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/**
 * @file rtl_params.c
 *
 * Parameters for RTL
 *
 * @author Julian Oes <julian@oes.ch>
 */

#include <nuttx/config.h>

#include <systemlib/param/param.h>

/*
 * RTL parameters, accessible via MAVLink
 */

/**
 * Loiter radius after RTL (FW only)
 *
 * Default value of loiter radius after RTL (fixedwing only).
 *
 * @unit meters
 * @min 0.0
 * @group RTL
 */
PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);

/**
 * RTL altitude
 *
 * Altitude to fly back in RTL in meters
 *
 * @unit meters
 * @min 0
 * @max 1
 * @group RTL
 */
PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 100);


/**
 * RTL loiter altitude
 *
 * Stay at this altitude above home position after RTL descending.
 * Land (i.e. slowly descend) from this altitude if autolanding allowed.
 *
 * @unit meters
 * @min 0
 * @max 100
 * @group RTL
 */
PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 20);

/**
 * RTL 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
 * @min -1
 * @max
 * @group RTL
 */
PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);