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346 lines
9.8 KiB
346 lines
9.8 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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// Internal defines, don't edit and expect things to work |
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// ------------------------------------------------------- |
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#define DEBUG 0 |
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#define LOITER_RANGE 30 // for calculating power outside of loiter radius |
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// GPS baud rates |
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// -------------- |
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#define NO_GPS 38400 |
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#define NMEA_GPS 38400 |
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#define EM406_GPS 57600 |
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#define UBLOX_GPS 38400 |
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#define ARDU_IMU 38400 |
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#define MTK_GPS 38400 |
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#define SIM_GPS 38400 |
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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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// Radio channels |
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// Note channels are from 0! |
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// |
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// XXX these should be CH_n defines from RC.h at some point. |
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#define CH_ROLL 0 |
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#define CH_PITCH 1 |
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#define CH_THROTTLE 2 |
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#define CH_RUDDER 3 |
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#define CH_1 0 |
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#define CH_2 1 |
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#define CH_3 2 |
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#define CH_4 3 |
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#define CH_5 4 |
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#define CH_6 5 |
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#define CH_7 6 |
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#define CH_8 7 |
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#define WP_START_BYTE 0x130 // where in memory home WP is stored + all other WP |
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#define WP_SIZE 14 |
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// GCS enumeration |
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#define GCS_PROTOCOL_STANDARD 0 // standard APM protocol |
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#define GCS_PROTOCOL_SPECIAL 1 // special test protocol (?) |
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#define GCS_PROTOCOL_LEGACY 2 // legacy ArduPilot protocol |
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#define GCS_PROTOCOL_XPLANE 3 // X-Plane HIL simulation |
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#define GCS_PROTOCOL_IMU 4 // ArdiPilot IMU output |
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#define GCS_PROTOCOL_JASON 5 // Jason's special secret GCS protocol |
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#define GCS_PROTOCOL_DEBUGTERMINAL 6 // Text-based interactive GCS |
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#define GCS_PROTOCOL_NONE -1 // No GCS output |
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// PID enumeration |
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// --------------- |
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#define CASE_SERVO_ROLL 0 |
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#define CASE_SERVO_PITCH 1 |
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#define CASE_SERVO_RUDDER 2 |
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#define CASE_NAV_ROLL 3 |
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#define CASE_NAV_PITCH_ASP 4 |
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#define CASE_NAV_PITCH_ALT 5 |
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#define CASE_TE_THROTTLE 6 |
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#define CASE_ALT_THROTTLE 7 |
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// Feedforward cases |
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// ---------------- |
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#define CASE_PITCH_COMP 0 |
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#define CASE_RUDDER_MIX 1 |
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#define CASE_P_TO_T 2 |
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#define CASE_T_TO_P 3 |
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// Auto Pilot modes |
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// ---------------- |
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#define MANUAL 0 |
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#define CIRCLE 1 // When flying sans GPS, and we loose the radio, just circle |
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#define STABILIZE 2 |
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#define FLY_BY_WIRE_A 5 // Fly By Wire A has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical = manual throttle |
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#define FLY_BY_WIRE_B 6 // Fly By Wire B has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical => desired airspeed |
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// Fly By Wire B = Fly By Wire A if you have AIRSPEED_SENSOR 0 |
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#define AUTO 10 |
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#define RTL 11 |
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#define LOITER 12 |
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#define TAKEOFF 13 |
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#define LAND 14 |
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// Command IDs - Must |
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#define CMD_BLANK 0x00 // there is no command stored in the mem location requested |
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#define CMD_WAYPOINT 0x10 |
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#define CMD_LOITER 0x11 |
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#define CMD_LOITER_N_TURNS 0x12 |
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#define CMD_LOITER_TIME 0x13 |
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#define CMD_RTL 0x14 |
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#define CMD_LAND 0x15 |
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#define CMD_TAKEOFF 0x16 |
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// Command IDs - May |
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#define CMD_DELAY 0x20 |
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#define CMD_CLIMB 0x21 // NOT IMPLEMENTED |
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#define CMD_LAND_OPTIONS 0x22 // pitch in deg, airspeed m/s, throttle %, track WP 1 or 0 |
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// Command IDs - Now |
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//#define CMD_AP_MODE 0x30 |
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#define CMD_RESET_INDEX 0x31 |
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#define CMD_GOTO_INDEX 0x32 // NOT IMPLEMENTED |
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#define CMD_GETVAR_INDEX 0x33 |
