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
  25     ARMING_DISABLED_FAILSAFE_SYSTEM                 = (1 << 7),
  26     ARMING_DISABLED_NOT_LEVEL                       = (1 << 8),
  27     ARMING_DISABLED_SENSORS_CALIBRATING             = (1 << 9),
  28     ARMING_DISABLED_SYSTEM_OVERLOADED               = (1 << 10),
  29     ARMING_DISABLED_NAVIGATION_UNSAFE               = (1 << 11),
  30     ARMING_DISABLED_COMPASS_NOT_CALIBRATED          = (1 << 12),
  31     ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED    = (1 << 13),
  32     ARMING_DISABLED_ARM_SWITCH                      = (1 << 14),
  33     ARMING_DISABLED_HARDWARE_FAILURE                = (1 << 15),
  34     ARMING_DISABLED_BOXFAILSAFE                     = (1 << 16),
  35     ARMING_DISABLED_BOXKILLSWITCH                   = (1 << 17),
  36     ARMING_DISABLED_RC_LINK                         = (1 << 18),
  37     ARMING_DISABLED_THROTTLE                        = (1 << 19),
  38     ARMING_DISABLED_CLI                             = (1 << 20),
  39     ARMING_DISABLED_CMS_MENU                        = (1 << 21),
  40     ARMING_DISABLED_OSD_MENU                        = (1 << 22),
  41     ARMING_DISABLED_ROLLPITCH_NOT_CENTERED          = (1 << 23),
  42     ARMING_DISABLED_SERVO_AUTOTRIM                  = (1 << 24),
  43     ARMING_DISABLED_OOM                             = (1 << 25),
  44     ARMING_DISABLED_INVALID_SETTING                 = (1 << 26),
  45     ARMING_DISABLED_PWM_OUTPUT_ERROR                = (1 << 27),
  46     ARMING_DISABLED_NO_PREARM                       = (1 << 28),
  47     ARMING_DISABLED_DSHOT_BEEPER                    = (1 << 29),
  48     ARMING_DISABLED_LANDING_DETECTED                = (1 << 30),
  49
  50     ARMING_DISABLED_ALL_FLAGS                       = (ARMING_DISABLED_FAILSAFE_SYSTEM | ARMING_DISABLED_NOT_LEVEL | ARMING_DISABLED_SENSORS_CALIBRATING |
  51                                                        ARMING_DISABLED_SYSTEM_OVERLOADED | ARMING_DISABLED_NAVIGATION_UNSAFE |
  52                                                        ARMING_DISABLED_COMPASS_NOT_CALIBRATED | ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED |
  53                                                        ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_HARDWARE_FAILURE | ARMING_DISABLED_BOXFAILSAFE |
  54                                                        ARMING_DISABLED_BOXKILLSWITCH | ARMING_DISABLED_RC_LINK | ARMING_DISABLED_THROTTLE | ARMING_DISABLED_CLI |
  55                                                        ARMING_DISABLED_CMS_MENU | ARMING_DISABLED_OSD_MENU | ARMING_DISABLED_ROLLPITCH_NOT_CENTERED |
  56                                                        ARMING_DISABLED_SERVO_AUTOTRIM | ARMING_DISABLED_OOM | ARMING_DISABLED_INVALID_SETTING |
  57                                                        ARMING_DISABLED_PWM_OUTPUT_ERROR | ARMING_DISABLED_NO_PREARM | ARMING_DISABLED_DSHOT_BEEPER |
  58                                                        ARMING_DISABLED_LANDING_DETECTED),
  59 } armingFlag_e;
  60
  61 // Arming blockers that can be overriden by emergency arming.
  62 // Keep in mind that this feature is intended to allow arming in
  63 // situations where we might just need the motors to spin so the
  64 // aircraft can move (even unpredictably) and get unstuck (e.g.
  65 // crashed into a high tree).
  66 #define ARMING_DISABLED_EMERGENCY_OVERRIDE  (ARMING_DISABLED_NOT_LEVEL \
  67                                             | ARMING_DISABLED_NAVIGATION_UNSAFE \
  68                                             | ARMING_DISABLED_COMPASS_NOT_CALIBRATED \
  69                                             | ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED \
  70                                             | ARMING_DISABLED_ARM_SWITCH \
  71                                             | ARMING_DISABLED_HARDWARE_FAILURE)
  72
  73
  74 extern uint32_t armingFlags;
  75
  76 extern const char *armingDisableFlagNames[];
  77
  78 #define isArmingDisabled()          (armingFlags & (ARMING_DISABLED_ALL_FLAGS))
  79 #define DISABLE_ARMING_FLAG(mask)   (armingFlags &= ~(mask))
  80 #define ENABLE_ARMING_FLAG(mask)    (armingFlags |= (mask))
  81 #define ARMING_FLAG(mask)           (armingFlags & (mask))
  82
  83 // Returns the 1st flag from ARMING_DISABLED_ALL_FLAGS which is
  84 // preventing arming, or zero if arming is not disabled.
