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70 lines
1.9 KiB
70 lines
1.9 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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#define ToRad(x) radians(x) // *pi/180 |
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#define ToDeg(x) degrees(x) // *180/pi |
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#define EEPROM_MAX_ADDR 4096 |
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// mark a function as not to be inlined |
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#define NOINLINE __attribute__((noinline)) |
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// InertialSensor driver types |
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#define CONFIG_INS_OILPAN 1 |
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#define CONFIG_INS_MPU6000 2 |
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#define CONFIG_INS_HIL 3 |
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#define CONFIG_INS_PX4 4 |
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#define CONFIG_INS_FLYMAPLE 5 |
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#define CONFIG_INS_L3G4200D 6 |
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// barometer driver types |
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#define AP_BARO_BMP085 1 |
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#define AP_BARO_MS5611 2 |
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#define AP_BARO_PX4 3 |
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#define AP_BARO_HIL 4 |
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// compass driver types |
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#define AP_COMPASS_HMC5843 1 |
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#define AP_COMPASS_PX4 2 |
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#define AP_COMPASS_HIL 3 |
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// In AntennaTracker, EEPROM is used to store waypoint 0 = HOME location, if available |
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// EEPROM addresses |
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#define EEPROM_MAX_ADDR 4096 |
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// parameters get the first 1280 bytes of EEPROM, remainder is for waypoints |
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#define WP_START_BYTE 0x500 // where in memory home WP is stored + all other |
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// WP |
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#define WP_SIZE 15 |
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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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#define WAIT_COMMAND 255 |
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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 |
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// altitude |
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#define MASK_OPTIONS_LOITER_DIRECTION (1<<2) // 0 = CW |
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// 1 = CCW |
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// Controller modes |
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// ---------------- |
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enum ControlMode { |
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MANUAL=0, |
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STOP=1, |
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SCAN=2, |
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AUTO=10, |
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INITIALISING=16 |
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}; |
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enum ServoType { |
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SERVO_TYPE_POSITION=0, |
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SERVO_TYPE_ONOFF=1 |
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}; |
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#endif // _DEFINES_H |
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