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/**
 * @file mission_params.c
 *
 * Parameters for mission.
 *
 * @author Julian Oes <joes@student.ethz.ch>
 */

#include <nuttx/config.h>

#include <systemlib/param/param.h>

/*
 * Mission parameters, accessible via MAVLink
 */

/**
 * Take-off altitude
 *
 * Even if first waypoint has altitude less then MIS_TAKEOFF_ALT above home position, system will climb to
 * MIS_TAKEOFF_ALT on takeoff, then go to waypoint.
 *
 * @unit meters
 * @group Mission
 */
PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 10.0f);

/**
 * Enable persistent onboard mission storage
 *
 * When enabled, missions that have been uploaded by the GCS are stored
 * and reloaded after reboot persistently.
 *
 * @min 0
 * @max 1
 * @group Mission
 */
PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1);

/**
 * Maximal horizontal distance from home to first waypoint
 *
 * Failsafe check to prevent running mission stored from previous flight at a new takeoff location.
 * Set a value of zero or less to disable. The mission will not be started if the current
 * waypoint is more distant than MIS_DIS_1WP from the current position.
 *
 * @min 0
 * @max 1000
 * @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);

/**
 * Multirotor only. Yaw setpoint mode.
 *
 * 0: Set the yaw heading to the yaw value specified for the destination waypoint.
 * 1: Maintain a yaw heading pointing towards the next waypoint.
 * 2: Maintain a yaw heading that always points to the home location.
 * 3: Maintain a yaw heading that always points away from the home location (ie: back always faces home).
 *
 * The values are defined in the enum mission_altitude_mode
 *
 * @min 0
 * @max 3
 * @group Mission
 */
PARAM_DEFINE_INT32(MIS_YAWMODE, 0);