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refactor(navigator): convert params.c to module.yaml

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Convert 6 parameter file(s) from legacy C format to YAML
module configuration.
This commit is contained in:
Jacob Dahl 2026-03-17 21:55:35 -08:00 committed by Jacob Dahl
parent ffa361185c
commit fb9793cb7a
13 changed files with 573 additions and 870 deletions
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7
src/modules/navigator/CMakeLists.txt
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@ -62,6 +62,13 @@ px4_add_module(
MODULE modules__navigator
MAIN navigator
SRCS ${NAVIGATOR_SOURCES}
MODULE_CONFIG
geofence_params.yaml
mission_params.yaml
navigator_params.yaml
precland_params.yaml
rtl_params.yaml
vtol_takeoff_params.yaml
DEPENDS
dataman_client
geo

119
src/modules/navigator/geofence_params.c
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@ -1,119 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file geofence_params.c
*
* Parameters for geofence
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
/*
* Geofence parameters, accessible via MAVLink
*/
/**
* Geofence violation action.
*
* Note: Setting this value to 4 enables flight termination,
* which will kill the vehicle on violation of the fence.
*
* @min 0
* @max 5
* @value 0 None
* @value 1 Warning
* @value 2 Hold mode
* @value 3 Return mode
* @value 4 Terminate
* @value 5 Land mode
* @group Geofence
*/
PARAM_DEFINE_INT32(GF_ACTION, 2);
/**
* Geofence source
*
* Select which position source should be used. Selecting GPS instead of global position makes sure that there is
* no dependence on the position estimator
* 0 = global position, 1 = GPS
*
* @min 0
* @max 1
* @value 0 GPOS
* @value 1 GPS
* @group Geofence
*/
PARAM_DEFINE_INT32(GF_SOURCE, 0);
/**
* Max horizontal distance from Home
*
* Maximum horizontal distance in meters the vehicle can be from Home before triggering a geofence action.
* Disabled if 0.
*
* @unit m
* @min 0
* @max 10000
* @increment 1
* @group Geofence
*/
PARAM_DEFINE_FLOAT(GF_MAX_HOR_DIST, 0.0f);
/**
* Max vertical distance from Home
*
* Maximum vertical distance in meters the vehicle can be from Home before triggering a geofence action.
* Disabled if 0.
*
* @unit m
* @min 0
* @max 10000
* @increment 1
* @group Geofence
*/
PARAM_DEFINE_FLOAT(GF_MAX_VER_DIST, 0.0f);
/**
* [EXPERIMENTAL] Use Pre-emptive geofence triggering
*
* WARNING: This experimental feature may cause flyaways. Use at your own risk.
*
* Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory
* would result in a breach happening before the vehicle can make evasive maneuvers.
* The vehicle is then re-routed to a safe hold position (stop for multirotor, loiter for fixed wing).
*
* @boolean
* @group Geofence
*/
PARAM_DEFINE_INT32(GF_PREDICT, 0);

70
src/modules/navigator/geofence_params.yaml Normal file
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@ -0,0 +1,70 @@
module_name: navigator
parameters:
- group: Geofence
definitions:
GF_ACTION:
description:
short: Geofence violation action
long: |-
Note: Setting this value to 4 enables flight termination,
which will kill the vehicle on violation of the fence.
type: enum
values:
0: None
1: Warning
2: Hold mode
3: Return mode
4: Terminate
5: Land mode
default: 2
min: 0
max: 5
GF_SOURCE:
description:
short: Geofence source
long: |-
Select which position source should be used. Selecting GPS instead of global position makes sure that there is
no dependence on the position estimator
0 = global position, 1 = GPS
type: enum
values:
0: GPOS
1: GPS
default: 0
min: 0
max: 1
GF_MAX_HOR_DIST:
description:
short: Max horizontal distance from Home
long: |-
Maximum horizontal distance in meters the vehicle can be from Home before triggering a geofence action.
Disabled if 0.
type: float
default: 0.0
unit: m
min: 0
max: 10000
increment: 1
GF_MAX_VER_DIST:
description:
short: Max vertical distance from Home
long: |-
Maximum vertical distance in meters the vehicle can be from Home before triggering a geofence action.
Disabled if 0.
type: float
default: 0.0
unit: m
min: 0
max: 10000
increment: 1
GF_PREDICT:
description:
short: '[EXPERIMENTAL] Use Pre-emptive geofence triggering'
long: |-
WARNING: This experimental feature may cause flyaways. Use at your own risk.
Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory
would result in a breach happening before the vehicle can make evasive maneuvers.
The vehicle is then re-routed to a safe hold position (stop for multirotor, loiter for fixed wing).
type: boolean
default: 0

