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129 lines
3.1 KiB
129 lines
3.1 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) radians(x) // *pi/180 |
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#define ToDeg(x) degrees(x) // *180/pi |
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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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// 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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// 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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#define T6 1000000 |
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#define T7 10000000 |
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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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//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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// 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_WHEN_DISARMED (1UL<<16) |
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#define MASK_LOG_IMU_RAW (1UL<<19) |
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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_COMMAND_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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// 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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#define SPEEDFILT 400 // centimeters/second; the speed below which a groundstart will be triggered |
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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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#endif // _DEFINES_H
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