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/**
 * @file navigator_params.c
 *
 * Parameters defined by the navigator task.
 *
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Julian Oes <joes@student.ethz.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 */

#include <nuttx/config.h>

#include <systemlib/param/param.h>

/*
 * Navigator parameters, accessible via MAVLink
 */

/**
 * Minimum altitude (fixed wing only)
 *
 * Minimum altitude above home for LOITER.
 *
 * @unit meters
 * @group Navigation
 */
PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f);

/**
 * Waypoint acceptance radius
 *
 * Default value of acceptance radius (if not specified in mission item).
 *
 * @unit meters
 * @min 0.0
 * @group Navigation
 */
PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f);

/**
 * Loiter radius (fixed wing only)
 *
 * Default value of loiter radius (if not specified in mission item).
 *
 * @unit meters
 * @min 0.0
 * @group Navigation
 */
PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);

/**
 * Enable onboard mission
 *
 * @group Navigation
 */
PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0);

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

/**
 * Landing altitude
 *
 * Stay at this altitude above home position after RTL descending. Land (i.e. slowly descend) from this altitude if autolanding allowed.
 *
 * @unit meters
 * @group Navigation
 */
PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f);

/**
 * Return-To-Launch altitude
 *
 * Minimum altitude above home position for going home in RTL mode.
 *
 * @unit meters
 * @group Navigation
 */
PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f);

/**
 * Return-To-Launch delay
 *
 * Delay after descend before landing in RTL mode.
 * If set to -1 the system will not land but loiter at NAV_LAND_ALT.
 *
 * @unit seconds
 * @group Navigation
 */
PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f);

/**
 * Enable parachute deployment
 *
 * @group Navigation
 */
PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0);