164
src/modules/navigator/mission_params.c
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@ -1,164 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2014-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mission_params.c
*
* Parameters for mission.
*
* @author Julian Oes <julian@oes.ch>
*/
/*
* Mission parameters, accessible via MAVLink
*/
/**
* Default take-off altitude
*
* This is the relative altitude the system will take off to
* if not otherwise specified.
*
* @unit m
* @min 0
* @decimal 1
* @increment 0.5
* @group Mission
*/
PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 2.5f);
/**
* Mission takeoff/landing required
*
* Specifies if a mission has to contain a takeoff and/or mission landing.
* Validity of configured takeoffs/landings is checked independently of the setting here.
*
* @value 0 No requirements
* @value 1 Require a takeoff
* @value 2 Require a landing
* @value 3 Require a takeoff and a landing
* @value 4 Require both a takeoff and a landing, or neither
* @value 5 Same as previous when landed, in-air require landing only if no valid VTOL approach is present
* @group Mission
*/
PARAM_DEFINE_INT32(MIS_TKO_LAND_REQ, 0);
/**
* Maximal horizontal distance from Home to first waypoint
*
* There will be a warning message if the current waypoint is more distant than MIS_DIST_1WP from Home.
* Has no effect on mission validity.
* Set a value of zero or less to disable.
*
* @unit m
* @min -1
* @max 100000
* @decimal 1
* @increment 100
* @group Mission
*/
PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 10000);
/**
* Enable yaw control of the mount. (Only affects multicopters and ROI mission items)
*
* If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction.
* If disabled, the vehicle will yaw towards the ROI.
*
* @value 0 Disable
* @value 1 Enable
* @min 0
* @max 1
* @group Mission
*/
PARAM_DEFINE_INT32(MIS_MNT_YAW_CTL, 0);
/**
* Time in seconds we wait on reaching target heading at a waypoint if it is forced.
*
* If set > 0 it will ignore the target heading for normal waypoint acceptance. If the
* waypoint forces the heading the timeout will matter. For example on VTOL forwards transition.
* Mainly useful for VTOLs that have less yaw authority and might not reach target
* yaw in wind. Disabled by default.
*
* @unit s
* @min -1
* @max 20
* @decimal 1
* @increment 1
* @group Mission
*/
PARAM_DEFINE_FLOAT(MIS_YAW_TMT, -1.0f);
/**
* Max yaw error in degrees needed for waypoint heading acceptance.
*
* @unit deg
* @min 0
* @max 90
* @decimal 1
* @increment 1
* @group Mission
*/
PARAM_DEFINE_FLOAT(MIS_YAW_ERR, 12.0f);
/**
* Landing abort min altitude
*
* Minimum altitude above landing point that the vehicle will climb to after an aborted landing.
* Then vehicle will loiter in this altitude until further command is received.
* Only applies to fixed-wing vehicles.
*
* @unit m
* @min 0
* @group Mission
*/
PARAM_DEFINE_INT32(MIS_LND_ABRT_ALT, 30);
/**
* Timeout to allow the payload to execute the mission command
*
* Ensure:
* gripper: NAV_CMD_DO_GRIPPER
* has released before continuing mission.
* winch: CMD_DO_WINCH
* has delivered before continuing mission.
* gimbal: CMD_DO_GIMBAL_MANAGER_PITCHYAW
* has reached the commanded orientation before beginning to take pictures.
*
* @unit s
* @min 0
* @decimal 1
* @group Mission
*/
PARAM_DEFINE_FLOAT(MIS_COMMAND_TOUT, 0.f);

