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RTL params - proposed updates

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Hamish Willee
2019-10-21 09:08:27 +03:00
committed by Roman Bapst
parent 4cc7bb7296
commit 177da1f923
1 changed files with 9 additions and 9 deletions
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src/modules/navigator/rtl_params.c
+9 -9
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@@ -34,19 +34,19 @@
/** /**
* @file rtl_params.c * @file rtl_params.c
* *
* Parameters for return to home mode. * Parameters for return mode
* *
* @author Julian Oes <julian@oes.ch> * @author Julian Oes <julian@oes.ch>
*/ */
/* /*
* Return to home parameters, accessible via MAVLink * Return mode parameters, accessible via MAVLink
*/ */
/** /**
* Return to home relative altitude. * Return mode return altitude
* *
* Default minimum altitude above home for return flight in return mode. * Default minimum altitude above home for return flight.
* This is affected by RTL_MIN_DIST and RTL_CONE_ANG. * This is affected by RTL_MIN_DIST and RTL_CONE_ANG.
* *
* @unit m * @unit m
@@ -60,9 +60,9 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);
/** /**
* Return mode loiter altitude (relative to home). * Return mode loiter altitude (relative to home)
* *
* Stay at this altitude above home position after return to home mode descending. * Descend to this altitude (above home position) after return, and wait for time defined in RTL_LAND_DELAY.
* Land (i.e. slowly descend) from this altitude if autolanding allowed. * Land (i.e. slowly descend) from this altitude if autolanding allowed.
* *
* @unit m * @unit m
@@ -77,7 +77,7 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
/** /**
* Return mode delay * Return mode delay
* *
* Delay after descend before landing in Return mode. * Delay before landing (after initial descent) in Return mode.
* If set to -1 the system will not land but loiter at RTL_DESCEND_ALT. * If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.
* *
* @unit s * @unit s
@@ -90,7 +90,7 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f); PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);
/** /**
* Maximum horizontal distance from home, below which RTL_DESCEND_ALT is used as return altitude. * Maximum horizontal distance from home, below which RTL_DESCEND_ALT is used as return altitude
* *
* If the vehicle is less than this horizontal distance from home when return mode is activated it will ascend * If the vehicle is less than this horizontal distance from home when return mode is activated it will ascend
* to RTL_DESCEND_ALT for the return journey (rather than the altitude set by RTL_RETURN_ALT and RTL_CONE_ANG). * to RTL_DESCEND_ALT for the return journey (rather than the altitude set by RTL_RETURN_ALT and RTL_CONE_ANG).
@@ -118,7 +118,7 @@ PARAM_DEFINE_FLOAT(RTL_MIN_DIST, 5.0f);
PARAM_DEFINE_INT32(RTL_TYPE, 0); PARAM_DEFINE_INT32(RTL_TYPE, 0);
/** /**
* Half-angle of the return to home cone. * Half-angle of the return mode altitude cone
* *
* Defines the half-angle of a cone centered around the home position that * Defines the half-angle of a cone centered around the home position that
* affects the altitude at which the vehicle returns during return to home. * affects the altitude at which the vehicle returns during return to home.