ArduCopter/defines.h

   1 #pragma once
   2
   3 #include <AP_HAL/AP_HAL_Boards.h>
   4
   5 // Frame types
   6 #define UNDEFINED_FRAME 0
   7 #define MULTICOPTER_FRAME 1
   8 #define HELI_FRAME 2
   9
  10 // Tuning enumeration
  11 enum tuning_func {
  12     TUNING_NONE =                        0, //
  13     TUNING_STABILIZE_ROLL_PITCH_KP =     1, // stabilize roll/pitch angle controller's P term
  14     TUNING_STABILIZE_YAW_KP =            3, // stabilize yaw heading controller's P term
  15     TUNING_RATE_ROLL_PITCH_KP =          4, // body frame roll/pitch rate controller's P term
  16     TUNING_RATE_ROLL_PITCH_KI =          5, // body frame roll/pitch rate controller's I term
  17     TUNING_YAW_RATE_KP =                 6, // body frame yaw rate controller's P term
  18     TUNING_THROTTLE_RATE_KP =            7, // throttle rate controller's P term (desired rate to acceleration or motor output)
  19     TUNING_WP_SPEED =                   10, // maximum speed to next way point (0 to 10m/s)
  20     TUNING_LOITER_POSITION_KP =         12, // loiter distance controller's P term (position error to speed)
  21     TUNING_HELI_EXTERNAL_GYRO =         13, // TradHeli specific external tail gyro gain
  22     TUNING_ALTITUDE_HOLD_KP =           14, // altitude hold controller's P term (alt error to desired rate)
  23     TUNING_RATE_ROLL_PITCH_KD =         21, // body frame roll/pitch rate controller's D term
  24     TUNING_VEL_XY_KP =                  22, // loiter rate controller's P term (speed error to tilt angle)
  25     TUNING_ACRO_RP_RATE =               25, // acro controller's desired roll and pitch rate in deg/s
  26     TUNING_YAW_RATE_KD =                26, // body frame yaw rate controller's D term
  27     TUNING_VEL_XY_KI =                  28, // loiter rate controller's I term (speed error to tilt angle)
  28     TUNING_AHRS_YAW_KP =                30, // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
  29     TUNING_AHRS_KP =                    31, // accelerometer effect on roll/pitch angle (0=low)
  30     TUNING_ACCEL_Z_KP =                 34, // accel based throttle controller's P term
  31     TUNING_ACCEL_Z_KI =                 35, // accel based throttle controller's I term
  32     TUNING_ACCEL_Z_KD =                 36, // accel based throttle controller's D term
  33     TUNING_DECLINATION =                38, // compass declination in radians
  34     TUNING_CIRCLE_RATE =                39, // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
  35     TUNING_ACRO_YAW_RATE =              40, // acro controller's desired yaw rate in deg/s
  36     TUNING_RANGEFINDER_GAIN =           41, // unused
  37     TUNING_EKF_VERTICAL_POS =           42, // unused
  38     TUNING_EKF_HORIZONTAL_POS =         43, // unused
  39     TUNING_EKF_ACCEL_NOISE =            44, // unused
  40     TUNING_RC_FEEL_RP =                 45, // roll-pitch input smoothing
  41     TUNING_RATE_PITCH_KP =              46, // body frame pitch rate controller's P term
  42     TUNING_RATE_PITCH_KI =              47, // body frame pitch rate controller's I term
  43     TUNING_RATE_PITCH_KD =              48, // body frame pitch rate controller's D term
  44     TUNING_RATE_ROLL_KP =               49, // body frame roll rate controller's P term
  45     TUNING_RATE_ROLL_KI =               50, // body frame roll rate controller's I term
  46     TUNING_RATE_ROLL_KD =               51, // body frame roll rate controller's D term
  47     TUNING_RATE_PITCH_FF =              52, // body frame pitch rate controller FF term
  48     TUNING_RATE_ROLL_FF =               53, // body frame roll rate controller FF term
  49     TUNING_RATE_YAW_FF =                54, // body frame yaw rate controller FF term
  50     TUNING_RATE_MOT_YAW_HEADROOM =      55, // motors yaw headroom minimum
  51     TUNING_RATE_YAW_FILT =              56, // yaw rate input filter
  52     UNUSED =                            57, // was winch control
  53     TUNING_SYSTEM_ID_MAGNITUDE =        58, // magnitude of the system ID signal
  54     TUNING_POS_CONTROL_ANGLE_MAX =      59  // position controller maximum angle
  55 };
  56
  57 // Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter
  58 #define WP_YAW_BEHAVIOR_NONE                          0   // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received)
  59 #define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP               1   // auto pilot will face next waypoint or home during rtl
  60 #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
  61 #define WP_YAW_BEHAVIOR_LOOK_AHEAD                    3   // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicopters)
  62
  63
  64 // Airmode
  65 enum class AirMode {
  66     AIRMODE_NONE,
  67     AIRMODE_DISABLED,
  68     AIRMODE_ENABLED,
  69 };
  70
  71 // bit options for DEV_OPTIONS parameter
  72 enum DevOptions {
  73     DevOptionADSBMAVLink = 1,
  74     DevOptionVFR_HUDRelativeAlt = 2,
  75 };
  76
  77 //  Logging parameters - only 32 messages are available to the vehicle here.