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src/modules/navigator/mission_params.yaml Normal file
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@ -0,0 +1,115 @@
module_name: navigator
parameters:
- group: Mission
definitions:
MIS_TAKEOFF_ALT:
description:
short: Default take-off altitude
long: |-
This is the relative altitude the system will take off to
if not otherwise specified.
type: float
default: 2.5
unit: m
min: 0
decimal: 1
increment: 0.5
MIS_TKO_LAND_REQ:
description:
short: Mission takeoff/landing required
long: |-
Specifies if a mission has to contain a takeoff and/or mission landing.
Validity of configured takeoffs/landings is checked independently of the setting here.
type: enum
values:
0: No requirements
1: Require a takeoff
2: Require a landing
3: Require a takeoff and a landing
4: Require both a takeoff and a landing, or neither
5: Same as previous when landed, in-air require landing only if no valid VTOL
approach is present
default: 0
MIS_DIST_1WP:
description:
short: Maximal horizontal distance from Home to first waypoint
long: |-
There will be a warning message if the current waypoint is more distant than MIS_DIST_1WP from Home.
Has no effect on mission validity.
Set a value of zero or less to disable.
type: float
default: 10000
unit: m
min: -1
max: 100000
decimal: 1
increment: 100
MIS_MNT_YAW_CTL:
description:
short: Enable gimbal yaw control in missions
long: |-
Enable yaw control of the mount. (Only affects multicopters and ROI mission items)
If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction.
If disabled, the vehicle will yaw towards the ROI.
type: enum
values:
0: Disable
1: Enable
default: 0
min: 0
max: 1
MIS_YAW_TMT:
description:
short: Waypoint heading timeout
long: |-
Time in seconds we wait on reaching target heading at a waypoint if it is forced
If set > 0 it will ignore the target heading for normal waypoint acceptance. If the
waypoint forces the heading the timeout will matter. For example on VTOL forwards transition.
Mainly useful for VTOLs that have less yaw authority and might not reach target
yaw in wind. Disabled by default.
type: float
default: -1.0
unit: s
min: -1
max: 20
decimal: 1
increment: 1
MIS_YAW_ERR:
description:
short: Max yaw error in degrees needed for waypoint heading acceptance
type: float
default: 12.0
unit: deg
min: 0
max: 90
decimal: 1
increment: 1
MIS_LND_ABRT_ALT:
description:
short: Landing abort min altitude
long: |-
Minimum altitude above landing point that the vehicle will climb to after an aborted landing.
Then vehicle will loiter in this altitude until further command is received.
Only applies to fixed-wing vehicles.
type: int32
default: 30
unit: m
min: 0
MIS_COMMAND_TOUT:
description:
short: Timeout to allow the payload to execute the mission command
long: |-
Ensure:
gripper: NAV_CMD_DO_GRIPPER
has released before continuing mission.
winch: CMD_DO_WINCH
has delivered before continuing mission.
gimbal: CMD_DO_GIMBAL_MANAGER_PITCHYAW
has reached the commanded orientation before beginning to take pictures.
type: float
default: 0.0
unit: s
min: 0
decimal: 1

210
src/modules/navigator/navigator_params.c
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@ -1,210 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2014-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file navigator_params.c
*
* Parameters for navigator in general
*
* @author Julian Oes <julian@px4.io>
* @author Thomas Gubler <thomas@px4.io>
*/
/**
* Loiter radius (FW only)
*
* Default value of loiter radius in fixed-wing mode (e.g. for Loiter mode).
*
* The direction of the loiter can be set via the sign: A positive value for
* clockwise, negative for counter-clockwise.
*
* @unit m
* @min -10000
* @max 10000
* @decimal 1
* @increment 0.5
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 80.0f);
/**
* Acceptance Radius
*
* Default acceptance radius, overridden by acceptance radius of waypoint if set.
* For fixed wing the npfg switch distance is used for horizontal acceptance.
*
* @unit m
* @min 0.05
* @max 200.0
* @decimal 1
* @increment 0.5
* @group Mission
*/
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);
/**
* FW Altitude Acceptance Radius before a landing
*
* Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller
* than the standard vertical acceptance because close to the ground higher accuracy is required.
*
* @unit m
* @min 0.05
* @max 200.0
* @decimal 1
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_FW_ALTL_RAD, 5.0f);
/**
* 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, 0.8f);
/**
* Set traffic avoidance mode
*
* Enabling this will allow the system to respond
* to transponder data from e.g. ADSB transponders
*
* @value 0 Disabled
* @value 1 Warn only
* @value 2 Return mode
* @value 3 Land mode
* @value 4 Position Hold mode
*
* @group Mission
*/
PARAM_DEFINE_INT32(NAV_TRAFF_AVOID, 1);
/**
* Set NAV TRAFFIC AVOID horizontal distance
*
* Defines a crosstrack horizontal distance
*
* @unit m
* @min 500
*
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_TRAFF_A_HOR, 500);
/**
* Set NAV TRAFFIC AVOID vertical distance
*
*
* @unit m
* @min 10
* @max 500
*
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_TRAFF_A_VER, 500);
/**
* Estimated time until collision
*
* Minimum acceptable time until collsion.
* Assumes constant speed over 3d distance.
*
* @unit s
* @min 1
* @max 900000000
* @group Mission
*/
PARAM_DEFINE_INT32(NAV_TRAFF_COLL_T, 60);
/**
* Force VTOL mode takeoff and land
*
* @boolean
* @group Mission
*/
PARAM_DEFINE_INT32(NAV_FORCE_VT, 1);
/**
* Minimum Loiter altitude
*
* This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this
* mode without specifying an altitude (e.g. through Loiter switch on RC).
* Doesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint ("Go to").
* Set to a negative value to disable.
*
* @unit m
* @min -1
* @decimal 1
* @increment 0.5
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_MIN_LTR_ALT, -1.f);
/**
* Minimum height above ground during Mission and RTL
*
* Minimum height above ground the vehicle is allowed to descend to during Mission and RTL,
* excluding landing commands.
* Requires a distance sensor to be set up.
* Note: only prevents the vehicle from descending further, but does not force it to climb.
*
* Set to a negative value to disable.
*
* @unit m
* @min -1
* @decimal 1
* @increment 1
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_MIN_GND_DIST, -1.f);

