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ardupilot/ArduCopter/defines.h

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// -*- 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
// Autopilot Yaw Mode enumeration
enum autopilot_yaw_mode {
AUTO_YAW_HOLD = 0, // pilot controls the heading
AUTO_YAW_LOOK_AT_NEXT_WP = 1, // point towards next waypoint (no pilot input accepted)
AUTO_YAW_ROI = 2, // point towards a location held in roi_WP (no pilot input accepted)
AUTO_YAW_LOOK_AT_HEADING = 3, // point towards a particular angle (not pilot input accepted)
AUTO_YAW_LOOK_AHEAD = 4, // point in the direction the copter is moving
AUTO_YAW_RESETTOARMEDYAW = 5, // point towards heading at time motors were armed
};
// Ch6... Ch12 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
// 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)
// Aux Switch enumeration
enum aux_sw_func {
AUXSW_DO_NOTHING = 0, // 0, aux switch disabled
AUXSW_SET_HOVER, // 1, deprecated
AUXSW_FLIP, // 2, flip
AUXSW_SIMPLE_MODE, // 3, change to simple mode
AUXSW_RTL, // 4, change to RTL flight mode
AUXSW_SAVE_TRIM, // 5, save current position as level
AUXSW_ADC_FILTER, // 6, deprecated
AUXSW_SAVE_WP, // 7,save mission waypoint or RTL if in auto mode
AUXSW_MULTI_MODE, // 8, deprecated
AUXSW_CAMERA_TRIGGER, // 9, trigger camera servo or relay
AUXSW_SONAR, // 10,allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground
AUXSW_FENCE, // 11, allow enabling or disabling fence in flight
AUXSW_RESETTOARMEDYAW, // 12, changes yaw to be same as when quad was armed
AUXSW_SUPERSIMPLE_MODE, // 13, change to simple mode in middle, super simple at top
AUXSW_ACRO_TRAINER, // 14, low = disabled, middle = leveled, high = leveled and limited
AUXSW_SPRAYER, // 15, enable/disable the crop sprayer
AUXSW_AUTO, // 16, change to auto flight mode
AUXSW_AUTOTUNE, // 17, auto tune
AUXSW_LAND, // 18, change to LAND flight mode
AUXSW_EPM, // 19, Operate the EPM cargo gripper low=off, middle=neutral, high=on
AUXSW_EKF, // 20, Deprecated
AUXSW_PARACHUTE_ENABLE, // 21, Parachute enable/disable
AUXSW_PARACHUTE_RELEASE, // 22, Parachute release
AUXSW_PARACHUTE_3POS, // 23, Parachute disable, enable, release with 3 position switch
AUXSW_MISSION_RESET, // 24, Reset auto mission to start from first command
AUXSW_ATTCON_FEEDFWD, // 25, enable/disable the roll and pitch rate feed forward
AUXSW_ATTCON_ACCEL_LIM, // 26, enable/disable the roll, pitch and yaw accel limiting
AUXSW_RETRACT_MOUNT, // 27, Retract Mount
AUXSW_RELAY, // 28, Relay pin on/off (only supports first relay)
AUXSW_LANDING_GEAR, // 29, Landing gear controller
AUXSW_LOST_COPTER_SOUND, // 30, Play lost copter sound
AUXSW_MOTOR_ESTOP, // 31, Emergency Stop Switch
AUXSW_MOTOR_INTERLOCK, // 32, Motor On/Off switch
};
// 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 COAX_FRAME 9
// Internal defines, don't edit and expect things to work
// -------------------------------------------------------
#define ToRad(x) radians(x) // *pi/180
#define ToDeg(x) degrees(x) // *180/pi
// HIL enumerations
#define HIL_MODE_DISABLED 0
#define HIL_MODE_SENSORS 1
// Auto Pilot Modes enumeration
enum autopilot_modes {
STABILIZE = 0, // 0, manual airframe angle with manual throttle
