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PayloadPlaceStateType_Calibrating_Hover, |
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PayloadPlaceStateType_Descending_Start, |
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PayloadPlaceStateType_Descending, |
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PayloadPlaceStateType_Releasing_Start, |
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PayloadPlaceStateType_Releasing, |
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PayloadPlaceStateType_Released, |
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PayloadPlaceStateType_Ascending_Start, |
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PayloadPlaceStateType_Ascending, |
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PayloadPlaceStateType_Done, |
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}; |
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// bit options for DEV_OPTIONS parameter |
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enum DevOptions { |
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DevOptionADSBMAVLink = 1, |
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DevOptionVFR_HUDRelativeAlt = 2, |
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}; |
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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_CONTROL_TUNING_MSG, |
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LOG_DATA_INT16_MSG, |
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LOG_DATA_UINT16_MSG, |
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LOG_DATA_INT32_MSG, |
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LOG_DATA_UINT32_MSG, |
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LOG_DATA_FLOAT_MSG, |
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LOG_PARAMTUNE_MSG, |
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LOG_HELI_MSG, |
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LOG_GUIDED_POSITION_TARGET_MSG, |
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LOG_SYSIDD_MSG, |
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LOG_SYSIDS_MSG, |
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LOG_GUIDED_ATTITUDE_TARGET_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_CTUN (1<<4) |
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#define MASK_LOG_NTUN (1<<5) |
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#define MASK_LOG_RCIN (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_RCOUT (1<<10) |
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#define MASK_LOG_OPTFLOW (1<<11) |
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#define MASK_LOG_PID (1<<12) |
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#define MASK_LOG_COMPASS (1<<13) |
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#define MASK_LOG_INAV (1<<14) // deprecated |
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#define MASK_LOG_CAMERA (1<<15) |
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#define MASK_LOG_MOTBATT (1UL<<17) |
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#define MASK_LOG_IMU_FAST (1UL<<18) |
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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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#define MASK_LOG_ANY 0xFFFF |
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// Radio failsafe definitions (FS_THR parameter) |
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#define FS_THR_DISABLED 0 |
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#define FS_THR_ENABLED_ALWAYS_RTL 1 |
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#define FS_THR_ENABLED_CONTINUE_MISSION 2 // Removed in 4.0+, now use fs_options |
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#define FS_THR_ENABLED_ALWAYS_LAND 3 |
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#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_RTL 4 |
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#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_LAND 5 |
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#define FS_THR_ENABLED_AUTO_RTL_OR_RTL 6 |
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// GCS failsafe definitions (FS_GCS_ENABLE parameter) |
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#define FS_GCS_DISABLED 0 |
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#define FS_GCS_ENABLED_ALWAYS_RTL 1 |
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#define FS_GCS_ENABLED_CONTINUE_MISSION 2 // Removed in 4.0+, now use fs_options |
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#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL 3 |
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#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4 |
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#define FS_GCS_ENABLED_ALWAYS_LAND 5 |
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#define FS_GCS_ENABLED_AUTO_RTL_OR_RTL 6 |
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// EKF failsafe definitions (FS_EKF_ACTION parameter) |
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#define FS_EKF_ACTION_LAND 1 // switch to LAND mode on EKF failsafe |
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#define FS_EKF_ACTION_ALTHOLD 2 // switch to ALTHOLD mode on EKF failsafe |
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#define FS_EKF_ACTION_LAND_EVEN_STABILIZE 3 // switch to Land mode on EKF failsafe even if in a manual flight mode like stabilize |
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// for PILOT_THR_BHV parameter |
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#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0) |
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#define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1) |
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#define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)
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