From 5a35d20b7ba7f13356050096024c416235ba7a1a Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 3 Sep 2014 21:18:32 +0200 Subject: FOH mode for altitude This introduces a parameter for the navigator. When enabled the navigator publishes a first order old (FOH) type altitude setpoint instead of the default zero order hold. For takeoff and landing the FOH mode is not active. The FOH altitude is calculated such that the sp reaches the altitude of the waypoint when the system is at a horizontal distance equal to the acceptance radius. Also the altitude setpoint will only converge towards the waypoint altitude but never diverge. --- src/modules/navigator/mission_params.c | 13 +++++++++++++ 1 file changed, 13 insertions(+) (limited to 'src/modules/navigator/mission_params.c') diff --git a/src/modules/navigator/mission_params.c b/src/modules/navigator/mission_params.c index d15e1e771..04c01fe51 100644 --- a/src/modules/navigator/mission_params.c +++ b/src/modules/navigator/mission_params.c @@ -82,3 +82,16 @@ PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1); * @group Mission */ PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 500); + +/** + * Altitude setpoint mode + * + * 0: the system will follow a zero order hold altitude setpoint + * 1: the system will follow a first order hold altitude setpoint + * values follow the definition in enum mission_altitude_mode + * + * @min 0 + * @max 1 + * @group Mission + */ +PARAM_DEFINE_INT32(MIS_ALTMODE, 0); -- cgit v1.2.3