src/main/fc/runtime_config.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 // FIXME some of these are flight modes, some of these are general status indicators
  21 typedef enum {
  22     ARMED                                           = (1 << 2),
  23     WAS_EVER_ARMED                                  = (1 << 3),
  24     SIMULATOR_MODE                                  = (1 << 4),
  25
  26     ARMING_DISABLED_FAILSAFE_SYSTEM                 = (1 << 7),
  27     ARMING_DISABLED_NOT_LEVEL                       = (1 << 8),
  28     ARMING_DISABLED_SENSORS_CALIBRATING             = (1 << 9),
  29     ARMING_DISABLED_SYSTEM_OVERLOADED               = (1 << 10),
  30     ARMING_DISABLED_NAVIGATION_UNSAFE               = (1 << 11),
  31     ARMING_DISABLED_COMPASS_NOT_CALIBRATED          = (1 << 12),
  32     ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED    = (1 << 13),
  33     ARMING_DISABLED_ARM_SWITCH                      = (1 << 14),
  34     ARMING_DISABLED_HARDWARE_FAILURE                = (1 << 15),
  35     ARMING_DISABLED_BOXFAILSAFE                     = (1 << 16),
  36     ARMING_DISABLED_BOXKILLSWITCH                   = (1 << 17),
  37     ARMING_DISABLED_RC_LINK                         = (1 << 18),
  38     ARMING_DISABLED_THROTTLE                        = (1 << 19),
  39     ARMING_DISABLED_CLI                             = (1 << 20),
  40     ARMING_DISABLED_CMS_MENU                        = (1 << 21),
  41     ARMING_DISABLED_OSD_MENU                        = (1 << 22),
  42     ARMING_DISABLED_ROLLPITCH_NOT_CENTERED          = (1 << 23),
  43     ARMING_DISABLED_SERVO_AUTOTRIM                  = (1 << 24),
  44     ARMING_DISABLED_OOM                             = (1 << 25),
  45     ARMING_DISABLED_INVALID_SETTING                 = (1 << 26),
  46     ARMING_DISABLED_PWM_OUTPUT_ERROR                = (1 << 27),
  47     ARMING_DISABLED_NO_PREARM                       = (1 << 28),
  48     ARMING_DISABLED_DSHOT_BEEPER                    = (1 << 29),
  49     ARMING_DISABLED_LANDING_DETECTED                = (1 << 30),
  50
  51     ARMING_DISABLED_ALL_FLAGS                       = (ARMING_DISABLED_FAILSAFE_SYSTEM | ARMING_DISABLED_NOT_LEVEL | ARMING_DISABLED_SENSORS_CALIBRATING |
  52                                                        ARMING_DISABLED_SYSTEM_OVERLOADED | ARMING_DISABLED_NAVIGATION_UNSAFE |
  53                                                        ARMING_DISABLED_COMPASS_NOT_CALIBRATED | ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED |
  54                                                        ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_HARDWARE_FAILURE | ARMING_DISABLED_BOXFAILSAFE |
  55                                                        ARMING_DISABLED_BOXKILLSWITCH | ARMING_DISABLED_RC_LINK | ARMING_DISABLED_THROTTLE | ARMING_DISABLED_CLI |
  56                                                        ARMING_DISABLED_CMS_MENU | ARMING_DISABLED_OSD_MENU | ARMING_DISABLED_ROLLPITCH_NOT_CENTERED |
  57                                                        ARMING_DISABLED_SERVO_AUTOTRIM | ARMING_DISABLED_OOM | ARMING_DISABLED_INVALID_SETTING |
  58                                                        ARMING_DISABLED_PWM_OUTPUT_ERROR | ARMING_DISABLED_NO_PREARM | ARMING_DISABLED_DSHOT_BEEPER |
  59                                                        ARMING_DISABLED_LANDING_DETECTED),
  60 } armingFlag_e;
  61
  62 // Arming blockers that can be overriden by emergency arming.
