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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-10-07 22:49:27 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-10-07 22:49:27 +0200 |
commit | 4a8d20e2e562b69f3d2272d3e40db2b7a3e5152a (patch) | |
tree | 05bb8ef2f9443110c0dfa0e3915ecc391dadf5c6 /src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | |
parent | 8c6c08dcb5ce87e613cbf867571f219a60e1b813 (diff) | |
parent | 91b4d85b46f1d4514fe1ce45553753eb011918c1 (diff) | |
download | px4-firmware-4a8d20e2e562b69f3d2272d3e40db2b7a3e5152a.tar.gz px4-firmware-4a8d20e2e562b69f3d2272d3e40db2b7a3e5152a.tar.bz2 px4-firmware-4a8d20e2e562b69f3d2272d3e40db2b7a3e5152a.zip |
Merged master into st24
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c')
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 26 |
1 files changed, 21 insertions, 5 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 847ecbb5c..c00d82232 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -412,12 +412,28 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f); PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f); /** - * Relative altitude threshold for range finder measurements for use during landing + * Enable or disable usage of terrain estimate during landing * - * range finder measurements will only be used if the estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) is < FW_LND_RFRALT - * set to < 0 to disable - * the correct value of this parameter depends on your range measuring device as well as on the terrain at the landing location + * 0: disabled, 1: enabled * * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f); +PARAM_DEFINE_INT32(FW_LND_USETER, 0); + +/** + * Flare, minimum pitch + * + * Minimum pitch during flare, a positive sign means nose up + * Applied once FW_LND_TLALT is reached + * + */ +PARAM_DEFINE_FLOAT(FW_FLARE_PMIN, 2.5f); + +/** + * Flare, maximum pitch + * + * Maximum pitch during flare, a positive sign means nose up + * Applied once FW_LND_TLALT is reached + * + */ +PARAM_DEFINE_FLOAT(FW_FLARE_PMAX, 15.0f); |