  78 enum LoggingParameters {
  79      LOG_CONTROL_TUNING_MSG,
  80      LOG_DATA_INT16_MSG,
  81      LOG_DATA_UINT16_MSG,
  82      LOG_DATA_INT32_MSG,
  83      LOG_DATA_UINT32_MSG,
  84      LOG_DATA_FLOAT_MSG,
  85      LOG_PARAMTUNE_MSG,
  86      LOG_HELI_MSG,
  87      LOG_GUIDED_POSITION_TARGET_MSG,
  88      LOG_SYSIDD_MSG,
  89      LOG_SYSIDS_MSG,
  90      LOG_GUIDED_ATTITUDE_TARGET_MSG
  91 };
  92
  93 #define MASK_LOG_ATTITUDE_FAST          (1<<0)
  94 #define MASK_LOG_ATTITUDE_MED           (1<<1)
  95 #define MASK_LOG_GPS                    (1<<2)
  96 #define MASK_LOG_PM                     (1<<3)
  97 #define MASK_LOG_CTUN                   (1<<4)
  98 #define MASK_LOG_NTUN                   (1<<5)
  99 #define MASK_LOG_RCIN                   (1<<6)
 100 #define MASK_LOG_IMU                    (1<<7)
 101 #define MASK_LOG_CMD                    (1<<8)
 102 #define MASK_LOG_CURRENT                (1<<9)
 103 #define MASK_LOG_RCOUT                  (1<<10)
 104 #define MASK_LOG_OPTFLOW                (1<<11)
 105 #define MASK_LOG_PID                    (1<<12)
 106 #define MASK_LOG_COMPASS                (1<<13)
 107 #define MASK_LOG_INAV                   (1<<14) // deprecated
 108 #define MASK_LOG_CAMERA                 (1<<15)
 109 #define MASK_LOG_MOTBATT                (1UL<<17)
 110 #define MASK_LOG_IMU_FAST               (1UL<<18)
 111 #define MASK_LOG_IMU_RAW                (1UL<<19)
 112 #define MASK_LOG_VIDEO_STABILISATION    (1UL<<20)
 113 #define MASK_LOG_FTN_FAST               (1UL<<21)
 114 #define MASK_LOG_ANY                    0xFFFF
 115
 116 // Radio failsafe definitions (FS_THR parameter)
 117 #define FS_THR_DISABLED                            0
 118 #define FS_THR_ENABLED_ALWAYS_RTL                  1
 119 #define FS_THR_ENABLED_CONTINUE_MISSION            2    // Removed in 4.0+, now use fs_options
 120 #define FS_THR_ENABLED_ALWAYS_LAND                 3
 121 #define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_RTL      4
 122 #define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_LAND     5
 123 #define FS_THR_ENABLED_AUTO_RTL_OR_RTL             6
 124 #define FS_THR_ENABLED_BRAKE_OR_LAND               7
 125
 126 // GCS failsafe definitions (FS_GCS_ENABLE parameter)
 127 #define FS_GCS_DISABLED                        0
 128 #define FS_GCS_ENABLED_ALWAYS_RTL              1
 129 #define FS_GCS_ENABLED_CONTINUE_MISSION        2    // Removed in 4.0+, now use fs_options
 130 #define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL  3
 131 #define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4
 132 #define FS_GCS_ENABLED_ALWAYS_LAND             5
 133 #define FS_GCS_ENABLED_AUTO_RTL_OR_RTL         6
 134 #define FS_GCS_ENABLED_BRAKE_OR_LAND           7
 135
 136 // EKF failsafe definitions (FS_EKF_ACTION parameter)
 137 #define FS_EKF_ACTION_LAND                  1       // switch to LAND mode on EKF failsafe
 138 #define FS_EKF_ACTION_ALTHOLD               2       // switch to ALTHOLD mode on EKF failsafe
 139 #define FS_EKF_ACTION_LAND_EVEN_STABILIZE   3       // switch to Land mode on EKF failsafe even if in a manual flight mode like stabilize
 140
 141 // for PILOT_THR_BHV parameter
 142 #define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
 143 #define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
 144 #define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)