  85 armingFlag_e isArmingDisabledReason(void);
  86
  87 typedef enum {
  88     ANGLE_MODE            = (1 << 0),
  89     HORIZON_MODE          = (1 << 1),
  90     HEADING_MODE          = (1 << 2),
  91     NAV_ALTHOLD_MODE      = (1 << 3), // old BARO
  92     NAV_RTH_MODE          = (1 << 4), // old GPS_HOME
  93     NAV_POSHOLD_MODE      = (1 << 5), // old GPS_HOLD
  94     HEADFREE_MODE         = (1 << 6),
  95     NAV_LAUNCH_MODE       = (1 << 7),
  96     MANUAL_MODE           = (1 << 8),
  97     FAILSAFE_MODE         = (1 << 9),
  98     AUTO_TUNE             = (1 << 10), // old G-Tune
  99     NAV_WP_MODE           = (1 << 11),
 100     NAV_COURSE_HOLD_MODE  = (1 << 12),
 101     FLAPERON              = (1 << 13),
 102     TURN_ASSISTANT        = (1 << 14),
 103     TURTLE_MODE           = (1 << 15),
 104     SOARING_MODE          = (1 << 16),
 105 } flightModeFlags_e;
 106
 107 extern uint32_t flightModeFlags;
 108
 109 #define DISABLE_FLIGHT_MODE(mask) disableFlightMode(mask)
 110 #define ENABLE_FLIGHT_MODE(mask) enableFlightMode(mask)
 111 #define FLIGHT_MODE(mask) (flightModeFlags & (mask))
 112
 113 typedef enum {
 114     GPS_FIX_HOME                        = (1 << 0),
 115     GPS_FIX                             = (1 << 1),
 116     CALIBRATE_MAG                       = (1 << 2),
 117     SMALL_ANGLE                         = (1 << 3),
 118     FIXED_WING_LEGACY                   = (1 << 4),     // No new code should use this state. Use AIRPLANE, MULTIROTOR, ROVER, BOAT, ALTITUDE_CONTROL and MOVE_FORWARD_ONLY states
 119     ANTI_WINDUP                         = (1 << 5),
 120     FLAPERON_AVAILABLE                  = (1 << 6),
 121     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
 122     COMPASS_CALIBRATED                  = (1 << 8),
 123     ACCELEROMETER_CALIBRATED            = (1 << 9),
 124     NAV_CRUISE_BRAKING                  = (1 << 11),
 125     NAV_CRUISE_BRAKING_BOOST            = (1 << 12),
 126     NAV_CRUISE_BRAKING_LOCKED           = (1 << 13),
 127     NAV_EXTRA_ARMING_SAFETY_BYPASSED    = (1 << 14),    // nav_extra_arming_safey was bypassed. Keep it until power cycle.
 128     AIRMODE_ACTIVE                      = (1 << 15),
 129     ESC_SENSOR_ENABLED                  = (1 << 16),
 130     AIRPLANE                            = (1 << 17),
 131     MULTIROTOR                          = (1 << 18),
 132     ROVER                               = (1 << 19),
 133     BOAT                                = (1 << 20),
 134     ALTITUDE_CONTROL                    = (1 << 21),    //It means it can fly
 135     MOVE_FORWARD_ONLY                   = (1 << 22),
 136     SET_REVERSIBLE_MOTORS_FORWARD       = (1 << 23),
 137     FW_HEADING_USE_YAW                  = (1 << 24),
 138     ANTI_WINDUP_DEACTIVATED             = (1 << 25),
 139     LANDING_DETECTED                    = (1 << 26),
 140 } stateFlags_t;
 141
 142 #define DISABLE_STATE(mask) (stateFlags &= ~(mask))
 143 #define ENABLE_STATE(mask) (stateFlags |= (mask))
 144 #define STATE(mask) (stateFlags & (mask))
 145
 146 extern uint32_t stateFlags;
 147
 148 typedef enum {
 149     FLM_MANUAL,
 150     FLM_ACRO,
 151     FLM_ACRO_AIR,
 152     FLM_ANGLE,
 153     FLM_HORIZON,
 154     FLM_ALTITUDE_HOLD,
 155     FLM_POSITION_HOLD,
 156     FLM_RTH,
 157     FLM_MISSION,
 158     FLM_COURSE_HOLD,
 159     FLM_CRUISE,
 160     FLM_LAUNCH,
 161     FLM_FAILSAFE,
 162     FLM_COUNT
 163 } flightModeForTelemetry_e;
 164
 165 flightModeForTelemetry_e getFlightModeForTelemetry(void);
 166
 167 uint32_t enableFlightMode(flightModeFlags_e mask);
 168 uint32_t disableFlightMode(flightModeFlags_e mask);
 169
 170 bool sensors(uint32_t mask);
 171 void sensorsSet(uint32_t mask);
 172 void sensorsClear(uint32_t mask);
 173 uint32_t sensorsMask(void);