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Implement altitude acceptance radius

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This commit is contained in:
sander
2016-07-30 11:43:52 +02:00
committed by Lorenz Meier
parent b5ef5cabb5
commit e4f20f98cd
4 changed files with 59 additions and 7 deletions
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src/modules/navigator/navigator_params.c
+29 -1
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@@ -58,7 +58,7 @@ PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
* Acceptance Radius
*
* Default acceptance radius, overridden by acceptance radius of waypoint if set.
* For fixed wing NAV_ACC_RAD is the vertical acceptance, as the L1 turning distance is used for horizontal acceptance.
* For fixed wing the L1 turning distance is used for horizontal acceptance.
*
* @unit m
* @min 0.05
@@ -69,6 +69,34 @@ PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
*/
PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f);
/**
* FW Altitude Acceptance Radius
*
* Acceptance radius for fixedwing altitude.
*
* @unit m
* @min 0.05
* @max 200.0
* @decimal 1
* @increment 0.5
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_FW_ALT_RAD, 10.0f);
/**
* MC Altitude Acceptance Radius
*
* Acceptance radius for multicopter altitude.
*
* @unit m
* @min 0.05
* @max 200.0
* @decimal 1
* @increment 0.5
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_MC_ALT_RAD, 3.0f);
/**
* Set data link loss failsafe mode
*