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456 lines
18 KiB
456 lines
18 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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#include <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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// Flight modes |
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// ------------ |
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#define YAW_HOLD 0 // heading hold at heading in nav_yaw but allow input from pilot |
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#define YAW_ACRO 1 // pilot controlled yaw using rate controller |
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#define YAW_LOOK_AT_NEXT_WP 2 // point towards next waypoint (no pilot input accepted) |
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#define YAW_LOOK_AT_LOCATION 3 // point towards a location held in yaw_look_at_WP (no pilot input accepted) |
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#define YAW_LOOK_AT_HOME 4 // point towards home (no pilot input accepted) |
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#define YAW_LOOK_AT_HEADING 5 // point towards a particular angle (not pilot input accepted) |
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#define YAW_LOOK_AHEAD 6 // WARNING! CODE IN DEVELOPMENT NOT PROVEN |
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#define YAW_TOY 7 // THOR This is the Yaw mode |
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#define ROLL_PITCH_STABLE 0 |
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#define ROLL_PITCH_ACRO 1 |
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#define ROLL_PITCH_AUTO 2 |
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#define ROLL_PITCH_STABLE_OF 3 |
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#define ROLL_PITCH_TOY 4 // THOR This is the Roll and Pitch mode |
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#define ROLL_PITCH_LOITER_INAV 5 // pilot inputs the desired horizontal velocities |
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#define ROLL_PITCH_WP_INAV 6 // pilot inputs the desired horizontal velocities which temporarily interrupt the autopilot |
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#define THROTTLE_MANUAL 0 // manual throttle mode - pilot input goes directly to motors |
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#define THROTTLE_MANUAL_TILT_COMPENSATED 1 // mostly manual throttle but with some tilt compensation |
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#define THROTTLE_ACCELERATION 2 // pilot inputs the desired acceleration |
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#define THROTTLE_RATE 3 // pilot inputs the desired climb rate. Note: this uses the unstabilized rate controller |
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#define THROTTLE_STABILIZED_RATE 4 // pilot inputs the desired climb rate. Uses stabilized rate controller |
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#define THROTTLE_DIRECT_ALT 5 // pilot inputs a desired altitude from 0 ~ 10 meters |
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#define THROTTLE_HOLD 6 // alt hold plus pilot input of climb rate |
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#define THROTTLE_AUTO 7 // auto pilot altitude controller with target altitude held in next_WP.alt |
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#define THROTTLE_LAND 8 // landing throttle controller |
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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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#define SONAR_SOURCE_ADC 1 |
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#define SONAR_SOURCE_ANALOG_PIN 2 |
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// CH 7 control |
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#define CH7_PWM_TRIGGER 1800 // pwm value above which the channel 7 option will be invoked |
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#define CH6_PWM_TRIGGER_HIGH 1800 |
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#define CH6_PWM_TRIGGER_LOW 1200 |
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#define CH7_DO_NOTHING 0 |
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#define CH7_SET_HOVER 1 // deprecated |
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#define CH7_FLIP 2 |
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#define CH7_SIMPLE_MODE 3 |
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#define CH7_RTL 4 |
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#define CH7_SAVE_TRIM 5 |
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#define CH7_ADC_FILTER 6 // deprecated |
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#define CH7_SAVE_WP 7 |
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#define CH7_MULTI_MODE 8 |
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#define CH7_CAMERA_TRIGGER 9 |
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#define CH7_SONAR 10 // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground |
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// Frame types |
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#define QUAD_FRAME 0 |
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#define TRI_FRAME 1 |
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#define HEXA_FRAME 2 |
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#define Y6_FRAME 3 |
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#define OCTA_FRAME 4 |
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#define HELI_FRAME 5 |
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#define OCTA_QUAD_FRAME 6 |
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#define PLUS_FRAME 0 |
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#define X_FRAME 1 |
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#define V_FRAME 2 |
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// LED output |
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#define NORMAL_LEDS 0 |
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#define SAVE_TRIM_LEDS 1 |
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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 LOITER_RANGE 60 // for calculating power outside of loiter radius |
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#define T6 1000000 |
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#define T7 10000000 |
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// GPS type codes - use the names, not the numbers |
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#define GPS_PROTOCOL_NONE -1 |
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#define GPS_PROTOCOL_NMEA 0 |
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#define GPS_PROTOCOL_SIRF 1 |
