/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* 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
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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*
****************************************************************************/
/**
* @file navigator_params.c
*
* Parameters defined by the navigator task.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/*
* Navigator parameters, accessible via MAVLink
*/
/**
* Minimum altitude (fixed wing only)
*
* Minimum altitude above home for LOITER.
*
* @unit meters
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f);
/**
* Waypoint acceptance radius
*
* Default value of acceptance radius (if not specified in mission item).
*
* @unit meters
* @min 0.0
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f);
/**
* Loiter radius (fixed wing only)
*
* Default value of loiter radius (if not specified in mission item).
*
* @unit meters
* @min 0.0
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
/**
* Enable onboard mission
*
* @group Navigation
*/
PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0);
/**
* Take-off altitude
*
* Even if first waypoint has altitude less then NAV_TAKEOFF_ALT above home position, system will climb to NAV_TAKEOFF_ALT on takeoff, then go to waypoint.
*
* @unit meters
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f);
/**
* Landing altitude
*
* Stay at this altitude above home position after RTL descending. Land (i.e. slowly descend) from this altitude if autolanding allowed.
*
* @unit meters
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f);
/**
* Return-To-Launch altitude
*
* Minimum altitude above home position for going home in RTL mode.
*
* @unit meters
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f);
/**
* Return-To-Launch delay
*
* Delay after descend before landing in RTL mode.
* If set to -1 the system will not land but loiter at NAV_LAND_ALT.
*
* @unit seconds
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f);
/**
* Enable parachute deployment
*
* @group Navigation
*/
PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0);
