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_HITL                             = (1 << 4),
  25     SIMULATOR_MODE_SITL                             = (1 << 5),
  26
  27     ARMING_DISABLED_FAILSAFE_SYSTEM                 = (1 << 7),
  28     ARMING_DISABLED_NOT_LEVEL                       = (1 << 8),
  29     ARMING_DISABLED_SENSORS_CALIBRATING             = (1 << 9),
  30     ARMING_DISABLED_SYSTEM_OVERLOADED               = (1 << 10),
  31     ARMING_DISABLED_NAVIGATION_UNSAFE               = (1 << 11),
  32     ARMING_DISABLED_COMPASS_NOT_CALIBRATED          = (1 << 12),
  33     ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED    = (1 << 13),
  34     ARMING_DISABLED_ARM_SWITCH                      = (1 << 14),
  35     ARMING_DISABLED_HARDWARE_FAILURE                = (1 << 15),
  36     ARMING_DISABLED_BOXFAILSAFE                     = (1 << 16),
  37
  38     ARMING_DISABLED_RC_LINK                         = (1 << 18),
  39     ARMING_DISABLED_THROTTLE                        = (1 << 19),
  40     ARMING_DISABLED_CLI                             = (1 << 20),
  41     ARMING_DISABLED_CMS_MENU                        = (1 << 21),
  42     ARMING_DISABLED_OSD_MENU                        = (1 << 22),
  43     ARMING_DISABLED_ROLLPITCH_NOT_CENTERED          = (1 << 23),
  44     ARMING_DISABLED_SERVO_AUTOTRIM                  = (1 << 24),
  45     ARMING_DISABLED_OOM                             = (1 << 25),
  46     ARMING_DISABLED_INVALID_SETTING                 = (1 << 26),
  47     ARMING_DISABLED_PWM_OUTPUT_ERROR                = (1 << 27),
  48     ARMING_DISABLED_NO_PREARM                       = (1 << 28),
  49     ARMING_DISABLED_DSHOT_BEEPER                    = (1 << 29),
  50     ARMING_DISABLED_LANDING_DETECTED                = (1 << 30),
  51
  52     ARMING_DISABLED_ALL_FLAGS                       = (ARMING_DISABLED_FAILSAFE_SYSTEM | ARMING_DISABLED_NOT_LEVEL | ARMING_DISABLED_SENSORS_CALIBRATING |
  53                                                        ARMING_DISABLED_SYSTEM_OVERLOADED | ARMING_DISABLED_NAVIGATION_UNSAFE |
  54                                                        ARMING_DISABLED_COMPASS_NOT_CALIBRATED | ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED |
  55                                                        ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_HARDWARE_FAILURE | ARMING_DISABLED_BOXFAILSAFE |
  56                                                        ARMING_DISABLED_RC_LINK | ARMING_DISABLED_THROTTLE | ARMING_DISABLED_CLI |
  57                                                        ARMING_DISABLED_CMS_MENU | ARMING_DISABLED_OSD_MENU | ARMING_DISABLED_ROLLPITCH_NOT_CENTERED |
  58                                                        ARMING_DISABLED_SERVO_AUTOTRIM | ARMING_DISABLED_OOM | ARMING_DISABLED_INVALID_SETTING |
  59                                                        ARMING_DISABLED_PWM_OUTPUT_ERROR | ARMING_DISABLED_NO_PREARM | ARMING_DISABLED_DSHOT_BEEPER |
  60                                                        ARMING_DISABLED_LANDING_DETECTED),
  61 } armingFlag_e;
  62
  63 // Arming blockers that can be overriden by emergency arming.
  64 // Keep in mind that this feature is intended to allow arming in
  65 // situations where we might just need the motors to spin so the
  66 // aircraft can move (even unpredictably) and get unstuck (e.g.
  67 // crashed into a high tree).