ACRO, // 1, manual body-frame angular rate with manual throttle
ALT_HOLD, // 2, manual airframe angle with automatic throttle
AUTO, // 3, fully automatic waypoint control
GUIDED, // 4, fully automatic fly to coordinate or fly at velocity/direction
LOITER, // 5, automatic horizontal acceleration with automatic throttle
RTL, // 6, automatic return to launching point
CIRCLE, // 7, automatic circular flight with automatic throttle
LAND = 9, // 9, automatic landing with horizontal position control
OF_LOITER, // 10, automatic position control using optical flow sensor
DRIFT, // 11, semi-automatic position, yaw and throttle control
SPORT = 13, // 13, manual earth-frame angular rate control with manual throttle
FLIP, // 14, automatically flip the vehicle on the roll axis
AUTOTUNE, // 15, automatically tune the vehicle's roll and pitch gains
POSHOLD, // 16, automatic position hold with manual override, with automatic throttle
STOP // 17, full-stop using inertial/GPS system, no pilot input
};
// Tuning enumeration
enum tuning_func {
TUNING_NONE = 0, // 0,
TUNING_STABILIZE_ROLL_PITCH_KP, // 1, stabilize roll/pitch angle controller's P term
TUNING_STABILIZE_YAW_KP = 3, // 3, stabilize yaw heading controller's P term
TUNING_RATE_ROLL_PITCH_KP, // 4, body frame roll/pitch rate controller's P term
TUNING_RATE_ROLL_PITCH_KI, // 5, body frame roll/pitch rate controller's I term
TUNING_YAW_RATE_KP, // 6, body frame yaw rate controller's P term
TUNING_THROTTLE_RATE_KP, // 7, throttle rate controller's P term (desired rate to acceleration or motor output)
TUNING_WP_SPEED = 10, // 10, maximum speed to next way point (0 to 10m/s)
TUNING_LOITER_POSITION_KP = 12, // 12, loiter distance controller's P term (position error to speed)
TUNING_HELI_EXTERNAL_GYRO, // 13, TradHeli specific external tail gyro gain
TUNING_ALTITUDE_HOLD_KP, // 14, altitude hold controller's P term (alt error to desired rate)
TUNING_RATE_ROLL_PITCH_KD = 21, // 21, body frame roll/pitch rate controller's D term
TUNING_VEL_XY_KP, // 22, loiter rate controller's P term (speed error to tilt angle)
TUNING_ACRO_RP_KP = 25, // 25, acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
TUNING_YAW_RATE_KD, // 26, body frame yaw rate controller's D term
TUNING_VEL_XY_KI = 28, // 28, loiter rate controller's I term (speed error to tilt angle)
TUNING_AHRS_YAW_KP = 30, // 30, ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
TUNING_AHRS_KP, // 31, accelerometer effect on roll/pitch angle (0=low)
TUNING_ACCEL_Z_KP = 34, // 34, accel based throttle controller's P term
TUNING_ACCEL_Z_KI, // 35, accel based throttle controller's I term
TUNING_ACCEL_Z_KD, // 36, accel based throttle controller's D term
TUNING_DECLINATION = 38, // 38, compass declination in radians
TUNING_CIRCLE_RATE, // 39, circle turn rate in degrees (hard coded to about 45 degrees in either direction)
TUNING_ACRO_YAW_KP, // 40, acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
TUNING_SONAR_GAIN, // 41, sonar gain
TUNING_EKF_VERTICAL_POS, // 42, EKF's baro vs accel (higher rely on accels more, baro impact is reduced). Range should be 0.2 ~ 4.0? 2.0 is default
TUNING_EKF_HORIZONTAL_POS, // 43, EKF's gps vs accel (higher rely on accels more, gps impact is reduced). Range should be 1.0 ~ 3.0? 1.5 is default
