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 *   Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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/**
 * @file mc_pos_control_params.c
 * Multicopter position controller parameters.
 *
 * @author Anton Babushkin <anton@px4.io>
 */

/**
 * Minimum thrust in auto thrust control
 *
 * It's recommended to set it > 0 to avoid free fall with zero thrust.
 *
 * @unit norm
 * @min 0.05
 * @max 1.0
 * @decimal 2
 * @increment 0.01
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);

/**
 * Hover thrust
 *
 * Vertical thrust required to hover.
 * This value is mapped to center stick for manual throttle control.
 * With this value set to the thrust required to hover, transition
 * from manual to ALTCTL mode while hovering will occur with the
 * throttle stick near center, which is then interpreted as (near)
 * zero demand for vertical speed.
 *
 * @unit norm
 * @min 0.2
 * @max 0.8
 * @decimal 2
 * @increment 0.01
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);

/**
 * Maximum thrust in auto thrust control
 *
 * Limit max allowed thrust. Setting a value of one can put
 * the system into actuator saturation as no spread between
 * the motors is possible any more. A value of 0.8 - 0.9
 * is recommended.
 *
 * @unit norm
 * @min 0.0
 * @max 0.95
 * @decimal 2
 * @increment 0.01
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f);

/**
 * Minimum manual thrust
 *
 * Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
 *
 * @unit norm
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.01
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);

/**
 * Maximum manual thrust
 *
 * Limit max allowed thrust. Setting a value of one can put
 * the system into actuator saturation as no spread between
 * the motors is possible any more. A value of 0.8 - 0.9
 * is recommended.
 *
 * @unit norm
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.01
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_MANTHR_MAX, 0.9f);

/**
 * Proportional gain for vertical position error
 *
 * @min 0.0
 * @max 1.5
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);

/**
 * Proportional gain for vertical velocity error
 *
 * @min 0.1
 * @max 0.4
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.2f);

/**
 * Integral gain for vertical velocity error
 *
 * Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
 *
 * @min 0.01
 * @max 0.1
 * @decimal 3
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f);

/**
 * Differential gain for vertical velocity error
 *
 * @min 0.0
 * @max 0.1
 * @decimal 3
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);

/**
 * Maximum vertical ascent velocity
 *
 * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
 *
 * @unit m/s
 * @min 0.5
 * @max 8.0
 * @decimal 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.0f);

/**
 * Maximum vertical descent velocity
 *
 * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
 *
 * @unit m/s
 * @min 0.5
 * @max 4.0
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.0f);

/**
 * Proportional gain for horizontal position error
 *
 * @min 0.0
 * @max 2.0
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f);

/**
 * Proportional gain for horizontal velocity error
 *
 * @min 0.06
 * @max 0.15
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.09f);

/**
 * Integral gain for horizontal velocity error
 *
 * Non-zero value allows to resist wind.
 *
 * @min 0.0
 * @max 0.1
 * @decimal 3
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f);

/**
 * Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
 *
 * @min 0.005
 * @max 0.1
 * @decimal 3
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);

/**
 * Maximum horizontal velocity in mission
 *
 * Normal horizontal velocity in AUTO modes (includes
 * also RTL / hold / etc.) and endpoint for
 * position stabilized mode (POSCTRL).
 *
 * @unit m/s
 * @min 3.0
 * @max 20.0
 * @increment 1
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);

/**
 * Cruise speed when angle prev-current/current-next setpoint
 * is 90 degrees. It should be lower than MPC_XY_CRUISE.
 *
 * Applies only in AUTO modes (includes
 * also RTL / hold / etc.)
 *
 * @unit m/s
 * @min 1.0
 * @max 20.0
 * @increment 1
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_CRUISE_90, 3.0f);

/**
 * Maximum horizontal velocity setpoint for manual controlled mode
 * If velocity setpoint larger than MPC_XY_VEL_MAX is set, then
 * the setpoint will be capped to MPC_XY_VEL_MAX
 *
 * @unit m/s
 * @min 3.0
 * @max 20.0
 * @increment 1
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.0f);

/**
 * Maximum horizontal velocity
 *
 * Maximum horizontal velocity in AUTO mode. If higher speeds
 * are commanded in a mission they will be capped to this velocity.
 *
 * @unit m/s
 * @min 0.0
 * @max 20.0
 * @increment 1
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f);

/**
 * Maximum tilt angle in air
 *
 * Limits maximum tilt in AUTO and POSCTRL modes during flight.
 *
 * @unit deg
 * @min 0.0
 * @max 90.0
 * @decimal 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);

/**
 * Maximum tilt during landing
 *
 * Limits maximum tilt angle on landing.
 *
 * @unit deg
 * @min 0.0
 * @max 90.0
 * @decimal 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f);

/**
 * Landing descend rate
 *
 * @unit m/s
 * @min 0.6
 * @decimal 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f);

/**
 * Takeoff climb rate
 *
 * @unit m/s
 * @min 1
 * @max 5
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);

