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Diffstat (limited to 'src/modules/navigator/rtl_params.c')
-rw-r--r-- | src/modules/navigator/rtl_params.c | 87 |
1 files changed, 87 insertions, 0 deletions
diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c new file mode 100644 index 000000000..7a8b1d745 --- /dev/null +++ b/src/modules/navigator/rtl_params.c @@ -0,0 +1,87 @@ +/**************************************************************************** + * + * 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 rtl_params.c + * + * Parameters for RTL + * + * @author Julian Oes <julian@oes.ch> + */ + +#include <nuttx/config.h> + +#include <systemlib/param/param.h> + +/* + * RTL parameters, accessible via MAVLink + */ + +/** + * RTL altitude + * + * Altitude to fly back in RTL in meters + * + * @unit meters + * @min 0 + * @max 1 + * @group RTL + */ +PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 100); + + +/** + * RTL loiter altitude + * + * Stay at this altitude above home position after RTL descending. + * Land (i.e. slowly descend) from this altitude if autolanding allowed. + * + * @unit meters + * @min 0 + * @max 100 + * @group RTL + */ +PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 20); + +/** + * RTL 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 + * @min -1 + * @max + * @group RTL + */ +PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f); |