forked from ArduPilot/ardupilot
-
Notifications
You must be signed in to change notification settings - Fork 25
/
defines.h
175 lines (158 loc) · 9 KB
/
defines.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
// 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
// Autopilot Yaw Mode enumeration
enum autopilot_yaw_mode {
AUTO_YAW_HOLD = 0, // pilot controls the heading
AUTO_YAW_LOOK_AT_NEXT_WP = 1, // point towards next waypoint (no pilot input accepted)
AUTO_YAW_ROI = 2, // point towards a location held in roi (no pilot input accepted)
AUTO_YAW_FIXED = 3, // point towards a particular angle (no pilot input accepted)
AUTO_YAW_LOOK_AHEAD = 4, // point in the direction the copter is moving
AUTO_YAW_RESETTOARMEDYAW = 5, // point towards heading at time motors were armed
AUTO_YAW_ANGLE_RATE = 6, // turn at a specified rate from a starting angle
AUTO_YAW_RATE = 7, // turn at a specified rate (held in auto_yaw_rate)
AUTO_YAW_CIRCLE = 8, // use AC_Circle's provided yaw (used during Loiter-Turns commands)
};
// Frame types
#define UNDEFINED_FRAME 0
#define MULTICOPTER_FRAME 1
#define HELI_FRAME 2
// Tuning enumeration
enum tuning_func {
TUNING_NONE = 0, //
TUNING_STABILIZE_ROLL_PITCH_KP = 1, // stabilize roll/pitch angle controller's P term
TUNING_STABILIZE_YAW_KP = 3, // stabilize yaw heading controller's P term
TUNING_RATE_ROLL_PITCH_KP = 4, // body frame roll/pitch rate controller's P term
TUNING_RATE_ROLL_PITCH_KI = 5, // body frame roll/pitch rate controller's I term
TUNING_YAW_RATE_KP = 6, // body frame yaw rate controller's P term
TUNING_THROTTLE_RATE_KP = 7, // throttle rate controller's P term (desired rate to acceleration or motor output)
TUNING_WP_SPEED = 10, // maximum speed to next way point (0 to 10m/s)
TUNING_LOITER_POSITION_KP = 12, // loiter distance controller's P term (position error to speed)
TUNING_HELI_EXTERNAL_GYRO = 13, // TradHeli specific external tail gyro gain
TUNING_ALTITUDE_HOLD_KP = 14, // altitude hold controller's P term (alt error to desired rate)
TUNING_RATE_ROLL_PITCH_KD = 21, // body frame roll/pitch rate controller's D term
TUNING_VEL_XY_KP = 22, // loiter rate controller's P term (speed error to tilt angle)
TUNING_ACRO_RP_RATE = 25, // acro controller's desired roll and pitch rate in deg/s
TUNING_YAW_RATE_KD = 26, // body frame yaw rate controller's D term
TUNING_VEL_XY_KI = 28, // loiter rate controller's I term (speed error to tilt angle)
TUNING_AHRS_YAW_KP = 30, // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
TUNING_AHRS_KP = 31, // accelerometer effect on roll/pitch angle (0=low)
TUNING_ACCEL_Z_KP = 34, // accel based throttle controller's P term
TUNING_ACCEL_Z_KI = 35, // accel based throttle controller's I term
TUNING_ACCEL_Z_KD = 36, // accel based throttle controller's D term
TUNING_DECLINATION = 38, // compass declination in radians
TUNING_CIRCLE_RATE = 39, // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
TUNING_ACRO_YAW_RATE = 40, // acro controller's desired yaw rate in deg/s
TUNING_RANGEFINDER_GAIN = 41, // unused
TUNING_EKF_VERTICAL_POS = 42, // unused
TUNING_EKF_HORIZONTAL_POS = 43, // unused
TUNING_EKF_ACCEL_NOISE = 44, // unused
TUNING_RC_FEEL_RP = 45, // roll-pitch input smoothing
TUNING_RATE_PITCH_KP = 46, // body frame pitch rate controller's P term
TUNING_RATE_PITCH_KI = 47, // body frame pitch rate controller's I term
TUNING_RATE_PITCH_KD = 48, // body frame pitch rate controller's D term
TUNING_RATE_ROLL_KP = 49, // body frame roll rate controller's P term
TUNING_RATE_ROLL_KI = 50, // body frame roll rate controller's I term
TUNING_RATE_ROLL_KD = 51, // body frame roll rate controller's D term
TUNING_RATE_PITCH_FF = 52, // body frame pitch rate controller FF term