/**
 * Maximal tilt angle in manual or altitude mode
 *
 * @unit deg
 * @min 0.0
 * @max 90.0
 * @decimal 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.0f);

/**
 * Max manual yaw rate
 *
 * @unit deg/s
 * @min 0.0
 * @max 400
 * @decimal 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 200.0f);

/**
 * Deadzone of sticks where position hold is enabled
 *
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_HOLD_DZ, 0.1f);

/**
 * Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
 *
 * @unit m/s
 * @min 0.0
 * @max 3.0
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.8f);

/**
 * Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
 *
 * @unit m/s
 * @min 0.0
 * @max 3.0
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f);

/**
 * Low pass filter cut freq. for numerical velocity derivative
 *
 * @unit Hz
 * @min 0.0
 * @max 10
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);

/**
 * Maximum horizontal acceleration for auto mode and maximum deceleration for manual mode
 *
 * @unit m/s/s
 * @min 2.0
 * @max 15.0
 * @increment 1
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 10.0f);

/**
 * Acceleration for auto and for manual
 *
 * @unit m/s/s
 * @min 2.0
 * @max 15.0
 * @increment 1
 * @decimal 2
 * @group Multicopter Position Control
 */

PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 5.0f);

/**
 * Slow horizontal manual deceleration for manual mode
 *
 * @unit m/s/s
 * @min 0.5
 * @max 10.0
 * @increment 1
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_DEC_HOR_SLOW, 5.0f);

/**
 * Horizontal acceleration in manual modes when optical flow ground speed limit is removed.
 * If full stick is being applied and the EKF starts using GPS whilst using optical flow,
 * the vehicle will accelerate at this rate until the normal position control speed is achieved.
 *
 * @unit m/s/s
 * @min 0.2
 * @max 2.0
 * @increment 0.1
 * @decimal 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_FLOW, 0.5f);

/**
 * Maximum vertical acceleration in velocity controlled modes upward
 *
 * @unit m/s/s
 * @min 2.0
 * @max 15.0
 * @increment 1
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 10.0f);

/**
 * Maximum vertical acceleration in velocity controlled modes down
 *
 * @unit m/s/s
 * @min 2.0
 * @max 15.0
 * @increment 1
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 10.0f);

/**
 * Maximum jerk in manual controlled mode for BRAKING to zero.
 * If this value is below MPC_JERK_MIN, the acceleration limit in xy and z
 * is MPC_ACC_HOR_MAX and MPC_ACC_UP_MAX respectively instantaneously when the
 * user demands brake (=zero stick input).
 * Otherwise the acceleration limit increases from current acceleration limit
 * towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit
 *
 * @unit m/s/s/s
 * @min 0.0
 * @max 15.0
 * @increment 1
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 0.0f);

/**
 * Minimum jerk in manual controlled mode for BRAKING to zero
 *
 * @unit m/s/s/s
 * @min 0.5
 * @max 10.0
 * @increment 1
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_JERK_MIN, 1.0f);

/**
 * Altitude control mode, note mode 1 only tested with LPE
 *
 * @min 0
 * @max 1
 * @value 0 Altitude following
 * @value 1 Terrain following
 * @group Multicopter Position Control
 */
PARAM_DEFINE_INT32(MPC_ALT_MODE, 0);

/**
 * Manual control stick exponential curve sensitivity attenuation with small velocity setpoints
 *
 * The higher the value the less sensitivity the stick has around zero
 * while still reaching the maximum value with full stick deflection.
 *
 * 0 Purely linear input curve (default)
 * 1 Purely cubic input curve
 *
 * @min 0
 * @max 1
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.0f);

/**
 * Manual control stick vertical exponential curve
 *
 * The higher the value the less sensitivity the stick has around zero
 * while still reaching the maximum value with full stick deflection.
 *
 * 0 Purely linear input curve (default)
 * 1 Purely cubic input curve
 *
 * @min 0
 * @max 1
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_Z_MAN_EXPO, 0.0f);

/**
 * Altitude for 1. step of slow landing (descend)
 *
 * Below this altitude descending velocity gets limited
 * to a value between "MPC_Z_VEL_MAX" and "MPC_LAND_SPEED"
 * to enable a smooth descent experience
 * Value needs to be higher than "MPC_LAND_ALT2"
 *
 * @unit m
 * @min 0
 * @max 122
 * @decimal 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_LAND_ALT1, 10.0f);

/**
 * Altitude for 2. step of slow landing (landing)
 *
 * Below this altitude descending velocity gets limited to "MPC_LAND_SPEED"
 * Value needs to be lower than "MPC_LAND_ALT1"
 *
 * @unit m
 * @min 0
 * @max 122
 * @decimal 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.0f);

/**
 * Position control smooth takeoff ramp time constant
 *
 * Increasing this value will make automatic and manual takeoff slower.
 * If it's too slow the drone might scratch the ground and tip over.
 *
 * @min 0.1
 * @max 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 0.4f);