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#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_RATE = 6, // turn at a specified rate (held in auto_yaw_rate)
};
// Frame types
#define UNDEFINED_FRAME 0
#define MULTICOPTER_FRAME 1
#define HELI_FRAME 2
// HIL enumerations
#define HIL_MODE_DISABLED 0
#define HIL_MODE_SENSORS 1
// Auto Pilot Modes enumeration
enum control_mode_t {
STABILIZE = 0, // manual airframe angle with manual throttle
ACRO = 1, // manual body-frame angular rate with manual throttle
ALT_HOLD = 2, // manual airframe angle with automatic throttle
AUTO = 3, // fully automatic waypoint control using mission commands
GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
LOITER = 5, // automatic horizontal acceleration with automatic throttle
RTL = 6, // automatic return to launching point
CIRCLE = 7, // automatic circular flight with automatic throttle
LAND = 9, // automatic landing with horizontal position control
DRIFT = 11, // semi-automous position, yaw and throttle control
SPORT = 13, // manual earth-frame angular rate control with manual throttle
FLIP = 14, // automatically flip the vehicle on the roll axis
AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains
POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
BRAKE = 17, // full-brake using inertial/GPS system, no pilot input
THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input
AVOID_ADSB = 19, // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude
SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps
FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder
FOLLOW = 23, // follow attempts to follow another vehicle or ground station
ZIGZAG = 24, // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
};
enum mode_reason_t {
MODE_REASON_UNKNOWN=0,
MODE_REASON_TX_COMMAND,
MODE_REASON_GCS_COMMAND,
MODE_REASON_RADIO_FAILSAFE,
MODE_REASON_BATTERY_FAILSAFE,
MODE_REASON_GCS_FAILSAFE,
MODE_REASON_EKF_FAILSAFE,
MODE_REASON_GPS_GLITCH,
MODE_REASON_MISSION_END,
MODE_REASON_THROTTLE_LAND_ESCAPE,
MODE_REASON_FENCE_BREACH,
MODE_REASON_TERRAIN_FAILSAFE,
MODE_REASON_BRAKE_TIMEOUT,
MODE_REASON_FLIP_COMPLETE,
MODE_REASON_AVOIDANCE,
MODE_REASON_AVOIDANCE_RECOVERY,
MODE_REASON_THROW_COMPLETE,
MODE_REASON_TERMINATE,
MODE_REASON_TMODE,
};
// 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_KP = 25, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
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_KP = 40, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
TUNING_RANGEFINDER_GAIN = 41, // rangefinder gain
TUNING_EKF_VERTICAL_POS = 42, // EKF's baro vs accel (higher rely on accels more, baro impact is reduced). Range should be 0.2 ~ 4.0? 2.0 is default
TUNING_EKF_HORIZONTAL_POS = 43, // EKF's gps vs accel (higher rely on accels more, gps impact is reduced). Range should be 1.0 ~ 3.0? 1.5 is default
TUNING_EKF_ACCEL_NOISE = 44, // EKF's accel noise (lower means trust accels more, gps & baro less). Range should be 0.02 ~ 0.5 0.5 is default (but very robust at that level)
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
TUNING_WINCH = 57 // winch control (not actually a value to be tuned)
};
// Acro Trainer types
#define ACRO_TRAINER_DISABLED 0
#define ACRO_TRAINER_LEVELING 1
#define ACRO_TRAINER_LIMITED 2
// 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)
// Auto modes
enum AutoMode {
Auto_TakeOff,
Auto_WP,
Auto_Land,
Auto_RTL,
Auto_CircleMoveToEdge,
Auto_Circle,
Auto_Spline,
Auto_NavGuided,
Auto_Loiter,
Auto_LoiterToAlt,
Auto_NavPayloadPlace,
};
// Guided modes
enum GuidedMode {
Guided_TakeOff,
Guided_WP,
Guided_Velocity,
Guided_PosVel,
Guided_Angle,
};
// RTL states
enum RTLState {
RTL_InitialClimb,
RTL_ReturnHome,
RTL_LoiterAtHome,
RTL_FinalDescent,
RTL_Land
};
// Safe RTL states
enum SmartRTLState {
SmartRTL_WaitForPathCleanup,
SmartRTL_PathFollow,
SmartRTL_PreLandPosition,
SmartRTL_Descend,
SmartRTL_Land
};
enum LandStateType {
LandStateType_FlyToLocation = 0,
LandStateType_Descending = 1
};
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
enum LoggingParameters {
TYPE_AIRSTART_MSG,
TYPE_GROUNDSTART_MSG,
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_MOTBATT_MSG,
LOG_PARAMTUNE_MSG,
LOG_HELI_MSG,
LOG_PRECLAND_MSG,
LOG_GUIDEDTARGET_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_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
#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
// 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
#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL 3
#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4
// 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 mavlink SET_POSITION_TARGET messages
#define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1) | (1<<2))
#define MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE ((1<<3) | (1<<4) | (1<<5))
#define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7) | (1<<8))
#define MAVLINK_SET_POS_TYPE_MASK_FORCE (1<<9)
#define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10)
#define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)
// 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)
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