/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file commander_params.c
*
* Parameters defined by the sensors task.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
/**
* Empty cell voltage.
*
* Defines the voltage where a single cell of the battery is considered empty.
*
* @group Battery Calibration
* @unit V
*/
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f);
/**
* Full cell voltage.
*
* Defines the voltage where a single cell of the battery is considered full.
*
* @group Battery Calibration
* @unit V
*/
PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.2f);
/**
* Voltage drop per cell on 100% load
*
* This implicitely defines the internal resistance
* to maximum current ratio and assumes linearity.
*
* @group Battery Calibration
* @unit V
*/
PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
/**
* Number of cells.
*
* Defines the number of cells the attached battery consists of.
*
* @group Battery Calibration
* @unit S
*/
PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
/**
* Battery capacity.
*
* Defines the capacity of the attached battery.
*
* @group Battery Calibration
* @unit mA
*/
PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
/**
* Datalink loss mode enabled.
*
* Set to 1 to enable actions triggered when the datalink is lost.
*
* @group Commander
* @min 0
* @max 1
*/
PARAM_DEFINE_INT32(COM_DL_LOSS_EN, 0);
/** Datalink loss time threshold
*
* After this amount of seconds without datalink the data link lost mode triggers
*
* @group Commander
* @unit second
* @min 0
* @max 30
*/
PARAM_DEFINE_INT32(COM_DL_LOSS_T, 10);
/** Datalink regain time threshold
*
* After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss'
* flag is set back to false
*
* @group Commander
* @unit second
* @min 0
* @max 30
*/
PARAM_DEFINE_INT32(COM_DL_REG_T, 0);
/** Engine Failure Throttle Threshold
*
* Engine failure triggers only above this throttle value
*
* @group Commander
* @min 0.0
* @max 1.0
*/
PARAM_DEFINE_FLOAT(COM_EF_THROT, 0.5f);
/** Engine Failure Current/Throttle Threshold
*
* Engine failure triggers only below this current/throttle value
*
* @group Commander
* @min 0.0
* @max 7.0
*/
PARAM_DEFINE_FLOAT(COM_EF_C2T, 5.0f);
/** Engine Failure Time Threshold
*
* Engine failure triggers only if the throttle threshold and the
* current to throttle threshold are violated for this time
*
* @group Commander
* @unit second
* @min 0.0
* @max 7.0
*/
PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
/** RC loss time threshold
*
* After this amount of seconds without RC connection the rc lost flag is set to true
*
* @group Commander
* @unit second
* @min 0
* @max 35
*/
PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5);
/** Autosaving of params
*
* If not equal to zero the commander will automatically save parameters to persistent storage once changed.
* Default is on, as the interoperability with currently deployed GCS solutions depends on parameters
* being sticky. Developers can default it to off.
*
* @group Commander
* @min 0
* @max 1
*/
PARAM_DEFINE_INT32(COM_AUTOS_PAR, 1);
