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diff --git a/src/modules/navigator/mission_params.c b/src/modules/navigator/mission_params.c
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+/****************************************************************************
+ *
+ *   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 mission_params.c
+ *
+ * Parameters for mission.
+ *
+ * @author Julian Oes <joes@student.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+
+#include <systemlib/param/param.h>
+
+/*
+ * Mission parameters, accessible via MAVLink
+ */
+
+/**
+ * Take-off altitude
+ *
+ * Even if first waypoint has altitude less then MIS_TAKEOFF_ALT above home position, system will climb to
+ * MIS_TAKEOFF_ALT on takeoff, then go to waypoint.
+ *
+ * @unit meters
+ * @group Mission
+ */
+PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 10.0f);
+
+/**
+ * Enable persistent onboard mission storage
+ *
+ * When enabled, missions that have been uploaded by the GCS are stored
+ * and reloaded after reboot persistently.
+ *
+ * @min 0
+ * @max 1
+ * @group Mission
+ */
+PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1);
+
+/**
+ * Maximal horizontal distance from home to first waypoint
+ *
+ * Failsafe check to prevent running mission stored from previous flight at a new takeoff location.
+ * Set a value of zero or less to disable. The mission will not be started if the current
+ * waypoint is more distant than MIS_DIS_1WP from the current position.
+ *
+ * @min 0
+ * @max 250
+ * @group Mission
+ */
+PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 175);