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/**
 * @file navigator_params.c
 *
 * Parameters for navigator in general
 *
 * @author Julian Oes <julian@oes.ch>
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */

#include <nuttx/config.h>

#include <systemlib/param/param.h>

/**
 * Loiter radius (FW only)
 *
 * Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only).
 *
 * @unit meters
 * @min 20
 * @max 200
 * @group Mission
 */
PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);

/**
 * Acceptance Radius
 *
 * Default acceptance radius, overridden by acceptance radius of waypoint if set.
 *
 * @unit meters
 * @min 0.05
 * @max 200
 * @group Mission
 */
PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f);

/**
 * Set OBC mode for data link loss
 *
 * If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules
 *
 * @min 0
 * @group Mission
 */
PARAM_DEFINE_INT32(NAV_DLL_OBC, 0);

/**
 * Set OBC mode for rc loss
 *
 * If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules
 *
 * @min 0
 * @group Mission
 */
PARAM_DEFINE_INT32(NAV_RCL_OBC, 0);

/**
 * Airfield home Lat
 *
 * Latitude of airfield home waypoint
 *
 * @unit degrees * 1e7
 * @min 0
 * @group Data Link Loss
 */
PARAM_DEFINE_INT32(NAV_AH_LAT, -265847810);

/**
 * Airfield home Lon
 *
 * Longitude of airfield home waypoint
 *
 * @unit degrees * 1e7
 * @min 0
 * @group Data Link Loss
 */
PARAM_DEFINE_INT32(NAV_AH_LON, 1518423250);

/**
 * Airfield home alt
 *
 * Altitude of airfield home waypoint
 *
 * @unit m
 * @min 0.0
 * @group Data Link Loss
 */
PARAM_DEFINE_FLOAT(NAV_AH_ALT, 600.0f);