diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/navigator/navigator_params.c | 37 |
1 files changed, 26 insertions, 11 deletions
diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c index 87be737c4..9ef359c6d 100644 --- a/src/modules/navigator/navigator_params.c +++ b/src/modules/navigator/navigator_params.c @@ -55,70 +55,85 @@ /** * 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. + * 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 (fixed wing only) + * + * Default value of loiter radius (if not specified in mission item). * + * @unit meters + * @min 0.0 * @group Navigation */ PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f); /** - * Enable onboard mission. + * Enable onboard mission * * @group Navigation */ PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0); /** - * Take-off altitude. + * Take-off altitude * - * Even if first waypoint has altitude less then NAV_TAKEOFF_ALT, system will climb to NAV_TAKEOFF_ALT on takeoff, then go to waypoint. + * 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. + * Landing altitude * - * Stay at this altitude after RTL descending. Slowly descend from this altitude if autolanding allowed. + * 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-land altitude. + * Return-To-Launch altitude * - * Minimum altitude for going home in RTL mode. + * Minimum altitude above home position for going home in RTL mode. * + * @unit meters * @group Navigation */ PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f); /** - * Return-to-land delay. + * 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. + * Enable parachute deployment * * @group Navigation */ |