From 39cc1f78937c6e8b125eed33f3b57638e27648bd Mon Sep 17 00:00:00 2001
From: JaeyoungLim <jalim@ethz.ch>
Date: Wed, 15 Nov 2023 10:10:49 +0100
Subject: [PATCH] Add wind shear related parameters

---
 .../FixedwingPositionINDIControl.hpp          |  7 ++-
 .../fw_dyn_soar_control_params.c              | 52 ++++++++++++++++++-
 2 files changed, 56 insertions(+), 3 deletions(-)

diff --git a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp
index 2afffba21f..021b45870d 100644
--- a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp
+++ b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp
@@ -229,7 +229,12 @@ private:
 		// manual switch if manual feedthrough is used, REMOVE!!!
 		(ParamInt<px4::params::DS_SWITCH_CLOOP>) _param_switch_cloop,
 		// manual switch if we are in SITL mode
-		(ParamInt<px4::params::DS_SWITCH_SITL>) _param_switch_sitl
+		(ParamInt<px4::params::DS_SWITCH_SITL>) _param_switch_sitl,
+		(ParamInt<px4::params::DS_SWITCH_SITL>) _shear_estimated_v_max,
+		(ParamInt<px4::params::DS_WINDEST_HEIGHT>) _shear_estimated_alpha,
+		(ParamInt<px4::params::DS_WINDEST_HDG>) _shear_estimated_h_ref,
+		(ParamInt<px4::params::DS_WINDEST_ALPHA>) _shear_estimated_heading,
+		(ParamInt<px4::params::DS_WINDEST_VMAX>) _shear_estimated_aspd
 
 	)
 
diff --git a/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c b/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
index 4168d7ce67..9feda06893 100644
--- a/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
+++ b/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
@@ -647,11 +647,59 @@ PARAM_DEFINE_INT32(DS_SWITCH_CLOOP, 0);
 
 /**
  * integer in {0,1} defining if we are running the controller in SITL. 0=hardware, 1=sitl
- * @unit 
+ * @unit
  * @min 0
  * @max 1
  * @decimal 1
  * @increment 1
  * @group FW DYN SOAR Control
  */
-PARAM_DEFINE_INT32(DS_SWITCH_SITL, 0);
\ No newline at end of file
+PARAM_DEFINE_INT32(DS_SWITCH_SITL, 0);
+
+/**
+ * float in [0,1] corresponding to the engine thrust
+ *
+ * @unit
+ * @min 0
+ * @max 1
+ * @decimal 2
+ * @increment 0.01
+ * @group FW DYN SOAR Control
+ */
+PARAM_DEFINE_FLOAT(DS_WINDEST_HEIGHT, 0);
+
+/**
+ * float in [0,1] corresponding to the engine thrust
+ *
+ * @unit
+ * @min 0
+ * @max 1
+ * @decimal 2
+ * @increment 0.01
+ * @group FW DYN SOAR Control
+ */
+PARAM_DEFINE_FLOAT(DS_WINDEST_HDG, 0);
+
+/**
+ * float in [0,1] corresponding to the engine thrust
+ *
+ * @unit
+ * @min 0
+ * @max 1
+ * @decimal 2
+ * @increment 0.01
+ * @group FW DYN SOAR Control
+ */
+PARAM_DEFINE_FLOAT(DS_WINDEST_ALPHA, 0);
+
+/**
+ * float in [0,1] corresponding to the engine thrust
+ *
+ * @unit
+ * @min 0
+ * @max 1
+ * @decimal 2
+ * @increment 0.01
+ * @group FW DYN SOAR Control
+ */
+PARAM_DEFINE_FLOAT(DS_WINDEST_VMAX, 0);