  63 // Keep in mind that this feature is intended to allow arming in
  64 // situations where we might just need the motors to spin so the
  65 // aircraft can move (even unpredictably) and get unstuck (e.g.
  66 // crashed into a high tree).
  67 #define ARMING_DISABLED_EMERGENCY_OVERRIDE  (ARMING_DISABLED_NOT_LEVEL \
  68                                             | ARMING_DISABLED_NAVIGATION_UNSAFE \
  69                                             | ARMING_DISABLED_COMPASS_NOT_CALIBRATED \
  70                                             | ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED \
  71                                             | ARMING_DISABLED_ARM_SWITCH \
  72                                             | ARMING_DISABLED_HARDWARE_FAILURE)
  73
  74
  75 extern uint32_t armingFlags;
  76
  77 extern const char *armingDisableFlagNames[];
  78
  79 #define isArmingDisabled()          (armingFlags & (ARMING_DISABLED_ALL_FLAGS))
  80 #define DISABLE_ARMING_FLAG(mask)   (armingFlags &= ~(mask))
  81 #define ENABLE_ARMING_FLAG(mask)    (armingFlags |= (mask))
  82 #define ARMING_FLAG(mask)           (armingFlags & (mask))
  83
  84 // Returns the 1st flag from ARMING_DISABLED_ALL_FLAGS which is
  85 // preventing arming, or zero if arming is not disabled.
  86 armingFlag_e isArmingDisabledReason(void);
  87
  88 typedef enum {
  89     ANGLE_MODE            = (1 << 0),
  90     HORIZON_MODE          = (1 << 1),
  91     HEADING_MODE          = (1 << 2),
  92     NAV_ALTHOLD_MODE      = (1 << 3),
  93     NAV_RTH_MODE          = (1 << 4),
  94     NAV_POSHOLD_MODE      = (1 << 5),
  95     HEADFREE_MODE         = (1 << 6),
  96     NAV_LAUNCH_MODE       = (1 << 7),
  97     MANUAL_MODE           = (1 << 8),
  98     FAILSAFE_MODE         = (1 << 9),
  99     AUTO_TUNE             = (1 << 10),
 100     NAV_WP_MODE           = (1 << 11),
 101     NAV_COURSE_HOLD_MODE  = (1 << 12),
 102     FLAPERON              = (1 << 13),
 103     TURN_ASSISTANT        = (1 << 14),
 104     TURTLE_MODE           = (1 << 15),
 105     SOARING_MODE          = (1 << 16),
 106 } flightModeFlags_e;
 107
 108 extern uint32_t flightModeFlags;
 109
 110 #define DISABLE_FLIGHT_MODE(mask) disableFlightMode(mask)
 111 #define ENABLE_FLIGHT_MODE(mask) enableFlightMode(mask)
 112 #define FLIGHT_MODE(mask) (flightModeFlags & (mask))
 113
 114 typedef enum {
 115     GPS_FIX_HOME                        = (1 << 0),
 116     GPS_FIX                             = (1 << 1),
 117     CALIBRATE_MAG                       = (1 << 2),
 118     SMALL_ANGLE                         = (1 << 3),
 119     FIXED_WING_LEGACY                   = (1 << 4),     // No new code should use this state. Use AIRPLANE, MULTIROTOR, ROVER, BOAT, ALTITUDE_CONTROL and MOVE_FORWARD_ONLY states
 120     ANTI_WINDUP                         = (1 << 5),
 121     FLAPERON_AVAILABLE                  = (1 << 6),
 122     NAV_MOTOR_STOP_OR_IDLE              = (1 << 7),     // navigation requests MOTOR_STOP or motor idle regardless of throttle stick, will only activate if MOTOR_STOP feature is available
 123     COMPASS_CALIBRATED                  = (1 << 8),
 124     ACCELEROMETER_CALIBRATED            = (1 << 9),
 125     NAV_CRUISE_BRAKING                  = (1 << 11),
 126     NAV_CRUISE_BRAKING_BOOST            = (1 << 12),
 127     NAV_CRUISE_BRAKING_LOCKED           = (1 << 13),
 128     NAV_EXTRA_ARMING_SAFETY_BYPASSED    = (1 << 14),    // nav_extra_arming_safey was bypassed. Keep it until power cycle.