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#define CMD_SENDVAR_INDEX 0x34 |
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#define CMD_TELEMETRY 0x35 |
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#define CMD_THROTTLE_CRUISE 0x40 |
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#define CMD_AIRSPEED_CRUISE 0x41 |
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#define CMD_RESET_HOME 0x44 |
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#define CMD_KP_GAIN 0x60 |
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#define CMD_KI_GAIN 0x61 |
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#define CMD_KD_GAIN 0x62 |
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#define CMD_KI_MAX 0x63 |
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#define CMD_KFF_GAIN 0x64 |
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#define CMD_RADIO_TRIM 0x70 |
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#define CMD_RADIO_MAX 0x71 |
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#define CMD_RADIO_MIN 0x72 |
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#define CMD_RADIO_MIN 0x72 |
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#define CMD_ELEVON_TRIM 0x73 |
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#define CMD_INDEX 0x75 // sets the current Must index |
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#define CMD_REPEAT 0x80 |
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#define CMD_RELAY 0x81 |
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#define CMD_SERVO 0x82 // move servo N to PWM value |
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//repeating events |
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#define NO_REPEAT 0 |
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#define CH_4_TOGGLE 1 |
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#define CH_5_TOGGLE 2 |
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#define CH_6_TOGGLE 3 |
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#define CH_7_TOGGLE 4 |
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#define RELAY_TOGGLE 5 |
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#define STOP_REPEAT 10 |
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// GCS Message ID's |
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#define MSG_ACKNOWLEDGE 0x00 |
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#define MSG_HEARTBEAT 0x01 |
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#define MSG_ATTITUDE 0x02 |
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#define MSG_LOCATION 0x03 |
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#define MSG_PRESSURE 0x04 |
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#define MSG_STATUS_TEXT 0x05 |
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#define MSG_PERF_REPORT 0x06 |
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#define MSG_COMMAND 0x22 |
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#define MSG_VALUE 0x32 |
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#define MSG_PID 0x42 |
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#define MSG_TRIMS 0x50 |
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#define MSG_MINS 0x51 |
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#define MSG_MAXS 0x52 |
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#define MSG_IMU_OUT 0x53 |
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#define SEVERITY_LOW 1 |
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#define SEVERITY_MEDIUM 2 |
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#define SEVERITY_HIGH 3 |
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#define SEVERITY_CRITICAL 4 |
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// Logging parameters |
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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_RAW_MSG 0x07 |
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#define LOG_CMD_MSG 0x08 |
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#define LOG_STARTUP_MSG 0x09 |
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#define TYPE_AIRSTART_MSG 0x00 |
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#define TYPE_GROUNDSTART_MSG 0x01 |
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#define MASK_LOG_ATTITUDE_FAST 0 |
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#define MASK_LOG_ATTITUDE_MED 2 |
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#define MASK_LOG_GPS 4 |
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#define MASK_LOG_PM 8 |
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#define MASK_LOG_CTUN 16 |
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#define MASK_LOG_NTUN 32 |
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#define MASK_LOG_MODE 64 |
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#define MASK_LOG_RAW 128 |
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#define MASK_LOG_CMD 256 |
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// Yaw modes |
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#define YAW_MODE_COORDINATE_TURNS 0 |
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#define YAW_MODE_HOLD_HEADING 1 |
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#define YAW_MODE_SLIP 2 |
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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_WAYPOINT_INDEX 2 |
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#define EVENT_LOADED_WAYPOINT 3 |
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#define EVENT_LOOP 4 |
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//GPS_fix |
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#define VALID_GPS 0x00 |
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#define BAD_GPS 0x01 |
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#define FAILED_GPS 0x03 |
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#define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_DIV_RATIO |
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#define AIRSPEED_CH 7 // The external ADC channel for the airspeed sensor |
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#define BATTERY_PIN1 0 // These are the pins for the voltage dividers |
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#define BATTERY_PIN2 1 |
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#define BATTERY_PIN3 2 |
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#define BATTERY_PIN4 3 |
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#define RELAY_PIN 47 |
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// Hardware Parameters |
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#define SLIDE_SWITCH_PIN 40 |
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#define PUSHBUTTON_PIN 41 |
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#define A_LED_PIN 37 //36 = B, 37 = A, 35 = C |
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#define B_LED_PIN 36 |
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#define C_LED_PIN 35 |
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#define HOLD_ALT_ABOVE_HOME 8 // bitmask value |
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// IMU Parameters |
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#define ADC_CONSTRAINT 900 |
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#define TRUE 1 |
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#define FALSE 0 |
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#define ADC_WARM_CYCLES 200 |
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#define SPEEDFILT 400 // centimeters/second |
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#define GYRO_TEMP_CH 3 // The ADC channel reading the gyro temperature |
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// ADC : Voltage reference 3.3v / 12bits(4096 steps) => 0.8mV/ADC step |
