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Commander: set home position in air

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en/dis-able in-air home position via parameter COM_HOME_IN_AIR
This commit is contained in:
bresch
2020-12-07 10:24:23 -05:00
committed by Daniel Agar
parent e8cefcafbc
commit f3e5b86b06
4 changed files with 134 additions and 39 deletions
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src/modules/commander/commander_params.c
+12
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@@ -213,6 +213,18 @@ PARAM_DEFINE_FLOAT(COM_HOME_H_T, 5.0f);
*/
PARAM_DEFINE_FLOAT(COM_HOME_V_T, 10.0f);
/**
* Allows setting the home position after takeoff
*
* If set to true, the autopilot is allowed to set its home position after takeoff
* The true home position is back-computed if a local position is estimate if available.
* If no local position is available, home is set to the current position.
*
* @boolean
* @group Commander
*/
PARAM_DEFINE_INT32(COM_HOME_IN_AIR, 0);
/**
* RC control input mode
*