  68 #define ARMING_DISABLED_EMERGENCY_OVERRIDE  (ARMING_DISABLED_NOT_LEVEL \
  69                                             | ARMING_DISABLED_NAVIGATION_UNSAFE \
  70                                             | ARMING_DISABLED_COMPASS_NOT_CALIBRATED \
  71                                             | ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED \
  72                                             | ARMING_DISABLED_ARM_SWITCH \
  73                                             | ARMING_DISABLED_HARDWARE_FAILURE)
  74
  75
  76 extern uint32_t armingFlags;
  77
  78 extern const char *armingDisableFlagNames[];
  79
  80 #define isArmingDisabled()          (armingFlags & (ARMING_DISABLED_ALL_FLAGS))
  81 #define DISABLE_ARMING_FLAG(mask)   (armingFlags &= ~(mask))
  82 #define ENABLE_ARMING_FLAG(mask)    (armingFlags |= (mask))
  83 #define ARMING_FLAG(mask)           (armingFlags & (mask))
  84
  85 // Returns the 1st flag from ARMING_DISABLED_ALL_FLAGS which is
  86 // preventing arming, or zero if arming is not disabled.
  87 armingFlag_e isArmingDisabledReason(void);
  88
  89 typedef enum {
  90     ANGLE_MODE            = (1 << 0),
  91     HORIZON_MODE          = (1 << 1),
  92     HEADING_MODE          = (1 << 2),
  93     NAV_ALTHOLD_MODE      = (1 << 3),
  94     NAV_RTH_MODE          = (1 << 4),
  95     NAV_POSHOLD_MODE      = (1 << 5),
  96     HEADFREE_MODE         = (1 << 6),
  97     NAV_LAUNCH_MODE       = (1 << 7),
  98     MANUAL_MODE           = (1 << 8),
  99     FAILSAFE_MODE         = (1 << 9),
 100     AUTO_TUNE             = (1 << 10),
 101     NAV_WP_MODE           = (1 << 11),
 102     NAV_COURSE_HOLD_MODE  = (1 << 12),
 103     FLAPERON              = (1 << 13),
 104     TURN_ASSISTANT        = (1 << 14),
 105     TURTLE_MODE           = (1 << 15),
 106     SOARING_MODE          = (1 << 16),
 107     ANGLEHOLD_MODE        = (1 << 17),
 108     NAV_FW_AUTOLAND       = (1 << 18),
 109 } flightModeFlags_e;
 110
 111 extern uint32_t flightModeFlags;
 112
 113 #define DISABLE_FLIGHT_MODE(mask) (flightModeFlags &= ~(mask))
 114 #define ENABLE_FLIGHT_MODE(mask) (flightModeFlags |= (mask))
 115 #define FLIGHT_MODE(mask) (flightModeFlags & (mask))
 116
 117 typedef enum {
 118     GPS_FIX_HOME                        = (1 << 0),
 119     GPS_FIX                             = (1 << 1),
 120     CALIBRATE_MAG                       = (1 << 2),
 121     SMALL_ANGLE                         = (1 << 3),
 122     FIXED_WING_LEGACY                   = (1 << 4),     // No new code should use this state. Use AIRPLANE, MULTIROTOR, ROVER, BOAT, ALTITUDE_CONTROL and MOVE_FORWARD_ONLY states
 123     ANTI_WINDUP                         = (1 << 5),
 124     FLAPERON_AVAILABLE                  = (1 << 6),
 125     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
 126     COMPASS_CALIBRATED                  = (1 << 8),
 127     ACCELEROMETER_CALIBRATED            = (1 << 9),
 128 #ifdef USE_GPS_FIX_ESTIMATION
 129     GPS_ESTIMATED_FIX                   = (1 << 10),
 130 #endif
 131     NAV_CRUISE_BRAKING                  = (1 << 11),
 132     NAV_CRUISE_BRAKING_BOOST            = (1 << 12),
 133     NAV_CRUISE_BRAKING_LOCKED           = (1 << 13),
 134     NAV_EXTRA_ARMING_SAFETY_BYPASSED    = (1 << 14),    // nav_extra_arming_safey was bypassed. Keep it until power cycle.
