From 6cceca6fe52093a6fb49b75f157357eb820bb514 Mon Sep 17 00:00:00 2001
From: Martina <martina@rivizzigno.it>
Date: Sat, 28 Apr 2018 15:04:06 +0200
Subject: [PATCH] mc_pos_control_params: add parameter to enable and disable
 obstacle avoidance

---
 src/modules/mc_pos_control/mc_pos_control_params.c | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index a472ff11b9..c1cf0ed44e 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -603,3 +603,15 @@ PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 0.4f);
  * @group Multicopter Position Control
  */
 PARAM_DEFINE_INT32(MPC_FLT_TSK, 0);
+
+/**
+ * Flag to enable obstacle avoidance
+ * Temporary Parameter to enable interface testing
+ *
+ * @min 0
+ * @max 1
+ * @value 0 Obstacle Avoidance Not Enabled
+ * @value 1 Obstacle Avoidance Enabled
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_INT32(MPC_OBS_AVOID, 0);