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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst 2019-10-08 08:23:57 +02:00 committed by Roman Bapst
parent b1a9d4b4c7
commit 4cc7bb7296
1 changed files with 11 additions and 12 deletions
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23
src/modules/navigator/rtl_params.c
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@ -34,19 +34,19 @@
/**
* @file rtl_params.c
*
* Parameters for RTL
* Parameters for return to home mode.
*
* @author Julian Oes <julian@oes.ch>
*/
/*
* RTL parameters, accessible via MAVLink
* Return to home parameters, accessible via MAVLink
*/
/**
* Return to home relative altitude.
*
* Relative altitude above home at which the vehicle will return during RTL mode.
* Default minimum altitude above home for return flight in return mode.
* This is affected by RTL_MIN_DIST and RTL_CONE_ANG.
*
* @unit m
@ -60,9 +60,9 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);
/**
* Return to home relative loiter altitude.
* Return mode loiter altitude (relative to home).
*
* Stay at this altitude above home position after RTL descending.
* Stay at this altitude above home position after return to home mode descending.
* Land (i.e. slowly descend) from this altitude if autolanding allowed.
*
* @unit m
@ -90,11 +90,10 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);
/**
* Maximum horizontal distance to home position below which vehicle will use
* RTL_DESCEND_ALT as return altitude.
* Maximum horizontal distance from home, below which RTL_DESCEND_ALT is used as return altitude.
*
* If the system is horizontally closer than this distance to home
* it will only ascend to RTL_DESCEND_ALT before moving horizontally to the home position.
* 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).
*
* @unit m
* @min 0.5
@ -119,10 +118,10 @@ PARAM_DEFINE_FLOAT(RTL_MIN_DIST, 5.0f);
PARAM_DEFINE_INT32(RTL_TYPE, 0);
/**
* Half-angle of the RTL cone.
* Half-angle of the return to home cone.
*
* Defines the half-angle of a cone centered around the home position which
* affects the altitude at which the vehicle returns during RTL.
* 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.
*
* @unit degrees
* @min 0