defines.h

The defines.h file contains definitions for variables, LOG#and MASK#.

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#ifndef _DEFINES_H
#define _DEFINES_H
...

This slice of code defines itself.

// Internal defines, don't edit and expect things to work
// -------------------------------------------------------

#define TRUE 1
#define FALSE 0
#define ToRad(x) radians(x)    // *pi/180
#define ToDeg(x) degrees(x)    // *180/pi

#define DEBUG 0
#define SERVO_MAX 4500    // This value represents 45 degrees and is just an arbitrary representation of servo max travel.
...

Here are defined some internal functions. ToRadand ToDeg functions change from radians to degrees and from degrees to radians, respectively. TRUEand FALSE have awarded the 1 and 0 binary values(like ON and OFF).

// active altitude sensor
// ----------------------
#define SONAR 0
#define BARO 1
...

Definitions for Sonar and Barometer and implemented here.

// CH 7 control
enum ch7_option {
    CH7_DO_NOTHING=0,
    CH7_SAVE_WP=1
};

#define T6 1000000
#define T7 10000000
...

This is the channel 7 options definition. It will be used, as shown in the control_modes.pde as part of the read_trim_switch() function.

// HIL enumerations
#define HIL_MODE_DISABLED            0
#define HIL_MODE_SENSORS            1
...

Enablement/disenablemnt of the HIL_MODE.

// Auto Pilot modes
// ----------------
enum mode {
    MANUAL=0,
    LEARNING=2,
    STEERING=3,
    HOLD=4,
    AUTO=10,
    RTL=11,
    GUIDED=15,
    INITIALISING=16
};
...

This slice of codes includes the autopilot possible modes of control.

// types of failsafe events
#define FAILSAFE_EVENT_THROTTLE (1<<0)
#define FAILSAFE_EVENT_GCS      (1<<1)
#define FAILSAFE_EVENT_RC       (1<<2)

//repeating events
#define NO_REPEAT 0
#define CH_5_TOGGLE 1
#define CH_6_TOGGLE 2
#define CH_7_TOGGLE 3
#define CH_8_TOGGLE 4
#define RELAY_TOGGLE 5
#define STOP_REPEAT 10

#define MAV_CMD_CONDITION_YAW 23
...

This slice of code includes the following events: failsafe and the nes that should be repeated.

//  Logging parameters
#define LOG_CTUN_MSG            0x01
#define LOG_NTUN_MSG            0x02
#define LOG_PERFORMANCE_MSG        0x03
#define LOG_CURRENT_MSG         0x05
#define LOG_STARTUP_MSG         0x06
#define LOG_SONAR_MSG             0x07
#define LOG_ATTITUDE_MSG        0x08
#define LOG_MODE_MSG            0x09
#define LOG_COMPASS_MSG         0x0A
#define LOG_COMPASS2_MSG        0x0C
#define LOG_STEERING_MSG        0x0D
#define LOG_COMPASS3_MSG        0x0E

#define TYPE_AIRSTART_MSG        0x00
#define TYPE_GROUNDSTART_MSG    0x01
#define MAX_NUM_LOGS            100

#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_MODE            (1<<6)
#define MASK_LOG_IMU            (1<<7)
#define MASK_LOG_CMD            (1<<8)
#define MASK_LOG_CURRENT        (1<<9)
#define MASK_LOG_SONAR           (1<<10)
#define MASK_LOG_COMPASS           (1<<11)
#define MASK_LOG_CAMERA           (1<<12)
#define MASK_LOG_STEERING          (1<<13)
#define MASK_LOG_RC             (1<<14)
#define MASK_LOG_WHEN_DISARMED  (1UL<<16)

...

Here the logging parametes, such as the LOG#and the MASK_LOG#are included.

// Waypoint Modes
// ----------------
#define ABS_WP 0
#define REL_WP 1

// Command Queues
// ---------------
#define COMMAND_MUST 0
#define COMMAND_MAY 1
#define COMMAND_NOW 2

// Events
// ------
#define EVENT_WILL_REACH_WAYPOINT 1
#define EVENT_SET_NEW_COMMAND_INDEX 2
#define EVENT_LOADED_WAYPOINT 3
#define EVENT_LOOP 4
...

This slice of code implements the wp modes, the comand queues and the possible events.

// Climb rate calculations
#define    ALTITUDE_HISTORY_LENGTH 8    //Number of (time,altitude) points to regress a climb rate from
...

This function stores a history of the points of clim rate regress.

// sonar
#define MAX_SONAR_XL 0
#define MAX_SONAR_LV 1
#define SonarToCm(x) (x*1.26)   // Sonar raw value to centimeters
#define AN4            4
#define AN5            5

#define SPEEDFILT 400            // centimeters/second; the speed below which a groundstart will be triggered
...

These are the sonar variables.

// convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps to -1)
#define BOOL_TO_SIGN(bvalue) ((bvalue)?-1:1)
...

This function pass to boolean values.

// mark a function as not to be inlined
#define NOINLINE __attribute__((noinline))
...

Defines a function as not inlined.

enum Serial2Protocol {
    SERIAL2_MAVLINK     = 1,
    SERIAL2_FRSKY_DPORT = 2,
    SERIAL2_FRSKY_SPORT = 3 // not supported yet
};

#endif // _DEFINES_H

Stablish the default values for the Serial2Protocol.