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module_name: navigator
parameters:
- group: Mission
definitions:
NAV_LOITER_RAD:
description:
short: Loiter radius (FW only)
long: |-
Default value of loiter radius in fixed-wing mode (e.g. for Loiter mode).
The direction of the loiter can be set via the sign: A positive value for
clockwise, negative for counter-clockwise.
type: float
default: 80.0
unit: m
min: -10000
max: 10000
decimal: 1
increment: 0.5
NAV_ACC_RAD:
description:
short: Acceptance Radius
long: |-
Default acceptance radius, overridden by acceptance radius of waypoint if set.
For fixed wing the npfg switch distance is used for horizontal acceptance.
type: float
default: 10.0
unit: m
min: 0.05
max: 200.0
decimal: 1
increment: 0.5
NAV_FW_ALT_RAD:
description:
short: FW Altitude Acceptance Radius
long: Acceptance radius for fixedwing altitude.
type: float
default: 10.0
unit: m
min: 0.05
max: 200.0
decimal: 1
increment: 0.5
NAV_FW_ALTL_RAD:
description:
short: FW Altitude Acceptance Radius before a landing
long: |-
Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller
than the standard vertical acceptance because close to the ground higher accuracy is required.
type: float
default: 5.0
unit: m
min: 0.05
max: 200.0
decimal: 1
NAV_MC_ALT_RAD:
description:
short: MC Altitude Acceptance Radius
long: Acceptance radius for multicopter altitude.
type: float
default: 0.8
unit: m
min: 0.05
max: 200.0
decimal: 1
increment: 0.5
NAV_TRAFF_AVOID:
description:
short: Set traffic avoidance mode
long: |-
Enabling this will allow the system to respond
to transponder data from e.g. ADSB transponders
type: enum
values:
0: Disabled
1: Warn only
2: Return mode
3: Land mode
4: Position Hold mode
default: 1
NAV_TRAFF_A_HOR:
description:
short: Set NAV TRAFFIC AVOID horizontal distance
long: Defines a crosstrack horizontal distance
type: float
default: 500
unit: m
min: 500
NAV_TRAFF_A_VER:
description:
short: Set NAV TRAFFIC AVOID vertical distance
type: float
default: 500
unit: m
min: 10
max: 500
NAV_TRAFF_COLL_T:
description:
short: Estimated time until collision
long: |-
Minimum acceptable time until collsion.
Assumes constant speed over 3d distance.
type: int32
default: 60
unit: s
min: 1
max: 900000000
NAV_FORCE_VT:
description:
short: Force VTOL mode takeoff and land
type: boolean
default: 1
NAV_MIN_LTR_ALT:
description:
short: Minimum Loiter altitude
long: |-
This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this
mode without specifying an altitude (e.g. through Loiter switch on RC).
Doesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint ("Go to").
Set to a negative value to disable.
type: float
default: -1.0
unit: m
min: -1
decimal: 1
increment: 0.5
NAV_MIN_GND_DIST:
description:
short: Minimum height above ground during Mission and RTL
long: |-
Minimum height above ground the vehicle is allowed to descend to during Mission and RTL,
excluding landing commands.
Requires a distance sensor to be set up.
Note: only prevents the vehicle from descending further, but does not force it to climb.
Set to a negative value to disable.
type: float
default: -1.0
unit: m
min: -1
decimal: 1
increment: 1

