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Add parameter and logic to set RTL heading mode.

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mcsauder
2021-10-22 09:28:30 +02:00
committed by Mathieu Bresciani
parent 6938d24ec7
commit 9301288d1f
3 changed files with 106 additions and 40 deletions
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src/modules/navigator/rtl_params.c
+13 -1
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@@ -156,7 +156,7 @@ PARAM_DEFINE_FLOAT(RTL_FLT_TIME, 15);
* @value 0 No precision landing
* @value 1 Opportunistic precision landing
* @value 2 Required precision landing
* @group Return To Land
* @group Return Mode
*/
PARAM_DEFINE_INT32(RTL_PLD_MD, 0);
@@ -173,3 +173,15 @@ PARAM_DEFINE_INT32(RTL_PLD_MD, 0);
* @group Return Mode
*/
PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);
/**
* RTL heading mode
*
* Defines the heading behavior during RTL
*
* @value 0 Towards next waypoint.
* @value 1 Heading matches destination.
* @value 2 Use current heading.
* @group Return Mode
*/
PARAM_DEFINE_INT32(RTL_HDG_MD, 0);