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Add Range-based RTL

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This commit is contained in:
Julian Kent
2021-01-18 16:26:53 +01:00
committed by Lorenz Meier
parent e817fb83f5
commit 7482413005
8 changed files with 162 additions and 5 deletions
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src/modules/navigator/rtl_params.c
+11 -1
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@@ -137,6 +137,16 @@ PARAM_DEFINE_INT32(RTL_TYPE, 0);
*/
PARAM_DEFINE_INT32(RTL_CONE_ANG, 45);
/**
* Maximum allowed RTL flight in minutes
*
* This is used to determine when the vehicle should be switched to RTL due to low battery.
* Note, particularly for multirotors this should reflect flight time at cruise speed, not while stationary
*
* @group Commander
*/
PARAM_DEFINE_FLOAT(RTL_FLT_TIME, 15);
/**
* RTL precision land mode
*
@@ -147,4 +157,4 @@ PARAM_DEFINE_INT32(RTL_CONE_ANG, 45);
* @value 2 Required precision landing
* @group Return To Land
*/
PARAM_DEFINE_INT32(RTL_PLD_MD, 0);
PARAM_DEFINE_INT32(RTL_PLD_MD, 0);