121
src/modules/navigator/precland_params.c
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@ -1,121 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file precland_params.c
*
* Parameters for precision landing.
*
* @author Nicolas de Palezieux (Sunflower Labs) <ndepal@gmail.com>
*/
/**
* Landing Target Timeout
*
* Time after which the landing target is considered lost without any new measurements.
*
* @unit s
* @min 0.0
* @max 50
* @decimal 1
* @increment 0.5
* @group Precision Land
*/
PARAM_DEFINE_FLOAT(PLD_BTOUT, 5.0f);
/**
* Horizontal acceptance radius
*
* Start descending if closer above landing target than this.
*
* @unit m
* @min 0.0
* @max 10
* @decimal 2
* @increment 0.1
* @group Precision Land
*/
PARAM_DEFINE_FLOAT(PLD_HACC_RAD, 0.2f);
/**
* Final approach altitude
*
* Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.
*
* @unit m
* @min 0.0
* @max 10
* @decimal 2
* @increment 0.1
* @group Precision Land
*/
PARAM_DEFINE_FLOAT(PLD_FAPPR_ALT, 0.1f);
/**
* Search altitude
*
* Altitude above home to which to climb when searching for the landing target.
*
* @unit m
* @min 0.0
* @max 100
* @decimal 1
* @increment 0.1
* @group Precision Land
*/
PARAM_DEFINE_FLOAT(PLD_SRCH_ALT, 10.0f);
/**
* Search timeout
*
* Time allowed to search for the landing target before falling back to normal landing.
*
* @unit s
* @min 0.0
* @max 100
* @decimal 1
* @increment 0.1
* @group Precision Land
*/
PARAM_DEFINE_FLOAT(PLD_SRCH_TOUT, 10.0f);
/**
* Maximum number of search attempts
*
* Maximum number of times to search for the landing target if it is lost during the precision landing.
*
* @min 0
* @max 100
* @group Precision Land
*/
PARAM_DEFINE_INT32(PLD_MAX_SRCH, 3);

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module_name: navigator
parameters:
- group: Precision Land
definitions:
PLD_BTOUT:
description:
short: Landing Target Timeout
long: Time after which the landing target is considered lost without any new
measurements.
type: float
default: 5.0
unit: s
min: 0.0
max: 50
decimal: 1
increment: 0.5
PLD_HACC_RAD:
description:
short: Horizontal acceptance radius
long: Start descending if closer above landing target than this.
type: float
default: 0.2
unit: m
min: 0.0
max: 10
decimal: 2
increment: 0.1
PLD_FAPPR_ALT:
description:
short: Final approach altitude
long: Allow final approach (without horizontal positioning) if losing landing
target closer than this to the ground.
type: float
default: 0.1
unit: m
min: 0.0
max: 10
decimal: 2
increment: 0.1
PLD_SRCH_ALT:
description:
short: Search altitude
long: Altitude above home to which to climb when searching for the landing
target.
type: float
default: 10.0
unit: m
min: 0.0
max: 100
decimal: 1
increment: 0.1
PLD_SRCH_TOUT:
description:
short: Search timeout
long: Time allowed to search for the landing target before falling back to
normal landing.
type: float
default: 10.0
unit: s
min: 0.0
max: 100
decimal: 1
increment: 0.1
PLD_MAX_SRCH:
description:
short: Maximum number of search attempts
long: Maximum number of times to search for the landing target if it is lost
during the precision landing.
type: int32
default: 3
min: 0
max: 100

