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Navigator resurrect FW GPS failure navigation (#7762)

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This commit is contained in:
Daniel Agar
2017-09-08 12:18:59 -04:00
committed by GitHub
parent e15afcca7a
commit 7a42424411
6 changed files with 138 additions and 147 deletions
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src/modules/navigator/gpsfailure_params.c
+8 -13
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@@ -36,18 +36,13 @@
*
* Parameters for GPSF navigation mode
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
/*
* GPS Failure Navigation Mode parameters, accessible via MAVLink
*/
/**
* Loiter time
*
* The amount of time in seconds the system should do open loop loiter and wait for gps recovery
* before it goes into flight termination.
* The time in seconds the system should do open loop loiter and wait for GPS recovery
* before it goes into flight termination. Set to 0 to disable.
*
* @unit s
* @min 0.0
@@ -56,12 +51,12 @@
* @increment 1
* @group GPS Failure Navigation
*/
PARAM_DEFINE_FLOAT(NAV_GPSF_LT, 30.0f);
PARAM_DEFINE_FLOAT(NAV_GPSF_LT, 0.0f);
/**
* Open loop loiter roll
* Fixed bank angle
*
* Roll in degrees during the open loop loiter
* Roll in degrees during the loiter
*
* @unit deg
* @min 0.0
@@ -73,7 +68,7 @@ PARAM_DEFINE_FLOAT(NAV_GPSF_LT, 30.0f);
PARAM_DEFINE_FLOAT(NAV_GPSF_R, 15.0f);
/**
* Open loop loiter pitch
* Fixed pitch angle
*
* Pitch in degrees during the open loop loiter
*
@@ -87,7 +82,7 @@ PARAM_DEFINE_FLOAT(NAV_GPSF_R, 15.0f);
PARAM_DEFINE_FLOAT(NAV_GPSF_P, 0.0f);
/**
* Open loop loiter thrust
* Thrust
*
* Thrust value which is set during the open loop loiter
*
@@ -98,4 +93,4 @@ PARAM_DEFINE_FLOAT(NAV_GPSF_P, 0.0f);
* @increment 0.05
* @group GPS Failure Navigation
*/
PARAM_DEFINE_FLOAT(NAV_GPSF_TR, 0.7f);
PARAM_DEFINE_FLOAT(NAV_GPSF_TR, 0.0f);