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/**
 * @file gpsfailure_params.c
 *
 * Parameters for GPSF navigation mode
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */

#include <nuttx/config.h>

#include <systemlib/param/param.h>

/*
 * GPS Failure Navigation Mode parameters, accessible via MAVLink
 */

/**
 * Loiter time
 *
 * The amount of time in seconds the system should do open loop loiter and wait for gps recovery
 * before it goes into flight termination.
 *
 * @unit seconds
 * @min 0.0
 * @group GPSF
 */
PARAM_DEFINE_FLOAT(NAV_GPSF_LT, 30.0f);

/**
 * Open loop loiter roll
 *
 * Roll in degrees during the open loop loiter
 *
 * @unit deg
 * @min 0.0
 * @max 30.0
 * @group GPSF
 */
PARAM_DEFINE_FLOAT(NAV_GPSF_R, 15.0f);

/**
 * Open loop loiter pitch
 *
 * Pitch in degrees during the open loop loiter
 *
 * @unit deg
 * @min -30.0
 * @max 30.0
 * @group GPSF
 */
PARAM_DEFINE_FLOAT(NAV_GPSF_P, 0.0f);

/**
 * Open loop loiter thrust
 *
 * Thrust value which is set during the open loop loiter
 *
 * @min 0.0
 * @max 1.0
 * @group GPSF
 */
PARAM_DEFINE_FLOAT(NAV_GPSF_TR, 0.7f);