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author | Johan Jansen <jnsn.johan@gmail.com> | 2015-01-15 14:36:04 +0100 |
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committer | Johan Jansen <jnsn.johan@gmail.com> | 2015-01-15 14:37:51 +0100 |
commit | 92add9cf8003c4fd8b01143626c3a101062dd9dd (patch) | |
tree | ceb8f5495f789e44f18baaecda8fc6bf22fcc007 /src/modules/land_detector/land_detector_params.c | |
parent | e40d207311126b05a7fd87739fb72d2ae8d7d500 (diff) | |
download | px4-firmware-92add9cf8003c4fd8b01143626c3a101062dd9dd.tar.gz px4-firmware-92add9cf8003c4fd8b01143626c3a101062dd9dd.tar.bz2 px4-firmware-92add9cf8003c4fd8b01143626c3a101062dd9dd.zip |
LandDetector: Externalized algorithm parameters
Diffstat (limited to 'src/modules/land_detector/land_detector_params.c')
-rw-r--r-- | src/modules/land_detector/land_detector_params.c | 105 |
1 files changed, 105 insertions, 0 deletions
diff --git a/src/modules/land_detector/land_detector_params.c b/src/modules/land_detector/land_detector_params.c new file mode 100644 index 000000000..4aecae537 --- /dev/null +++ b/src/modules/land_detector/land_detector_params.c @@ -0,0 +1,105 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: @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 + * 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 land_detector.c + * Land detector algorithm parameters. + * + * @author Johan Jansen <jnsn.johan@gmail.com> + */ + +#include <systemlib/param/param.h> + +/** + * Multicopter max climb rate + * + * Maximum vertical velocity allowed to trigger a land (m/s up and down) + * + * @group Land Detector + */ +PARAM_DEFINE_FLOAT(LAND_MC_MAX_CLIMB_RATE, 0.30f); + +/** + * Multicopter max horizontal velocity + * + * Maximum horizontal velocity allowed to trigger a land (m/s) + * + * @group Land Detector + */ +PARAM_DEFINE_FLOAT(LAND_MC_VELOCITY_MAX, 1.00f); + +/** + * Multicopter max rotation + * + * Maximum allowed around each axis to trigger a land (radians per second) + * + * @group Land Detector + */ +PARAM_DEFINE_FLOAT(LAND_MC_MAX_ROTATION, 0.20f); + +/** + * Multicopter max throttle + * + * Maximum actuator output on throttle before triggering a land + * + * @group Land Detector + */ +PARAM_DEFINE_FLOAT(LAND_MC_MAX_THROTTLE, 0.20f); + +/** + * Fixedwing max horizontal velocity + * + * Maximum horizontal velocity allowed to trigger a land (m/s) + * + * @group Land Detector + */ +PARAM_DEFINE_FLOAT(LAND_FW_VELOCITY_MAX, 0.20f); + +/** + * Fixedwing max climb rate + * + * Maximum vertical velocity allowed to trigger a land (m/s up and down) + * + * @group Land Detector + */ +PARAM_DEFINE_FLOAT(LAND_FW_MAX_CLIMB_RATE, 10.00f); + +/** + * Airspeed max + * + * Maximum airspeed allowed to trigger a land (m/s) + * + * @group Land Detector + */ +PARAM_DEFINE_FLOAT(LAND_FW_AIRSPEED_MAX, 10.00f); |