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/**
 * @file launchdetection_params.c
 *
 * Parameters for launchdetection
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */

#include <nuttx/config.h>

#include <systemlib/param/param.h>

/*
 * Catapult launch detection parameters, accessible via MAVLink
 *
 */

/**
 * Enable launch detection.
 *
 * @min 0
 * @max 1
 * @group Launch detection
 */
PARAM_DEFINE_INT32(LAUN_ALL_ON, 0);

/**
 * Catapult accelerometer theshold.
 *
 * LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.
 *
 * @min 0
 * @group Launch detection
 */
PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f);

/**
 * Catapult time theshold.
 *
 * LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.
 *
 * @min 0
 * @group Launch detection
 */
PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);

/**
 * Motor delay
 *
 * Delay between starting attitude control and powering up the throttle (giving throttle control to the controller)
 * Before this timespan is up the throttle will be set to LAUN_THR_PRE, set to 0 to deactivate
 *
 * @unit seconds
 * @min 0
 * @group Launch detection
 */
PARAM_DEFINE_FLOAT(LAUN_CAT_MDEL, 0.0f);

/**
 * Maximum pitch before the throttle is powered up (during motor delay phase)
 *
 * This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on.
 * This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).
 *
 * @unit deg
 * @min 0
 * @max 45
 * @group Launch detection
 */
PARAM_DEFINE_FLOAT(LAUN_CAT_PMAX, 30.0f);

/**
 * Throttle setting while detecting launch.
 *
 * The throttle is set to this value while the system is waiting for the take-off.
 *
 * @min 0
 * @max 1
 * @group Launch detection
 */
PARAM_DEFINE_FLOAT(LAUN_THR_PRE, 0.0f);