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#define GPS_PROTOCOL_UBLOX 2 |
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#define GPS_PROTOCOL_IMU 3 |
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#define GPS_PROTOCOL_MTK 4 |
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#define GPS_PROTOCOL_HIL 5 |
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#define GPS_PROTOCOL_MTK19 6 |
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#define GPS_PROTOCOL_AUTO 7 |
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// HIL enumerations |
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#define HIL_MODE_DISABLED 0 |
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#define HIL_MODE_ATTITUDE 1 |
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#define HIL_MODE_SENSORS 2 |
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// Altitude status definitions |
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#define REACHED_ALT 0 |
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#define DESCENDING 1 |
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#define ASCENDING 2 |
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// Auto Pilot modes |
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// ---------------- |
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#define STABILIZE 0 // hold level position |
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#define ACRO 1 // rate control |
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#define ALT_HOLD 2 // AUTO control |
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#define AUTO 3 // AUTO control |
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#define GUIDED 4 // AUTO control |
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#define LOITER 5 // Hold a single location |
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#define RTL 6 // AUTO control |
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#define CIRCLE 7 // AUTO control |
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#define POSITION 8 // AUTO control |
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#define LAND 9 // AUTO control |
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#define OF_LOITER 10 // Hold a single location using optical flow |
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// sensor |
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#define TOY_A 11 // THOR Enum for Toy mode |
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#define TOY_M 12 // THOR Enum for Toy mode |
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#define NUM_MODES 13 |
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// CH_6 Tuning |
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// ----------- |
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#define CH6_NONE 0 // no tuning performed |
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#define CH6_STABILIZE_KP 1 // stabilize roll/pitch angle controller's P term |
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#define CH6_STABILIZE_KI 2 // stabilize roll/pitch angle controller's I term |
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#define CH6_STABILIZE_KD 29 // stabilize roll/pitch angle controller's D term |
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#define CH6_YAW_KP 3 // stabilize yaw heading controller's P term |
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#define CH6_YAW_KI 24 // stabilize yaw heading controller's P term |
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#define CH6_ACRO_KP 25 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate |
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#define CH6_RATE_KP 4 // body frame roll/pitch rate controller's P term |
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#define CH6_RATE_KI 5 // body frame roll/pitch rate controller's I term |
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#define CH6_RATE_KD 21 // body frame roll/pitch rate controller's D term |
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#define CH6_YAW_RATE_KP 6 // body frame yaw rate controller's P term |
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#define CH6_YAW_RATE_KD 26 // body frame yaw rate controller's D term |
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#define CH6_THR_HOLD_KP 14 // altitude hold controller's P term (alt error to desired rate) |
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#define CH6_THROTTLE_KP 7 // throttle rate controller's P term (desired rate to acceleration or motor output) |
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#define CH6_THROTTLE_KI 33 // throttle rate controller's I term (desired rate to acceleration or motor output) |
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#define CH6_THROTTLE_KD 37 // throttle rate controller's D term (desired rate to acceleration or motor output) |
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#define CH6_THR_ACCEL_KP 34 // accel based throttle controller's P term |
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#define CH6_THR_ACCEL_KI 35 // accel based throttle controller's I term |
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#define CH6_THR_ACCEL_KD 36 // accel based throttle controller's D term |
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#define CH6_TOP_BOTTOM_RATIO 8 // upper/lower motor ratio (not used) |
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#define CH6_RELAY 9 // switch relay on if ch6 high, off if low |
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#define CH6_TRAVERSE_SPEED 10 // maximum speed to next way point (0 to 10m/s) |
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#define CH6_NAV_KP 11 // navigation rate controller's P term (speed error to tilt angle) |
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#define CH6_NAV_KI 20 // navigation rate controller's I term (speed error to tilt angle) |
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#define CH6_LOITER_KP 12 // loiter distance controller's P term (position error to speed) |
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#define CH6_LOITER_KI 27 // loiter distance controller's I term (position error to speed) |
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#define CH6_HELI_EXTERNAL_GYRO 13 // TradHeli specific external tail gyro gain |
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#define CH6_OPTFLOW_KP 17 // optical flow loiter controller's P term (position error to tilt angle) |
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#define CH6_OPTFLOW_KI 18 // optical flow loiter controller's I term (position error to tilt angle) |
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#define CH6_OPTFLOW_KD 19 // optical flow loiter controller's D term (position error to tilt angle) |