 129     AIRMODE_ACTIVE                      = (1 << 15),
 130     ESC_SENSOR_ENABLED                  = (1 << 16),
 131     AIRPLANE                            = (1 << 17),
 132     MULTIROTOR                          = (1 << 18),
 133     ROVER                               = (1 << 19),
 134     BOAT                                = (1 << 20),
 135     ALTITUDE_CONTROL                    = (1 << 21),    //It means it can fly
 136     MOVE_FORWARD_ONLY                   = (1 << 22),
 137     SET_REVERSIBLE_MOTORS_FORWARD       = (1 << 23),
 138     FW_HEADING_USE_YAW                  = (1 << 24),
 139     ANTI_WINDUP_DEACTIVATED             = (1 << 25),
 140     LANDING_DETECTED                    = (1 << 26),
 141 } stateFlags_t;
 142
 143 #define DISABLE_STATE(mask) (stateFlags &= ~(mask))
 144 #define ENABLE_STATE(mask) (stateFlags |= (mask))
 145 #define STATE(mask) (stateFlags & (mask))
 146
 147 extern uint32_t stateFlags;
 148
 149 typedef enum {
 150     FLM_MANUAL,
 151     FLM_ACRO,
 152     FLM_ACRO_AIR,
 153     FLM_ANGLE,
 154     FLM_HORIZON,
 155     FLM_ALTITUDE_HOLD,
 156     FLM_POSITION_HOLD,
 157     FLM_RTH,
 158     FLM_MISSION,
 159     FLM_COURSE_HOLD,
 160     FLM_CRUISE,
 161     FLM_LAUNCH,
 162     FLM_FAILSAFE,
 163     FLM_COUNT
 164 } flightModeForTelemetry_e;
 165
 166 flightModeForTelemetry_e getFlightModeForTelemetry(void);
 167
 168 #ifdef USE_SIMULATOR
 169
 170 #define SIMULATOR_MSP_VERSION  2     // Simulator MSP version
 171 #define SIMULATOR_BARO_TEMP    25    // °C
 172 #define SIMULATOR_FULL_BATTERY 12.6f // Volts
 173 #define SIMULATOR_HAS_OPTION(flag) ((simulatorData.flags & flag) != 0)
 174
 175 typedef enum {
 176     HITL_RESET_FLAGS            = (0 << 0),
 177         HITL_ENABLE                                     = (1 << 0),
 178         HITL_SIMULATE_BATTERY           = (1 << 1),
 179         HITL_MUTE_BEEPER                        = (1 << 2),
 180         HITL_USE_IMU                        = (1 << 3), // Use the Acc and Gyro data provided by XPlane to calculate Attitude (i.e. 100% of the calculations made by AHRS from INAV)
 181         HITL_HAS_NEW_GPS_DATA           = (1 << 4),
 182         HITL_EXT_BATTERY_VOLTAGE        = (1 << 5), // Extend MSP_SIMULATOR format 2
 183     HITL_AIRSPEED               = (1 << 6)
 184 } simulatorFlags_t;
 185
 186 typedef struct {
 187         simulatorFlags_t flags;
 188         uint8_t debugIndex;
 189     uint8_t vbat;      // 126 -> 12.6V
 190         uint16_t airSpeed; // cm/s
 191     int16_t input[4];
 192 } simulatorData_t;
 193
 194 extern simulatorData_t simulatorData;
 195
 196 #endif
 197
 198 uint32_t enableFlightMode(flightModeFlags_e mask);
 199 uint32_t disableFlightMode(flightModeFlags_e mask);
 200
 201 bool sensors(uint32_t mask);
 202 void sensorsSet(uint32_t mask);
 203 void sensorsClear(uint32_t mask);
 204 uint32_t sensorsMask(void);