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Diffstat (limited to 'src/modules/navigator/datalinkloss_params.c')
-rw-r--r-- | src/modules/navigator/datalinkloss_params.c | 126 |
1 files changed, 126 insertions, 0 deletions
diff --git a/src/modules/navigator/datalinkloss_params.c b/src/modules/navigator/datalinkloss_params.c new file mode 100644 index 000000000..6780c0c88 --- /dev/null +++ b/src/modules/navigator/datalinkloss_params.c @@ -0,0 +1,126 @@ +/**************************************************************************** + * + * 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 + * 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 datalinkloss_params.c + * + * Parameters for DLL + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include <nuttx/config.h> + +#include <systemlib/param/param.h> + +/* + * Data Link Loss parameters, accessible via MAVLink + */ + +/** + * Comms hold wait time + * + * The amount of time in seconds the system should wait at the comms hold waypoint + * + * @unit seconds + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_FLOAT(NAV_DLL_CH_T, 120.0f); + +/** + * Comms hold Lat + * + * Latitude of comms hold waypoint + * + * @unit degrees * 1e7 + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_INT32(NAV_DLL_CH_LAT, -266072120); + +/** + * Comms hold Lon + * + * Longitude of comms hold waypoint + * + * @unit degrees * 1e7 + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_INT32(NAV_DLL_CH_LON, 1518453890); + +/** + * Comms hold alt + * + * Altitude of comms hold waypoint + * + * @unit m + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_FLOAT(NAV_DLL_CH_ALT, 600.0f); + +/** + * Aifield hole wait time + * + * The amount of time in seconds the system should wait at the airfield home waypoint + * + * @unit seconds + * @min 0.0 + * @group DLL + */ +PARAM_DEFINE_FLOAT(NAV_DLL_AH_T, 120.0f); + +/** + * Number of allowed Datalink timeouts + * + * After more than this number of data link timeouts the aircraft returns home directly + * + * @group DLL + * @min 0 + * @max 1000 + */ +PARAM_DEFINE_INT32(NAV_DLL_N, 2); + +/** + * Skip comms hold wp + * + * If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to + * airfield home + * + * @group DLL + * @min 0 + * @max 1 + */ +PARAM_DEFINE_INT32(NAV_DLL_CHSK, 0); |