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#define CH6_LOITER_RATE_KP 22 // loiter rate controller's P term (speed error to tilt angle) |
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#define CH6_LOITER_RATE_KI 28 // loiter rate controller's I term (speed error to tilt angle) |
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#define CH6_LOITER_RATE_KD 23 // loiter rate controller's D term (speed error to tilt angle) |
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#define CH6_AHRS_YAW_KP 30 // ahrs's compass effect on yaw angle (0 = very low, 1 = very high) |
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#define CH6_AHRS_KP 31 // accelerometer effect on roll/pitch angle (0=low) |
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#define CH6_INAV_TC 32 // inertial navigation baro/accel and gps/accel time constant (1.5 = strong baro/gps correction on accel estimatehas very strong does not correct accel estimate, 7 = very weak correction) |
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// nav byte mask used with wp_verify_byte variable |
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// ----------------------------------------------- |
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#define NAV_LOCATION 1 |
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#define NAV_ALTITUDE 2 |
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#define NAV_DELAY 4 |
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// Commands - Note that APM now uses a subset of the MAVLink protocol |
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// 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 |
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// requested |
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#define NO_COMMAND 0 |
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// Navigation modes held in nav_mode variable |
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#define NAV_NONE 0 |
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#define NAV_CIRCLE 1 |
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#define NAV_LOITER 2 |
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#define NAV_WP 3 |
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#define NAV_LOITER_INAV 4 |
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#define NAV_WP_INAV 5 |
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// Yaw override behaviours - used for setting yaw_override_behaviour |
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#define YAW_OVERRIDE_BEHAVIOUR_AT_NEXT_WAYPOINT 0 // auto pilot takes back yaw control at next waypoint |
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#define YAW_OVERRIDE_BEHAVIOUR_AT_MISSION_RESTART 1 // auto pilot tkaes back control only when mission is restarted |
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// TOY mixing options |
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#define TOY_LOOKUP_TABLE 0 |
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#define TOY_LINEAR_MIXER 1 |
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#define TOY_EXTERNAL_MIXER 2 |
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// Waypoint options |
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#define MASK_OPTIONS_RELATIVE_ALT 1 |
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#define WP_OPTION_ALT_CHANGE 2 |
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#define WP_OPTION_YAW 4 |
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#define WP_OPTION_ALT_REQUIRED 8 |
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#define WP_OPTION_RELATIVE 16 |
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//#define WP_OPTION_ 32 |
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//#define WP_OPTION_ 64 |
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#define WP_OPTION_NEXT_CMD 128 |
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// RTL state |
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#define RTL_STATE_INITIAL_CLIMB 0 |
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#define RTL_STATE_RETURNING_HOME 1 |
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#define RTL_STATE_LOITERING_AT_HOME 2 |
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#define RTL_STATE_FINAL_DESCENT 3 |
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#define RTL_STATE_LAND 4 |
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//repeating events |
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#define RELAY_TOGGLE 5 |
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// GCS Message ID's |
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/// NOTE: to ensure we never block on sending MAVLink messages |
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/// please keep each MSG_ to a single MAVLink message. If need be |
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/// create new MSG_ IDs for additional messages on the same |
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/// stream |
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enum ap_message { |
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MSG_HEARTBEAT, |
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MSG_ATTITUDE, |
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MSG_LOCATION, |
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MSG_EXTENDED_STATUS1, |
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MSG_EXTENDED_STATUS2, |
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MSG_NAV_CONTROLLER_OUTPUT, |
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MSG_CURRENT_WAYPOINT, |
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MSG_VFR_HUD, |
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MSG_RADIO_OUT, |
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MSG_RADIO_IN, |
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MSG_RAW_IMU1, |
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MSG_RAW_IMU2, |
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MSG_RAW_IMU3, |
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MSG_GPS_RAW, |
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MSG_SERVO_OUT, |
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MSG_NEXT_WAYPOINT, |
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MSG_NEXT_PARAM, |
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MSG_STATUSTEXT, |
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MSG_LIMITS_STATUS, |
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MSG_AHRS, |
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MSG_SIMSTATE, |
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MSG_HWSTATUS, |
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MSG_RETRY_DEFERRED // this must be last |