 135     AIRMODE_ACTIVE                      = (1 << 15),
 136     ESC_SENSOR_ENABLED                  = (1 << 16),
 137     AIRPLANE                            = (1 << 17),
 138     MULTIROTOR                          = (1 << 18),
 139     ROVER                               = (1 << 19),
 140     BOAT                                = (1 << 20),
 141     ALTITUDE_CONTROL                    = (1 << 21),    //It means it can fly
 142     MOVE_FORWARD_ONLY                   = (1 << 22),
 143     SET_REVERSIBLE_MOTORS_FORWARD       = (1 << 23),
 144     FW_HEADING_USE_YAW                  = (1 << 24),
 145     ANTI_WINDUP_DEACTIVATED             = (1 << 25),
 146     LANDING_DETECTED                    = (1 << 26),
 147     IN_FLIGHT_EMERG_REARM               = (1 << 27),
 148     TAILSITTER                          = (1 << 28), //offset the pitch angle by 90 degrees
 149 } stateFlags_t;
 150
 151 #define DISABLE_STATE(mask) (stateFlags &= ~(mask))
 152 #define ENABLE_STATE(mask) (stateFlags |= (mask))
 153 #define STATE(mask) (stateFlags & (mask))
 154
 155 extern uint32_t stateFlags;
 156
 157 typedef enum {
 158     FLM_MANUAL,
 159     FLM_ACRO,
 160     FLM_ACRO_AIR,
 161     FLM_ANGLE,
 162     FLM_HORIZON,
 163     FLM_ALTITUDE_HOLD,
 164     FLM_POSITION_HOLD,
 165     FLM_RTH,
 166     FLM_MISSION,
 167     FLM_COURSE_HOLD,
 168     FLM_CRUISE,
 169     FLM_LAUNCH,
 170     FLM_FAILSAFE,
 171     FLM_ANGLEHOLD,
 172     FLM_COUNT
 173 } flightModeForTelemetry_e;
 174
 175 flightModeForTelemetry_e getFlightModeForTelemetry(void);
 176
 177 #ifdef USE_SIMULATOR
 178
 179 #define SIMULATOR_MSP_VERSION  2     // Simulator MSP version
 180 #define SIMULATOR_BARO_TEMP    25    // °C
 181 #define SIMULATOR_FULL_BATTERY 126   // Volts*10
 182 #define SIMULATOR_HAS_OPTION(flag) ((simulatorData.flags & flag) != 0)
 183
 184 typedef enum {
 185     HITL_RESET_FLAGS            = (0 << 0),
 186     HITL_ENABLE                                 = (1 << 0),
 187     HITL_SIMULATE_BATTERY               = (1 << 1),
 188     HITL_MUTE_BEEPER                    = (1 << 2),
 189     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)
 190     HITL_HAS_NEW_GPS_DATA               = (1 << 4),
 191     HITL_EXT_BATTERY_VOLTAGE    = (1 << 5), // Extend MSP_SIMULATOR format 2
 192     HITL_AIRSPEED               = (1 << 6),
 193     HITL_EXTENDED_FLAGS         = (1 << 7), // Extend MSP_SIMULATOR format 2
 194     HITL_GPS_TIMEOUT            = (1 << 8),
 195     HITL_PITOT_FAILURE          = (1 << 9)
 196 } simulatorFlags_t;
 197
 198 typedef struct {
 199     simulatorFlags_t flags;
 200     uint8_t debugIndex;
 201     uint8_t vbat;      // 126 -> 12.6V
 202     uint16_t airSpeed; // cm/s
 203     int16_t input[4];
 204 } simulatorData_t;
 205
 206 extern simulatorData_t simulatorData;
 207
 208 #endif
 209
 210 void updateFlightModeChangeBeeper(void);
 211
 212 bool sensors(uint32_t mask);
 213 void sensorsSet(uint32_t mask);
 214 void sensorsClear(uint32_t mask);
 215 uint32_t sensorsMask(void);