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/**
 * @file fw_pos_control_l1_params.c
 *
 * Parameters defined by the L1 position control task
 *
 * @author Lorenz Meier <lm@inf.ethz.ch>
 */

#include <nuttx/config.h>
#include <systemlib/param/param.h>

/*
 * Controller parameters, accessible via MAVLink
 */

/**
 * L1 period
 *
 * This is the L1 distance and defines the tracking
 * point ahead of the aircraft its following.
 * A value of 25 meters works for most aircraft. Shorten
 * slowly during tuning until response is sharp without oscillation.
 *
 * @min 1.0
 * @max 100.0
 * @group L1 Control
 */
PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f);

/**
 * L1 damping
 *
 * Damping factor for L1 control.
 *
 * @min 0.6
 * @max 0.9
 * @group L1 Control
 */
PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);

/**
 * Cruise throttle
 *
 * This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.
 *
 * @min 0.0
 * @max 1.0
 * @group L1 Control
 */
PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f);

/**
 * Negative pitch limit
 *
 * The minimum negative pitch the controller will output.
 *
 * @unit degrees
 * @min -60.0
 * @max 0.0
 * @group L1 Control
 */
PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);

/**
 * Positive pitch limit
 *
 * The maximum positive pitch the controller will output.
 *
 * @unit degrees
 * @min 0.0
 * @max 60.0
 * @group L1 Control
 */
PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);

/**
 * Controller roll limit
 *
 * The maximum roll the controller will output.
 *
 * @unit degrees
 * @min 0.0
 * @group L1 Control
 */
PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f);

/**
 * Throttle limit max
 *
 * This is the maximum throttle % that can be used by the controller. 
 * For overpowered aircraft, this should be reduced to a value that 
 * provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.
 *
 * @group L1 Control
 */
PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);

/**
 * Throttle limit min
 *
 * This is the minimum throttle % that can be used by the controller. 
 * For electric aircraft this will normally be set to zero, but can be set 
 * to a small non-zero value if a folding prop is fitted to prevent the 
 * prop from folding and unfolding repeatedly in-flight or to provide 
 * some aerodynamic drag from a turning prop to improve the descent rate.
 *
 * For aircraft with internal combustion engine this parameter should be set
 * for desired idle rpm.
 *
 * @group L1 Control
 */
PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);

/**
 * Throttle limit value before flare
 *
 * This throttle value will be set as throttle limit at FW_LND_TLALT, 
 * before arcraft will flare.
 *
 * @group L1 Control
 */
PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);

/**
 * Landing slope angle
 *
 * @group L1 Control
 */
PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);

/**
 *
 *
 * @group L1 Control
 */
PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);

/**
 * Landing flare altitude (relative)
 *
 * @group L1 Control
 */
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f);

/**
 * Landing throttle limit altitude (relative)
 *
 * @group L1 Control
 */
PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f);

/**
 * Landing heading hold horizontal distance
 *
 * @group L1 Control
 */
PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);

/**
 * Relative altitude threshold for range finder measurements for use during landing
 *
 * range finder measurements will only be used if the estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) is < FW_LND_RFRALT
 * set to < 0 to disable
 * the correct value of this parameter depends on your range measuring device as well as on the terrain at the landing location
 *
 * @group L1 Control
 */
PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f);