TUNING_EKF_ACCEL_NOISE, // 44, EKF's accel noise (lower means trust accels more, gps & baro less). Range should be 0.02 ~ 0.5 0.5 is default (but very robust at that level)
TUNING_RC_FEEL_RP, // 45, roll-pitch input smoothing
TUNING_RATE_PITCH_KP, // 46, body frame pitch rate controller's P term
TUNING_RATE_PITCH_KI, // 47, body frame pitch rate controller's I term
TUNING_RATE_PITCH_KD, // 48, body frame pitch rate controller's D term
TUNING_RATE_ROLL_KP, // 49, body frame roll rate controller's P term
TUNING_RATE_ROLL_KI, // 50, body frame roll rate controller's I term
TUNING_RATE_ROLL_KD, // 51, body frame roll rate controller's D term
TUNING_RATE_PITCH_FF, // 52, body frame pitch rate controller FF term
TUNING_RATE_ROLL_FF, // 53, body frame roll rate controller FF term
TUNING_RATE_YAW_FF, // 54, body frame yaw rate controller FF term
TUNING_RATE_MOT_YAW_HEADROOM, // 55, motors yaw headroom minimum
TUNING_RATE_YAW_FILT // 56, yaw rate input filter
};
// Acro Trainer types
#define ACRO_TRAINER_DISABLED 0
#define ACRO_TRAINER_LEVELING 1
#define ACRO_TRAINER_LIMITED 2
// RC Feel roll/pitch definitions
#define RC_FEEL_RP_VERY_SOFT 0
#define RC_FEEL_RP_SOFT 25
#define RC_FEEL_RP_MEDIUM 50
#define RC_FEEL_RP_CRISP 75
#define RC_FEEL_RP_VERY_CRISP 100
// 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)
// Auto modes
enum AutoMode {
Auto_TakeOff,
Auto_WP,
Auto_Land,
Auto_RTL,
Auto_CircleMoveToEdge,
Auto_Circle,
Auto_Spline,
Auto_NavGuided,
Auto_Loiter
};
// Guided modes
enum GuidedMode {
Guided_TakeOff,
Guided_WP,
Guided_Velocity,
Guided_PosVel
};
// RTL states
enum RTLState {
InitialClimb,
ReturnHome,
LoiterAtHome,
FinalDescent,
Land
};
// Flip states
enum FlipState {
Flip_Start,
Flip_Roll,
Flip_Pitch_A,
Flip_Pitch_B,
Flip_Recover,
Flip_Abandon
};
// LAND state
#define LAND_STATE_FLY_TO_LOCATION 0
#define LAND_STATE_DESCENDING 1
// Logging parameters
#define TYPE_AIRSTART_MSG 0x00
#define TYPE_GROUNDSTART_MSG 0x01
#define LOG_CONTROL_TUNING_MSG 0x04
#define LOG_NAV_TUNING_MSG 0x05
#define LOG_PERFORMANCE_MSG 0x06
#define LOG_STARTUP_MSG 0x0A
#define LOG_OPTFLOW_MSG 0x0C
#define LOG_EVENT_MSG 0x0D
#define LOG_PID_MSG 0x0E // deprecated
#define LOG_INAV_MSG 0x11 // deprecated
#define LOG_CAMERA_MSG_DEPRECATED 0x12 // deprecated
#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_RATE_MSG 0x1D
#define LOG_MOTBATT_MSG 0x1E
#define LOG_PARAMTUNE_MSG 0x1F
#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_RCIN (1<<6)
#define MASK_LOG_IMU (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CURRENT (1<<9)
#define MASK_LOG_RCOUT (1<<10)
#define MASK_LOG_OPTFLOW (1<<11)
#define MASK_LOG_PID (1<<12) // deprecated
#define MASK_LOG_COMPASS (1<<13)
#define MASK_LOG_INAV (1<<14) // deprecated
#define MASK_LOG_CAMERA (1<<15)
#define MASK_LOG_WHEN_DISARMED (1UL<<16)
#define MASK_LOG_MOTBATT (1UL<<17)
#define MASK_LOG_IMU_FAST (1UL<<18)
#define MASK_LOG_ANY 0xFFFF
// 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_SYSTEM_TIME_SET 8
#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_MAYBE 17
#define DATA_LAND_COMPLETE 18
#define DATA_NOT_LANDED 28
#define DATA_LOST_GPS 19
#define DATA_FLIP_START 21
#define DATA_FLIP_END 22