203
src/modules/navigator/rtl_params.c
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/****************************************************************************
*
* Copyright (c) 2014-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file rtl_params.c
*
* Parameters for return mode
*
* @author Julian Oes <julian@oes.ch>
*/
/*
* Return mode parameters, accessible via MAVLink
*/
/**
* Return mode return altitude
*
* Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight.
* The vehicle will climb to this altitude when Return mode is enganged, unless it currently is flying higher already.
* This is affected by RTL_MIN_DIST and RTL_CONE_ANG.
*
* @unit m
* @min 0
* @decimal 1
* @increment 0.5
* @group Return Mode
*/
PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60.f);
/**
* Return mode loiter altitude
*
* Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY.
* Land (i.e. slowly descend) from this altitude if autolanding allowed.
* VTOLs do transition to hover in this altitdue above the landing point.
*
* @unit m
* @min 0
* @decimal 1
* @increment 0.5
* @group Return Mode
*/
PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30.f);
/**
* Return mode delay
*
* Delay before landing (after initial descent) in Return mode.
* If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.
*
* @unit s
* @min -1
* @decimal 1
* @increment 0.5
* @group Return Mode
*/
PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, 0.0f);
/**
* Horizontal radius from return point within which special rules for return mode apply.
*
* The return altitude will be calculated based on RTL_CONE_ANG parameter.
* The yaw setpoint will switch to the one defined by corresponding waypoint.
*
*
* @unit m
* @min 0.5
* @decimal 1
* @increment 0.5
* @group Return Mode
*/
PARAM_DEFINE_FLOAT(RTL_MIN_DIST, 10.0f);
/**
* Return type
*
* Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)
*
* @value 0 Return to closest safe point (home or rally point) via direct path.
* @value 1 Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path. Always choose closest safe landing point if vehicle is a VTOL in hover mode.
* @value 2 Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.
* @value 3 Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.
* @value 4 Return to the planned mission landing, or to home via the reverse mission path, whichever is closer by counting waypoints. Do not consider rally points.
* @value 5 Return directly to safe landing point (do not consider mission landing and Home)
* @group Return Mode
*/
PARAM_DEFINE_INT32(RTL_TYPE, 0);
/**
* Half-angle of the return mode altitude cone
*
* Defines the half-angle of a cone centered around the destination position that
* affects the altitude at which the vehicle returns.
*
* @unit deg
* @min 0
* @max 90
* @value 0 No cone, always climb to RTL_RETURN_ALT above destination.
* @value 25 25 degrees half cone angle.
* @value 45 45 degrees half cone angle.
* @value 65 65 degrees half cone angle.
* @value 80 80 degrees half cone angle.
* @value 90 Only climb to at least RTL_DESCEND_ALT above destination.
* @group Return Mode
*/
PARAM_DEFINE_INT32(RTL_CONE_ANG, 45);
/**
* RTL precision land mode
*
* Use precision landing when doing an RTL landing phase.
* This setting does not apply for RTL destinations planned as part of a mission.
*
* @value 0 No precision landing
* @value 1 Opportunistic precision landing
* @value 2 Required precision landing
* @group Return Mode
*/
PARAM_DEFINE_INT32(RTL_PLD_MD, 0);
/**
* Loiter radius for rtl descend
*
* Set the radius for loitering to a safe altitude for VTOL transition.
*
* @unit m
* @min 25
* @decimal 1
* @increment 0.5
* @group Return Mode
*/
PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 80.0f);
/**
* RTL time estimate safety margin factor
*
* Safety factor that is used to scale the actual RTL time estimate.
* Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN
*
* @min 1.0
* @max 2.0
* @decimal 1
* @increment 0.1
* @group Return To Land
*/
PARAM_DEFINE_FLOAT(RTL_TIME_FACTOR, 1.1f);
/**
* RTL time estimate safety margin offset
*
* Margin that is added to the time estimate, after it has already been scaled
* Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN
*
* @unit s
* @min 0
* @max 3600
* @decimal 1
* @increment 1
* @group Return To Land
*/
PARAM_DEFINE_INT32(RTL_TIME_MARGIN, 100);
/**
* RTL force approach landing
*
* Only consider RTL point, if it has an approach defined.
*
* @boolean
* @group Return To Land
*/
PARAM_DEFINE_INT32(RTL_APPR_FORCE, 0);

