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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Blimp/defines.h
Views: 1798
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#pragma once

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#include <AP_HAL/AP_HAL_Boards.h>

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// bit options for DEV_OPTIONS parameter

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enum DevOptions {

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    DevOptionADSBMAVLink = 1,

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    DevOptionVFR_HUDRelativeAlt = 2,

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    DevOptionSetAttitudeTarget_ThrustAsThrust = 4,

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};

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//  Logging parameters - only 32 messages are available to the vehicle here.

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enum LoggingParameters {

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    LOG_CONTROL_TUNING_MSG,

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    LOG_DATA_INT16_MSG,

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    LOG_DATA_UINT16_MSG,

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    LOG_DATA_INT32_MSG,

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    LOG_DATA_UINT32_MSG,

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    LOG_DATA_FLOAT_MSG,

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    LOG_PARAMTUNE_MSG,

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    LOG_HELI_MSG,

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    LOG_GUIDEDTARGET_MSG,

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    LOG_SYSIDD_MSG,

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    LOG_SYSIDS_MSG,

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    LOG_FINI_MSG,

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    LOG_FINO_MSG,

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    LOG_PIDD_MSG,

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    LOG_PIVN_MSG,

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    LOG_PIVE_MSG,

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    LOG_PIVD_MSG,

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    LOG_PIVY_MSG,

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};

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#define MASK_LOG_ATTITUDE_FAST          (1<<0)

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#define MASK_LOG_ATTITUDE_MED           (1<<1)

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#define MASK_LOG_GPS                    (1<<2)

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#define MASK_LOG_PM                     (1<<3)

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#define MASK_LOG_CTUN                   (1<<4)

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#define MASK_LOG_NTUN                   (1<<5)

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#define MASK_LOG_RCIN                   (1<<6)

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#define MASK_LOG_IMU                    (1<<7)

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#define MASK_LOG_CMD                    (1<<8)

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#define MASK_LOG_CURRENT                (1<<9)

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#define MASK_LOG_RCOUT                  (1<<10)

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#define MASK_LOG_OPTFLOW                (1<<11)

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#define MASK_LOG_PID                    (1<<12)

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#define MASK_LOG_COMPASS                (1<<13)

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#define MASK_LOG_INAV                   (1<<14) // deprecated

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#define MASK_LOG_CAMERA                 (1<<15)

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#define MASK_LOG_MOTBATT                (1UL<<17)

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#define MASK_LOG_IMU_FAST               (1UL<<18)

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#define MASK_LOG_IMU_RAW                (1UL<<19)

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#define MASK_LOG_ANY                    0xFFFF

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// Radio failsafe definitions (FS_THR parameter)

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#define FS_THR_DISABLED                            0

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#define FS_THR_ENABLED_ALWAYS_RTL                  1

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#define FS_THR_ENABLED_CONTINUE_MISSION            2    // Removed in 4.0+, now use fs_options

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#define FS_THR_ENABLED_ALWAYS_LAND                 3

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#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_RTL      4

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#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_LAND     5

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// GCS failsafe definitions (FS_GCS_ENABLE parameter)

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#define FS_GCS_DISABLED                        0

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#define FS_GCS_ENABLED_ALWAYS_RTL              1

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#define FS_GCS_ENABLED_CONTINUE_MISSION        2    // Removed in 4.0+, now use fs_options

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#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL  3

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#define FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND 4

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#define FS_GCS_ENABLED_ALWAYS_LAND             5

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// EKF failsafe definitions (FS_EKF_ACTION parameter)

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#define FS_EKF_ACTION_LAND                  1       // switch to LAND mode on EKF failsafe

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#define FS_EKF_ACTION_LAND_EVEN_MANUAL      3       // switch to Land mode on EKF failsafe even if in Manual mode

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// for PILOT_THR_BHV parameter

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#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)

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#define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)

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#define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)

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