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moved params NAV_OBL to COM_OBL

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This commit is contained in:
Andreas Antener 2016-06-20 19:23:11 +02:00
parent 8727295f8e
commit d1b27ab056
4 changed files with 46 additions and 46 deletions
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4
posix-configs/SITL/init/rcS_gazebo_iris
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@ -24,8 +24,8 @@ param set NAV_DLL_ACT 2
param set COM_DISARM_LAND 3
param set NAV_ACC_RAD 2.0
param set COM_OF_LOSS_T 5
param set NAV_OBL_ACT 2
param set NAV_OBL_RC_ACT 0
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 5.0
param set RTL_LAND_DELAY 5

4
src/modules/commander/commander.cpp
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@ -1161,8 +1161,8 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_component_id = param_find("MAV_COMP_ID");
param_t _param_enable_datalink_loss = param_find("NAV_DLL_ACT");
param_t _param_enable_rc_loss = param_find("NAV_RCL_ACT");
param_t _param_offboard_loss_act = param_find("NAV_OBL_ACT");
param_t _param_offboard_loss_rc_act = param_find("NAV_OBL_RC_ACT");
param_t _param_offboard_loss_act = param_find("COM_OBL_ACT");
param_t _param_offboard_loss_rc_act = param_find("COM_OBL_RC_ACT");
param_t _param_datalink_loss_timeout = param_find("COM_DL_LOSS_T");
param_t _param_rc_loss_timeout = param_find("COM_RC_LOSS_T");
param_t _param_datalink_regain_timeout = param_find("COM_DL_REG_T");

54
src/modules/commander/commander_params.c
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@ -276,6 +276,48 @@ PARAM_DEFINE_INT32(COM_DISARM_LAND, 0);
*/
PARAM_DEFINE_INT32(COM_LOW_BAT_ACT, 0);
/**
* Time-out to wait when offboard connection is lost before triggering offboard lost action.
* See COM_OBL_ACT and COM_OBL_RC_ACT to configure action.
*
* @group Commander
* @unit second
* @min 0
* @max 60
* @increment 1
*/
PARAM_DEFINE_FLOAT(COM_OF_LOSS_T, 0.0f);
/**
* Set offboard loss failsafe mode
*
* The offboard loss failsafe will only be entered after a timeout,
* set by COM_OF_LOSS_T in seconds.
*
* @value 0 Land at current position
* @value 1 Loiter
* @value 2 Return to Land
*
* @group Mission
*/
PARAM_DEFINE_INT32(COM_OBL_ACT, 0);
/**
* Set offboard loss failsafe mode when RC is available
*
* The offboard loss failsafe will only be entered after a timeout,
* set by COM_OF_LOSS_T in seconds.
*
* @value 0 Position control
* @value 1 Altitude control
* @value 2 Manual
* @value 3 Return to Land
* @value 4 Land at current position
*
* @group Mission
*/
PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
/**
* First flightmode slot (1000-1160)
*
@ -413,15 +455,3 @@ PARAM_DEFINE_INT32(COM_FLTMODE5, -1);
* @value 12 Follow Me
*/
PARAM_DEFINE_INT32(COM_FLTMODE6, -1);
/**
* Time-out to wait when offboard connection is lost before triggering offboard lost action.
* See NAV_OBL_ACT and NAV_OBL_RC_ACT to configure action.
*
* @group Commander
* @unit second
* @min 0
* @max 60
* @increment 1
*/
PARAM_DEFINE_FLOAT(COM_OF_LOSS_T, 0.0f);

30
src/modules/navigator/navigator_params.c
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@ -104,36 +104,6 @@ PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
*/
PARAM_DEFINE_INT32(NAV_RCL_ACT, 0);
/**
* Set offboard loss failsafe mode
*
* The offboard loss failsafe will only be entered after a timeout,
* set by COM_OF_LOSS_T in seconds.
*
* @value 0 Land at current position
* @value 1 Loiter
* @value 2 Return to Land
*
* @group Mission
*/
PARAM_DEFINE_INT32(NAV_OBL_ACT, 0);
/**
* Set offboard loss failsafe mode when RC is available
*
* The offboard loss failsafe will only be entered after a timeout,
* set by COM_OF_LOSS_T in seconds.
*
* @value 0 Position control
* @value 1 Altitude control
* @value 2 Manual
* @value 3 Return to Land
* @value 4 Land at current position
*
* @group Mission
*/
PARAM_DEFINE_INT32(NAV_OBL_RC_ACT, 0);
/**
* Airfield home Lat
*