Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge

Conflicts:
	src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
	src/modules/uORB/topics/vehicle_attitude.h

1 files changed, 104 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..0302bc7c1
--- /dev/null
+++ b/src/modules/land_detector/land_detector_params.c
@@ -0,0 +1,104 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved.
+ *
+ * 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(LNDMC_Z_VEL_MAX, 0.30f);
+
+/**
+ * Multicopter max horizontal velocity
+ *
+ * Maximum horizontal velocity allowed to trigger a land (m/s)
+ *
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.00f);
+
+/**
+ * Multicopter max rotation
+ *
+ * Maximum allowed around each axis to trigger a land (radians per second)
+ *
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 0.20f);
+
+/**
+ * Multicopter max throttle
+ *
+ * Maximum actuator output on throttle before triggering a land
+ *
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.20f);
+
+/**
+ * Fixedwing max horizontal velocity
+ *
+ * Maximum horizontal velocity allowed to trigger a land (m/s)
+ *
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_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(LNDFW_VEL_Z_MAX, 10.00f);
+
+/**
+ * Airspeed max
+ *
+ * Maximum airspeed allowed to trigger a land (m/s)
+ *
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDFW_AIRSPD_MAX, 10.00f);