You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
105 lines
2.9 KiB
105 lines
2.9 KiB
#pragma once |
|
|
|
// Internal defines, don't edit and expect things to work |
|
// ------------------------------------------------------- |
|
|
|
#define TRUE 1 |
|
#define FALSE 0 |
|
|
|
// 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 |
|
|
|
#define DEBUG 0 |
|
#define SERVO_MAX 4500 // This value represents 45 degrees and is just an arbitrary representation of servo max travel. |
|
|
|
// CH 7 control |
|
enum ch7_option { |
|
CH7_DO_NOTHING = 0, |
|
CH7_SAVE_WP = 1 |
|
}; |
|
|
|
// HIL enumerations |
|
#define HIL_MODE_DISABLED 0 |
|
#define HIL_MODE_SENSORS 1 |
|
|
|
// Auto Pilot modes |
|
// ---------------- |
|
enum mode { |
|
MANUAL = 0, |
|
LEARNING = 2, |
|
STEERING = 3, |
|
HOLD = 4, |
|
AUTO = 10, |
|
RTL = 11, |
|
GUIDED = 15, |
|
INITIALISING = 16 |
|
}; |
|
|
|
enum GuidedMode { |
|
Guided_WP, |
|
Guided_Angle |
|
}; |
|
|
|
|
|
// types of failsafe events |
|
#define FAILSAFE_EVENT_THROTTLE (1<<0) |
|
#define FAILSAFE_EVENT_GCS (1<<1) |
|
#define FAILSAFE_EVENT_RC (1<<2) |
|
|
|
// Logging parameters |
|
#define LOG_CTUN_MSG 0x01 |
|
#define LOG_NTUN_MSG 0x02 |
|
#define LOG_PERFORMANCE_MSG 0x03 |
|
#define LOG_STARTUP_MSG 0x06 |
|
#define LOG_SONAR_MSG 0x07 |
|
#define LOG_ARM_DISARM_MSG 0x08 |
|
#define LOG_STEERING_MSG 0x0D |
|
#define LOG_GUIDEDTARGET_MSG 0x0E |
|
#define LOG_ERROR_MSG 0x13 |
|
|
|
#define TYPE_AIRSTART_MSG 0x00 |
|
#define TYPE_GROUNDSTART_MSG 0x01 |
|
#define MAX_NUM_LOGS 100 |
|
|
|
#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_MODE (1<<6) |
|
#define MASK_LOG_IMU (1<<7) |
|
#define MASK_LOG_CMD (1<<8) |
|
#define MASK_LOG_CURRENT (1<<9) |
|
#define MASK_LOG_SONAR (1<<10) |
|
#define MASK_LOG_COMPASS (1<<11) |
|
#define MASK_LOG_CAMERA (1<<12) |
|
#define MASK_LOG_STEERING (1<<13) |
|
#define MASK_LOG_RC (1<<14) |
|
#define MASK_LOG_ARM_DISARM (1<<15) |
|
#define MASK_LOG_IMU_RAW (1UL<<19) |
|
|
|
// 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) |
|
|
|
// Error message sub systems and error codes |
|
#define ERROR_SUBSYSTEM_CRASH_CHECK 12 |
|
// subsystem specific error codes -- crash checker |
|
#define ERROR_CODE_CRASH_CHECK_CRASH 1 |
|
|
|
enum fs_crash_action { |
|
FS_CRASH_DISABLE = 0, |
|
FS_CRASH_HOLD = 1, |
|
FS_CRASH_HOLD_AND_DISARM = 2 |
|
}; |
|
|
|
|