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.
50 lines
1.1 KiB
50 lines
1.1 KiB
#pragma once |
|
|
|
// Controller modes |
|
// ---------------- |
|
|
|
enum ControlMode { |
|
MANUAL=0, |
|
STOP=1, |
|
SCAN=2, |
|
SERVO_TEST=3, |
|
AUTO=10, |
|
INITIALISING=16 |
|
}; |
|
|
|
enum ServoType { |
|
SERVO_TYPE_POSITION=0, |
|
SERVO_TYPE_ONOFF=1, |
|
SERVO_TYPE_CR=2 |
|
}; |
|
|
|
enum AltSource { |
|
ALT_SOURCE_BARO=0, |
|
ALT_SOURCE_GPS=1, |
|
ALT_SOURCE_GPS_VEH_ONLY=2 |
|
}; |
|
|
|
enum mode_reason_t { |
|
MODE_REASON_INITIALISED = 0, |
|
MODE_REASON_STARTUP, |
|
MODE_REASON_SERVOTEST, |
|
MODE_REASON_GCS_COMMAND, |
|
}; |
|
|
|
// Filter |
|
#define SERVO_OUT_FILT_HZ 0.1f |
|
#define G_Dt 0.02f |
|
|
|
// Logging parameters |
|
#define MASK_LOG_ATTITUDE (1<<0) |
|
#define MASK_LOG_GPS (1<<1) |
|
#define MASK_LOG_RCIN (1<<2) |
|
#define MASK_LOG_IMU (1<<3) |
|
#define MASK_LOG_RCOUT (1<<4) |
|
#define MASK_LOG_COMPASS (1<<5) |
|
#define MASK_LOG_CURRENT (1<<6) |
|
#define MASK_LOG_ANY 0xFFFF |
|
|
|
// Logging messages |
|
#define LOG_V_BAR_MSG 0x04 |
|
#define LOG_V_POS_MSG 0x05
|
|
|