From d6c27c6f37a4f12ccb91512b9ab1f3a3736cb6ef Mon Sep 17 00:00:00 2001
From: Azarakhsh Keipour <keipour@gmail.com>
Date: Mon, 23 Dec 2019 19:39:02 -0500
Subject: [PATCH] Omni Pos-Ctrl: Defined MC_OMNI_MODE PX4 parameter in the
 position controller

---
 src/modules/mc_pos_control/mc_pos_control_main.cpp |  3 ++-
 src/modules/mc_pos_control/mc_pos_control_params.c | 14 ++++++++++++++
 2 files changed, 16 insertions(+), 1 deletion(-)

diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 2612e2c939..6a2399a823 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -172,7 +172,8 @@ private:
 		(ParamInt<px4::params::MPC_ALT_MODE>) _param_mpc_alt_mode,
 		(ParamFloat<px4::params::MPC_TILTMAX_LND>) _param_mpc_tiltmax_lnd, /**< maximum tilt for landing and smooth takeoff */
 		(ParamFloat<px4::params::MPC_THR_MIN>) _param_mpc_thr_min,
-		(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max
+		(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max,
+		(ParamInt<px4::params::MC_OMNI_MODE>) _param_mc_omni_mode
 	);
 
 	control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 4f9e153d45..5a1b2e9cd1 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -745,3 +745,17 @@ PARAM_DEFINE_FLOAT(MPC_SPOOLUP_TIME, 1.0f);
  * @group Mission
  */
 PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);
+
+/**
+ * Omni-directional Controller mode.
+ *
+ * Specifies the heading in Auto.
+ *
+ * @min 0
+ * @max 2
+ * @value 0 tilted attitude
+ * @value 1 daisy-chain tilt/no-tilt attitude
+ * @value 2 constant zero tilt
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_INT32(MC_OMNI_MODE, 0);