#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_SUCCESS 33
#define DATA_AUTOTUNE_FAILED 34
#define DATA_AUTOTUNE_REACHED_LIMIT 35
#define DATA_AUTOTUNE_PILOT_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
#define DATA_EPM_GRAB 46
#define DATA_EPM_RELEASE 47
#define DATA_EPM_NEUTRAL 48 // deprecated
#define DATA_PARACHUTE_DISABLED 49
#define DATA_PARACHUTE_ENABLED 50
#define DATA_PARACHUTE_RELEASED 51
#define DATA_LANDING_GEAR_DEPLOYED 52
#define DATA_LANDING_GEAR_RETRACTED 53
// Centi-degrees to radians
#define DEGX100 5729.57795f
// mark a function as not to be inlined
#define NOINLINE __attribute__((noinline))
// 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 // not used
#define ERROR_SUBSYSTEM_FAILSAFE_GCS 8
#define ERROR_SUBSYSTEM_FAILSAFE_FENCE 9
#define ERROR_SUBSYSTEM_FLIGHT_MODE 10
#define ERROR_SUBSYSTEM_GPS 11 // not used
#define ERROR_SUBSYSTEM_CRASH_CHECK 12
#define ERROR_SUBSYSTEM_FLIP 13
#define ERROR_SUBSYSTEM_AUTOTUNE 14
#define ERROR_SUBSYSTEM_PARACHUTE 15
#define ERROR_SUBSYSTEM_EKFCHECK 16
#define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV 17
#define ERROR_SUBSYSTEM_BARO 18
#define ERROR_SUBSYSTEM_CPU 19
// 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 -- main
#define ERROR_CODE_MAIN_INS_DELAY 1
// subsystem specific error codes -- crash checker
#define ERROR_CODE_CRASH_CHECK_CRASH 1
#define ERROR_CODE_CRASH_CHECK_LOSS_OF_CONTROL 2
// subsystem specific error codes -- flip
#define ERROR_CODE_FLIP_ABANDONED 2
// subsystem specific error codes -- autotune
#define ERROR_CODE_AUTOTUNE_BAD_GAINS 2
// parachute failed to deploy because of low altitude
#define ERROR_CODE_PARACHUTE_TOO_LOW 2
// EKF check definitions
#define ERROR_CODE_EKFCHECK_BAD_VARIANCE 2
#define ERROR_CODE_EKFCHECK_VARIANCE_CLEARED 0
// Baro specific error codes
#define ERROR_CODE_BARO_GLITCH 2
// 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
// Radio failsafe definitions (FS_THR parameter)
#define FS_THR_DISABLED 0
#define FS_THR_ENABLED_ALWAYS_RTL 1
#define FS_THR_ENABLED_CONTINUE_MISSION 2
#define FS_THR_ENABLED_ALWAYS_LAND 3
// Battery failsafe definitions (FS_BATT_ENABLE parameter)
#define FS_BATT_DISABLED 0 // battery failsafe disabled
#define FS_BATT_LAND 1 // switch to LAND mode on battery failsafe
#define FS_BATT_RTL 2 // switch to RTL mode on battery failsafe
// GPS Failsafe definitions (FS_GPS_ENABLE parameter)
#define FS_GPS_DISABLED 0 // GPS failsafe disabled
#define FS_GPS_LAND 1 // switch to LAND mode on GPS Failsafe
#define FS_GPS_ALTHOLD 2 // switch to ALTHOLD mode on GPS failsafe
#define FS_GPS_LAND_EVEN_STABILIZE 3 // switch to LAND mode on GPS failsafe even if in a manual flight mode like Stabilize
// for mavlink SET_POSITION_TARGET messages
#define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1) | (1<<2))
#define MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE ((1<<3) | (1<<4) | (1<<5))
#define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7) | (1<<8))
#define MAVLINK_SET_POS_TYPE_MASK_FORCE (1<<9)
#define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10)
#define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)
// for PILOT_THR_BHV parameter
#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
#endif // _DEFINES_H