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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-06 15:47:34 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-06 15:47:34 +0200 |
commit | 1492323f0327916435d806c2af1e0c8296278c9d (patch) | |
tree | d53e2768c326ec6a2cbcfd896550c446ba93fab3 /src/modules/navigator/navigator_params.c | |
parent | 2669f7f3af65921d4abbf3850cd62e48f2eeeec7 (diff) | |
parent | bd88951f6ce609bc5ba364bfa3d19ae61e444964 (diff) | |
download | px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.tar.gz px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.tar.bz2 px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.zip |
Merged master into uavcan
Diffstat (limited to 'src/modules/navigator/navigator_params.c')
-rw-r--r-- | src/modules/navigator/navigator_params.c | 98 |
1 files changed, 12 insertions, 86 deletions
diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c index 9ef359c6d..084afe340 100644 --- a/src/modules/navigator/navigator_params.c +++ b/src/modules/navigator/navigator_params.c @@ -1,9 +1,6 @@ /**************************************************************************** * - * 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> + * Copyright (c) 2014 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 @@ -20,7 +17,7 @@ * 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 + * 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, @@ -37,104 +34,33 @@ /** * @file navigator_params.c * - * Parameters defined by the navigator task. + * Parameters for navigator in general * - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> - * @author Anton Babushkin <anton.babushkin@me.com> + * @author Julian Oes <julian@oes.ch> */ #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) + * Loiter radius (FW only) * - * Default value of loiter radius (if not specified in mission item). + * Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). * * @unit meters * @min 0.0 - * @group Navigation + * @group Mission */ 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 + * Acceptance Radius * - * Minimum altitude above home position for going home in RTL mode. + * Default acceptance radius, overridden by acceptance radius of waypoint if set. * * @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 + * @min 1.0 + * @group Mission */ -PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0); +PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 25.0f); |