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/**
 * @file vtol_att_control_params.c
 * Parameters for vtol attitude controller.
 *
 * @author Roman Bapst <bapstr@ethz.ch>
 */

#include <systemlib/param/param.h>

/**
 * VTOL number of engines
 *
 * @min 1.0
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_INT32(VT_MOT_COUNT,0);

/**
 * Idle speed of VTOL when in multicopter mode
 *
 * @min 900
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_INT32(VT_IDLE_PWM_MC,900);

/**
 * Minimum airspeed in multicopter mode
 *
 * This is the minimum speed of the air flowing over the control surfaces.
 *
 * @min 0.0
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN,10.0f);

/**
 * Maximum airspeed in multicopter mode
 *
 * This is the maximum speed of the air flowing over the control surfaces.
 *
 * @min 0.0
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX,30.0f);

/**
 * Trim airspeed when in multicopter mode
 *
 * This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode.
 *
 * @min 0.0
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM,10.0f);

/**
 * Permanent stabilization in fw mode
 *
 * If set to one this parameter will cause permanent attitude stabilization in fw mode.
 * This parameter has been introduced for pure convenience sake.
 *
 * @min 0.0
 * @max 1.0
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_INT32(VT_FW_PERM_STAB,0);

/**
 * Fixed wing pitch trim
 *
 * This parameter allows to adjust the neutral elevon position in fixed wing mode.
 *
 * @min -1
 * @max 1
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_FW_PITCH_TRIM,0.0f);

/**
 * Motor max power
 *
 * Indicates the maximum power the motor is able to produce. Used to calculate
 * propeller efficiency map.
 *
 * @min 1
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_POWER_MAX,120.0f);

/**
 * Propeller efficiency parameter
 *
 * Influences propeller efficiency at different power settings. Should be tuned beforehand.
 *
 * @min 0.5
 * @max 0.9
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_PROP_EFF,0.0f);

/**
 * Total airspeed estimate low-pass filter gain
 *
 * Gain for tuning the low-pass filter for the total airspeed estimate
 *
 * @min 0.0
 * @max 0.99
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_ARSP_LP_GAIN,0.3f);