TUNING_RATE_ROLL_FF = 53, // body frame roll rate controller FF term
TUNING_RATE_YAW_FF = 54, // body frame yaw rate controller FF term
TUNING_RATE_MOT_YAW_HEADROOM = 55, // motors yaw headroom minimum
TUNING_RATE_YAW_FILT = 56, // yaw rate input filter
UNUSED = 57, // was winch control
TUNING_SYSTEM_ID_MAGNITUDE = 58 // magnitude of the system ID signal
};
// Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter
#define WP_YAW_BEHAVIOR_NONE 0 // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received)
#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP 1 // auto pilot will face next waypoint or home during rtl
#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL 2 // auto pilot will face next waypoint except when doing RTL at which time it will stay in it's last
#define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicopters)
// Airmode
enum class AirMode {
AIRMODE_NONE,
AIRMODE_DISABLED,
AIRMODE_ENABLED,
};
enum PayloadPlaceStateType {
PayloadPlaceStateType_FlyToLocation,
PayloadPlaceStateType_Calibrating_Hover_Start,
PayloadPlaceStateType_Calibrating_Hover,
PayloadPlaceStateType_Descending_Start,
PayloadPlaceStateType_Descending,
PayloadPlaceStateType_Releasing_Start,
PayloadPlaceStateType_Releasing,
PayloadPlaceStateType_Released,
PayloadPlaceStateType_Ascending_Start,
PayloadPlaceStateType_Ascending,
PayloadPlaceStateType_Done,
};
// bit options for DEV_OPTIONS parameter
enum DevOptions {
DevOptionADSBMAVLink = 1,
DevOptionVFR_HUDRelativeAlt = 2,
};
// Logging parameters - only 32 messages are available to the vehicle here.
enum LoggingParameters {
LOG_CONTROL_TUNING_MSG,
LOG_DATA_INT16_MSG,
LOG_DATA_UINT16_MSG,
LOG_DATA_INT32_MSG,
LOG_DATA_UINT32_MSG,
LOG_DATA_FLOAT_MSG,
LOG_PARAMTUNE_MSG,
LOG_HELI_MSG,
LOG_GUIDED_POSITION_TARGET_MSG,
LOG_SYSIDD_MSG,
LOG_SYSIDS_MSG,
LOG_GUIDED_ATTITUDE_TARGET_MSG
};
#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_RCIN (1<<6)
#define MASK_LOG_IMU (1<<7)
#define MASK_LOG_CMD (1<<8)
#define MASK_LOG_CURRENT (1<<9)
#define MASK_LOG_RCOUT (1<<10)
#define MASK_LOG_OPTFLOW (1<<11)
#define MASK_LOG_PID (1<<12)
#define MASK_LOG_COMPASS (1<<13)
#define MASK_LOG_INAV (1<<14) // deprecated
#define MASK_LOG_CAMERA (1<<15)
#define MASK_LOG_MOTBATT (1UL<<17)
#define MASK_LOG_IMU_FAST (1UL<<18)
#define MASK_LOG_IMU_RAW (1UL<<19)
#define MASK_LOG_VIDEO_STABILISATION (1UL<<20)
#define MASK_LOG_ANY 0xFFFF
// Radio failsafe definitions (FS_THR parameter)
#define FS_THR_DISABLED 0
#define FS_THR_ENABLED_ALWAYS_RTL 1
#define FS_THR_ENABLED_CONTINUE_MISSION 2 // Removed in 4.0+, now use fs_options
#define FS_THR_ENABLED_ALWAYS_LAND 3
#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_RTL 4
#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_LAND 5
#define FS_THR_ENABLED_AUTO_RTL_OR_RTL 6
// GCS failsafe definitions (FS_GCS_ENABLE parameter)
#define FS_GCS_DISABLED 0
#define FS_GCS_ENABLED_ALWAYS_RTL 1
#define FS_GCS_ENABLED_CONTINUE_MISSION 2 // Removed in 4.0+, now use fs_options
#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL 3
#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4
#define FS_GCS_ENABLED_ALWAYS_LAND 5
#define FS_GCS_ENABLED_AUTO_RTL_OR_RTL 6
// EKF failsafe definitions (FS_EKF_ACTION parameter)
#define FS_EKF_ACTION_LAND 1 // switch to LAND mode on EKF failsafe
#define FS_EKF_ACTION_ALTHOLD 2 // switch to ALTHOLD mode on EKF failsafe
#define FS_EKF_ACTION_LAND_EVEN_STABILIZE 3 // switch to Land mode on EKF failsafe even if in a manual flight mode like stabilize
// for PILOT_THR_BHV parameter
#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
#define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
#define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)