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}; |
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enum gcs_severity { |
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SEVERITY_LOW=1, |
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SEVERITY_MEDIUM, |
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SEVERITY_HIGH, |
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SEVERITY_CRITICAL |
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}; |
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// Logging parameters |
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#define TYPE_AIRSTART_MSG 0x00 |
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#define TYPE_GROUNDSTART_MSG 0x01 |
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#define LOG_ATTITUDE_MSG 0x01 |
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#define LOG_GPS_MSG 0x02 |
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#define LOG_MODE_MSG 0x03 |
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#define LOG_CONTROL_TUNING_MSG 0x04 |
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#define LOG_NAV_TUNING_MSG 0x05 |
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#define LOG_PERFORMANCE_MSG 0x06 |
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#define LOG_IMU_MSG 0x07 |
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#define LOG_CMD_MSG 0x08 |
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#define LOG_CURRENT_MSG 0x09 |
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#define LOG_STARTUP_MSG 0x0A |
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#define LOG_MOTORS_MSG 0x0B |
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#define LOG_OPTFLOW_MSG 0x0C |
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#define LOG_EVENT_MSG 0x0D |
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#define LOG_PID_MSG 0x0E |
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#define LOG_ITERM_MSG 0x0F |
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#define LOG_DMP_MSG 0x10 |
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#define LOG_INAV_MSG 0x11 |
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#define LOG_CAMERA_MSG 0x12 |
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#define LOG_ERROR_MSG 0x13 |
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#define LOG_DATA_INT16_MSG 0x14 |
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#define LOG_DATA_UINT16_MSG 0x15 |
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#define LOG_DATA_INT32_MSG 0x16 |
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#define LOG_DATA_UINT32_MSG 0x17 |
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#define LOG_DATA_FLOAT_MSG 0x18 |
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#define LOG_INDEX_MSG 0xF0 |
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#define MAX_NUM_LOGS 50 |
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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_MOTORS (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_ITERM (1<<13) |
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#define MASK_LOG_INAV (1<<14) |
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#define MASK_LOG_CAMERA (1<<15) |
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// DATA - event logging |
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#define DATA_MAVLINK_FLOAT 1 |
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#define DATA_MAVLINK_INT32 2 |
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#define DATA_MAVLINK_INT16 3 |
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#define DATA_MAVLINK_INT8 4 |
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#define DATA_FAST_LOOP 5 |
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#define DATA_MED_LOOP 6 |
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#define DATA_AP_STATE 7 |
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#define DATA_SIMPLE_BEARING 8 |
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#define DATA_INIT_SIMPLE_BEARING 9 |
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#define DATA_ARMED 10 |
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#define DATA_DISARMED 11 |
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#define DATA_AUTO_ARMED 15 |
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#define DATA_TAKEOFF 16 |
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#define DATA_DID_REACH_ALT 17 |
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#define DATA_LAND_COMPLETE 18 |
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#define DATA_LOST_GPS 19 |
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#define DATA_LOST_COMPASS 20 |
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#define DATA_BEGIN_FLIP 21 |
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#define DATA_END_FLIP 22 |
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#define DATA_EXIT_FLIP 23 |
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#define DATA_FLIP_ABORTED 24 |
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#define DATA_SET_HOME 25 |
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#define DATA_SET_SIMPLE_ON 26 |
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#define DATA_SET_SIMPLE_OFF 27 |
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#define DATA_REACHED_ALT 28 |
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#define DATA_ASCENDING 29 |
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#define DATA_DESCENDING 30 |
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#define DATA_RTL_REACHED_ALT 31 |
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// battery monitoring macros |
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#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0f))*g.volt_div_ratio |
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#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0f))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt |
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/* ************************************************************** */ |
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/* Expansion PIN's that people can use for various things. */ |
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// AN0 - 7 are located at edge of IMU PCB "above" pressure sensor and |
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// Expansion port |
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// AN0 - 5 are also located next to voltage dividers and sliding SW2 switch |
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// AN0 - 3 has 10kOhm resistor in serial, include 3.9kOhm to make it as |
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// voltage divider |
