From f73cf4870d9a395a2104d70c288c6bfbe81ccc3f Mon Sep 17 00:00:00 2001
From: RomanBapst <bapstroman@gmail.com>
Date: Mon, 3 May 2021 15:35:16 +0300
Subject: [PATCH] FixedWingPosControlL1: added target climb and sink rate
 parameters

Signed-off-by: RomanBapst <bapstroman@gmail.com>
---
 .../fw_pos_control_l1_params.c                | 33 +++++++++++++++++++
 1 file changed, 33 insertions(+)

diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index a25b218a37..8c7cb5893b 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -950,3 +950,36 @@ PARAM_DEFINE_FLOAT(FW_T_TAS_R_TC, 0.2f);
  * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SEB_R_FF, 1.0f);
+
+/**
+ * Default target climbrate.
+ *
+ *
+ * The default rate at which the vehicle will climb in autonomous modes to achieve altitude setpoints.
+ * In manual modes this defines the maximum rate at which the altitude setpoint can be increased.
+ *
+ *
+ * @unit m/s
+ * @min 0.5
+ * @max 15
+ * @decimal 2
+ * @increment 0.01
+ * @group FW TECS
+ */
+PARAM_DEFINE_FLOAT(FW_T_CLIMB_R_SP, 3.0f);
+
+/**
+ * Default target sinkrate.
+ *
+ *
+ * The default rate at which the vehicle will sink in autonomous modes to achieve altitude setpoints.
+ * In manual modes this defines the maximum rate at which the altitude setpoint can be decreased.
+ *
+ * @unit m/s
+ * @min 0.5
+ * @max 15
+ * @decimal 2
+ * @increment 0.01
+ * @group FW TECS
+ */
+PARAM_DEFINE_FLOAT(FW_T_SINK_R_SP, 2.0f);