From b5ef8fd2cd54d180b5debe362a4c1f07f64394af Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 19 Jul 2014 20:03:37 +0200
Subject:  create empty datalinkloss class for OBC

 Currently the class does the same as the RTL class. It is now possible
 whichclass is sued in the navigator to handle datalink loss via a
 parameter
---
 src/modules/navigator/datalinkloss_params.c | 98 +++++++++++++++++++++++++++++
 1 file changed, 98 insertions(+)
 create mode 100644 src/modules/navigator/datalinkloss_params.c

(limited to 'src/modules/navigator/datalinkloss_params.c')

diff --git a/src/modules/navigator/datalinkloss_params.c b/src/modules/navigator/datalinkloss_params.c
new file mode 100644
index 000000000..bfe6ce7e1
--- /dev/null
+++ b/src/modules/navigator/datalinkloss_params.c
@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   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
+ */
+
+/**
+ * Loiter radius after RTL (FW only)
+ *
+ * Default value of loiter radius after RTL (fixedwing only).
+ *
+ * @unit meters
+ * @min 0.0
+ * @group RTL
+ */
+PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);
+
+/**
+ * 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);
-- 
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