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// ADXL335 Sensitivity(from datasheet) => 330mV/g, 0.8mV/ADC step => 330/0.8 = 412 |
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// Tested value : 418 |
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#define GRAVITY 418 //this equivalent to 1G in the raw data coming from the accelerometer |
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#define Accel_Scale(x) x*(GRAVITY/9.81)//Scaling the raw data of the accel to actual acceleration in meters for seconds square |
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#define ToRad(x) (x*0.01745329252) // *pi/180 |
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#define ToDeg(x) (x*57.2957795131) // *180/pi |
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// IDG500 Sensitivity (from datasheet) => 2.0mV/º/s, 0.8mV/ADC step => 0.8/3.33 = 0.4 |
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// Tested values : 0.4026, ?, 0.4192 |
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#define Gyro_Gain_X 0.4 //X axis Gyro gain |
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#define Gyro_Gain_Y 0.41 //Y axis Gyro gain |
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#define Gyro_Gain_Z 0.41 //Z axis Gyro gain |
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#define Gyro_Scaled_X(x) x*ToRad(Gyro_Gain_X) //Return the scaled ADC raw data of the gyro in radians for second |
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#define Gyro_Scaled_Y(x) x*ToRad(Gyro_Gain_Y) //Return the scaled ADC raw data of the gyro in radians for second |
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#define Gyro_Scaled_Z(x) x*ToRad(Gyro_Gain_Z) //Return the scaled ADC raw data of the gyro in radians for second |
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#define Kp_ROLLPITCH 0.0014 // Pitch&Roll Drift Correction Proportional Gain |
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#define Ki_ROLLPITCH 0.0000003 // Pitch&Roll Drift Correction Integrator Gain |
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#define Kp_YAW 0.8 // Yaw Drift Correction Porportional Gain |
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#define Ki_YAW 0.00004 // Yaw Drift CorrectionIntegrator Gain |
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/*For debugging purposes*/ |
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#define OUTPUTMODE 1 //If value = 1 will print the corrected data, 0 will print uncorrected data of the gyros (with drift), 2 Accel only data |
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#define EEPROM_MAX_ADDR 4096 |
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// Radio setup |
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#define EE_TRIM 0x00 |
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#define EE_MIN 0x10 |
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#define EE_MAX 0x20 |
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#define EE_ELEVON1_TRIM 0x30 |
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#define EE_ELEVON2_TRIM 0x32 |
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// user gains |
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#define EE_XTRACK_GAIN 0x34 |
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#define EE_XTRACK_ANGLE 0x36 |
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#define EE_ALT_MIX 0x3B |
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#define EE_HEAD_MAX 0x38 |
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#define EE_PITCH_MAX 0x39 |
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#define EE_PITCH_MIN 0x3A |
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#define EE_KP 0x40 |
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#define EE_KI 0x60 |
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#define EE_KD 0x80 |
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#define EE_IMAX 0xA0 |
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#define EE_KFF 0xC0 |
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#define EE_AN_OFFSET 0xE0 |
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#define EE_PITCH_TARGET 0x127 |
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//mission specific |
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#define EE_CONFIG 0X0F8 |
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#define EE_WP_MODE 0x0F9 |
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#define EE_YAW_MODE 0x0FA // not used |
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#define EE_WP_TOTAL 0x0FB |
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#define EE_WP_INDEX 0x0FC |
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#define EE_WP_RADIUS 0x0FD |
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#define EE_LOITER_RADIUS 0x0FE |
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#define EE_ALT_HOLD_HOME 0x0FF |
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// user configs |
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#define EE_AIRSPEED_CRUISE 0x103 |
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#define EE_AIRSPEED_RATIO 0x104 |
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#define EE_AIRSPEED_FBW_MIN 0x108 |
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#define EE_AIRSPEED_FBW_MAX 0x109 |
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#define EE_THROTTLE_MIN 0x10A |
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#define EE_THROTTLE_CRUISE 0x10B |
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#define EE_THROTTLE_MAX 0x10C |
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#define EE_THROTTLE_FAILSAFE 0x10D |
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#define EE_THROTTLE_FS_VALUE 0x10E |
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#define EE_THROTTLE_FAILSAFE_ACTION 0x110 |
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#define EE_FLIGHT_MODE_CHANNEL 0x112 |
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#define EE_AUTO_TRIM 0x113 |
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#define EE_LOG_BITMASK 0x114 |
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#define EE_REVERSE_SWITCH 0x120 |
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#define EE_FLIGHT_MODES 0x121 |
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// sensors |
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#define EE_ABS_PRESS_GND 0x116 |
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#define EE_GND_TEMP 0x11A |
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#define EE_GND_ALT 0x11C |
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#define EE_AP_OFFSET 0x11E |
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// log |
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#define EE_LAST_LOG_PAGE 0xE00 |
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#define EE_LAST_LOG_NUM 0xE02 |
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#define EE_LOG_1_START 0xE04 |
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// bits in log_bitmask |
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#define LOGBIT_ATTITUDE_FAST (1<<0) |
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#define LOGBIT_ATTITUDE_MED (1<<1) |
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#define LOGBIT_GPS (1<<2) |
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#define LOGBIT_PM (1<<3) |
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#define LOGBIT_CTUN (1<<4) |
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#define LOGBIT_NTUN (1<<5) |
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#define LOGBIT_MODE (1<<6) |
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#define LOGBIT_RAW (1<<7) |
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#define LOGBIT_CMD (1<<8) |
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