1 files changed, 88 insertions, 0 deletions
diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c
new file mode 100644
index 000000000..e21bccb0c
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+++ b/src/modules/vtol_att_control/vtol_att_control_params.c
@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *   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 vtol_att_control_params.c
+ * Parameters for vtol attitude controller.
+ *
+ * @author Roman Bapst <bapstr@ethz.ch>
+ */
+
+#include <systemlib/param/param.h>
+
+/**
+ * VTOL number of engines
+ *
+ * @min 1.0
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_INT32(VT_MOT_COUNT,0);
+
+/**
+ * Idle speed of VTOL when in multicopter mode
+ *
+ * @min 900
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_INT32(VT_IDLE_PWM_MC,900);
+
+/**
+ * Minimum airspeed in multicopter mode
+ *
+ * This is the minimum speed of the air flowing over the control surfaces.
+ *
+ * @min 0.0
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN,2.0f);
+
+/**
+ * Maximum airspeed in multicopter mode
+ *
+ * This is the maximum speed of the air flowing over the control surfaces.
+ *
+ * @min 0.0
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX,30.0f);
+
+/**
+ * Trim airspeed when in multicopter mode
+ *
+ * This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode.
+ *
+ * @min 0.0
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM,10.0f);
+