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// AN4 - 5 are direct GPIO pins from atmega1280 and they are the latest pins |
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// next to SW2 switch |
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// Look more ArduCopter Wiki for voltage dividers and other ports |
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#define AN0 54 // resistor, vdiv use, divider 1 closest to relay |
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#define AN1 55 // resistor, vdiv use, divider 2 |
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#define AN2 56 // resistor, vdiv use, divider 3 |
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#define AN3 57 // resistor, vdiv use, divider 4 closest to SW2 |
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#define AN4 58 // direct GPIO pin, default as analog input, next to SW2 |
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// switch |
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#define AN5 59 // direct GPIO pin, default as analog input, next to SW2 |
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// switch |
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#define AN6 60 // direct GPIO pin, default as analog input, close to |
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// Pressure sensor, Expansion Ports |
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#define AN7 61 // direct GPIO pin, default as analog input, close to |
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// Pressure sensor, Expansion Ports |
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// AN8 - 15 are located at edge of IMU PCB "above" pressure sensor and |
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// Expansion port |
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// AN8 - 15 PINs are not connected anywhere, they are located as last 8 pins |
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// on edge of the board above Expansion Ports |
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// even pins (8,10,12,14) are at edge of board, Odd pins (9,11,13,15) are on |
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// inner row |
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#define AN8 62 // NC |
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#define AN9 63 // NC |
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#define AN10 64 // NC |
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#define AN11 65 // NC |
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#define AN12 66 // NC |
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#define AN13 67 // NC |
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#define AN14 68 // NC |
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#define AN15 69 // NC |
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#define RELAY_APM1_PIN 47 |
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#define RELAY_APM2_PIN 13 |
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#define PIEZO_PIN AN5 //Last pin on the back ADC connector |
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// RADIANS |
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#define RADX100 0.000174532925f |
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#define DEGX100 5729.57795f |
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// EEPROM addresses |
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#define EEPROM_MAX_ADDR 4096 |
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// parameters get the first 1536 bytes of EEPROM, remainder is for waypoints |
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#define WP_START_BYTE 0x600 // 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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// fence points are stored at the end of the EEPROM |
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#define MAX_FENCEPOINTS 6 |
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#define FENCE_WP_SIZE sizeof(Vector2l) |
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#define FENCE_START_BYTE (EEPROM_MAX_ADDR-(MAX_FENCEPOINTS*FENCE_WP_SIZE)) |
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#define MAX_WAYPOINTS ((FENCE_START_BYTE - WP_START_BYTE) / WP_SIZE) - 1 // - |
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// 1 |
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// to |
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// be |
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// safe |
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// mark a function as not to be inlined |
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#define NOINLINE __attribute__((noinline)) |
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// IMU selection |
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#define CONFIG_IMU_OILPAN 1 |
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#define CONFIG_IMU_MPU6000 2 |
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#define CONFIG_IMU_SITL 3 |
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#define CONFIG_IMU_PX4 4 |
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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_MS5611_SPI 1 |
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#define AP_BARO_MS5611_I2C 2 |
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// Error message sub systems and error codes |
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#define ERROR_SUBSYSTEM_MAIN 1 |
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#define ERROR_SUBSYSTEM_RADIO 2 |
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#define ERROR_SUBSYSTEM_COMPASS 3 |
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#define ERROR_SUBSYSTEM_OPTFLOW 4 |
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#define ERROR_SUBSYSTEM_FAILSAFE 5 |
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// general error codes |
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#define ERROR_CODE_ERROR_RESOLVED 0 |
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#define ERROR_CODE_FAILED_TO_INITIALISE 1 |
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// subsystem specific error codes -- radio |
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#define ERROR_CODE_RADIO_LATE_FRAME 2 |
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// subsystem specific error codes -- failsafe |
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#define ERROR_CODE_FAILSAFE_THROTTLE 2 |
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#define ERROR_CODE_FAILSAFE_BATTERY 3 |
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#define ERROR_CODE_FAILSAFE_WATCHDOG 4 |
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#endif // _DEFINES_H
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