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| author | Simon Wilks <sjwilks@gmail.com> | 2015-01-29 14:05:48 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-31 11:22:01 +0100 |
| commit | e9bcc0a2624c77c6f71bb926347e85b8c7592e34 (patch) | |
| tree | 69975bd0413e056a8434d215679146759e002131 /src/modules/navigator/mission_params.c | |
| parent | a381ce37323b08597df637e901099fcdd69c6ec1 (diff) | |
| download | px4-firmware-e9bcc0a2624c77c6f71bb926347e85b8c7592e34.tar.gz px4-firmware-e9bcc0a2624c77c6f71bb926347e85b8c7592e34.tar.bz2 px4-firmware-e9bcc0a2624c77c6f71bb926347e85b8c7592e34.zip | |
Add yaw modes that define multirotor heading behaviour during missions.
Diffstat (limited to 'src/modules/navigator/mission_params.c')
| -rw-r--r-- | src/modules/navigator/mission_params.c | 16 |
1 files changed, 16 insertions, 0 deletions
diff --git a/src/modules/navigator/mission_params.c b/src/modules/navigator/mission_params.c index 04c01fe51..6310cf6de 100644 --- a/src/modules/navigator/mission_params.c +++ b/src/modules/navigator/mission_params.c @@ -95,3 +95,19 @@ PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 500); * @group Mission */ PARAM_DEFINE_INT32(MIS_ALTMODE, 0); + +/** + * Multirotor only. Yaw setpoint mode. + * + * 0: Set the yaw heading to the yaw value specified for the destination waypoint. + * 1: Maintain a yaw heading pointing towards the next waypoint. + * 2: Maintain a yaw heading that always points to the home location. + * 3: Maintain a yaw heading that always points away from the home location (ie: back always faces home). + * + * The values are defined in the enum mission_altitude_mode + * + * @min 0 + * @max 3 + * @group Mission + */ +PARAM_DEFINE_INT32(MIS_YAWMODE, 0); |