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module_name: navigator
parameters:
- group: Return Mode
definitions:
RTL_RETURN_ALT:
description:
short: Return mode return altitude
long: |-
Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight.
The vehicle will climb to this altitude when Return mode is enganged, unless it currently is flying higher already.
This is affected by RTL_MIN_DIST and RTL_CONE_ANG.
type: float
default: 60.0
unit: m
min: 0
decimal: 1
increment: 0.5
RTL_DESCEND_ALT:
description:
short: Return mode loiter altitude
long: |-
Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY.
Land (i.e. slowly descend) from this altitude if autolanding allowed.
VTOLs do transition to hover in this altitdue above the landing point.
type: float
default: 30.0
unit: m
min: 0
decimal: 1
increment: 0.5
RTL_LAND_DELAY:
description:
short: Return mode delay
long: |-
Delay before landing (after initial descent) in Return mode.
If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.
type: float
default: 0.0
unit: s
min: -1
decimal: 1
increment: 0.5
RTL_MIN_DIST:
description:
short: Min distance for RTL cone altitude calculation
long: |-
Horizontal radius from return point within which special rules for return mode apply
The return altitude will be calculated based on RTL_CONE_ANG parameter.
The yaw setpoint will switch to the one defined by corresponding waypoint.
type: float
default: 10.0
unit: m
min: 0.5
decimal: 1
increment: 0.5
RTL_TYPE:
description:
short: Return type
long: Return mode destination and flight path (home location, rally point,
mission landing pattern, reverse mission)
type: enum
values:
0: Return to closest safe point (home or rally point) via direct path.
1: Return to closest safe point other than home (mission landing pattern or
rally point), via direct path. If no mission landing or rally points are
defined return home via direct path. Always choose closest safe landing
point if vehicle is a VTOL in hover mode.
2: Return to a planned mission landing, if available, using the mission path,
else return to home via the reverse mission path. Do not consider rally
points.
3: 'Return via direct path to closest destination: home, start of mission
landing pattern or safe point. If the destination is a mission landing pattern,
follow the pattern to land.'
4: Return to the planned mission landing, or to home via the reverse mission
path, whichever is closer by counting waypoints. Do not consider rally points.
5: Return directly to safe landing point (do not consider mission landing
and Home)
default: 0
RTL_CONE_ANG:
description:
short: Half-angle of the return mode altitude cone
long: |-
Defines the half-angle of a cone centered around the destination position that
affects the altitude at which the vehicle returns.
type: enum
values:
0: No cone, always climb to RTL_RETURN_ALT above destination.
25: 25 degrees half cone angle.
45: 45 degrees half cone angle.
65: 65 degrees half cone angle.
80: 80 degrees half cone angle.
90: Only climb to at least RTL_DESCEND_ALT above destination.
default: 45
unit: deg
min: 0
max: 90
RTL_PLD_MD:
description:
short: RTL precision land mode
long: |-
Use precision landing when doing an RTL landing phase.
This setting does not apply for RTL destinations planned as part of a mission.
type: enum
values:
0: No precision landing
1: Opportunistic precision landing
2: Required precision landing
default: 0
RTL_LOITER_RAD:
description:
short: Loiter radius for rtl descend
long: Set the radius for loitering to a safe altitude for VTOL transition.
type: float
default: 80.0
unit: m
min: 25
decimal: 1
increment: 0.5
- group: Return To Land
definitions:
RTL_TIME_FACTOR:
description:
short: RTL time estimate safety margin factor
long: |-
Safety factor that is used to scale the actual RTL time estimate.
Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN
type: float
default: 1.1
min: 1.0
max: 2.0
decimal: 1
increment: 0.1
RTL_TIME_MARGIN:
description:
short: RTL time estimate safety margin offset
long: |-
Margin that is added to the time estimate, after it has already been scaled
Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN
type: int32
default: 100
unit: s
min: 0
max: 3600
decimal: 1
increment: 1
RTL_APPR_FORCE:
description:
short: RTL force approach landing
long: Only consider RTL point, if it has an approach defined.
type: boolean
default: 0

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/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vtol_takeoff_params.c
*
* Parameters for the VTOL takeoff navigation mode.
*
*/
/**
* VTOL Takeoff relative loiter altitude.
*
* Altitude relative to home at which vehicle will loiter after front transition.
*
* @unit m
* @min 20
* @max 300
* @decimal 1
* @increment 1
* @group VTOL Takeoff
*/
PARAM_DEFINE_FLOAT(VTO_LOITER_ALT, 80);

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module_name: navigator
parameters:
- group: VTOL Takeoff
definitions:
VTO_LOITER_ALT:
description:
short: VTOL Takeoff relative loiter altitude
long: Altitude relative to home at which vehicle will loiter after front transition.
type: float
default: 80
unit: m
min: 20
max: 300
decimal: 1
increment: 1