Unify optical flow height limiting

src/modules/sensors/sensor_params.c

@@ -162,37 +162,6 @@ PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f);
  */
 PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
 
-/**
- * PX4Flow board rotation
- *
- * This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame.
- * Zero rotation is defined as X on flow board pointing towards front of vehicle.
- * The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).
- *
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- *
- * @reboot_required true
- *
- * @group Sensors
- */
-PARAM_DEFINE_INT32(SENS_FLOW_ROT, 6);
-
-/**
- * Optical Flow minimum focus distance
- *
- * This parameter defines the minimum distance from ground required for the optical flow sensor to operate reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.
- * *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_FLOAT(SENS_FLOW_MINRNG, 0.7f);
-
 /**
  * Board rotation Y (Pitch) offset
  *

src/modules/sensors/sensor_params_flow.c

@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * PX4Flow board rotation
+ *
+ * This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame.
+ * Zero rotation is defined as X on flow board pointing towards front of vehicle.
+ * The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).
+ *
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ *
+ * @reboot_required true
+ *
+ * @group Sensors
+ */
+PARAM_DEFINE_INT32(SENS_FLOW_ROT, 6);
+
+/**
+ * Minimum height above ground when reliant on optical flow.
+ *
+ * This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably.
+ * The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.
+ *
+ * @unit m
+ * @min 0.0
+ * @max 1.0
+ * @increment 0.1
+ * @decimal 1
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(SENS_FLOW_MINHGT, 0.7f);
+
+/**
+ * Maximum height above ground when reliant on optical flow.
+ *
+ * This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably.
+ * The height setpoint will be limited to be no greater than this value when the navigation system
+ * is completely reliant on optical flow data and the height above ground estimate is valid.
+ * The sensor may be usable above this height, but accuracy will progressively degrade.
+ *
+ * @unit m
+ * @min 1.0
+ * @max 25.0
+ * @increment 0.1
+ * @decimal 1
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(SENS_FLOW_MAXHGT, 3.0f);