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/**
 * @file standard_params.c
 * Parameters for the standard VTOL controller.
 *
 * @author Simon Wilks	<simon@uaventure.com>
 * @author Roman Bapst	<roman@px4.io>
 */


/**
 * Enable/disable usage of fixed-wing actuators in hover to generate forward force (instead of pitching down).
 * This technique can be used to avoid the plane having to pitch down in order to move forward.
 * This prevents large, negative lift values being created when facing strong winds.
 * Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL).
 * Only active if demaded down pitch is above VT_DWN_PITCH_MAX, and uses VT_FWD_THRUST_SC to get from
 * demanded down pitch to fixed-wing actuation.
 *
 * @value 0 Disable FW forward actuation in hover.
 * @value 1 Enable FW forward actuation in hover in altitude, position and auto modes (except LANDING).
 * @value 2 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1.
 * @value 3 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2.
 * @value 4 Enable FW forward actuation in hover in altitude, position and auto modes.
 *
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_INT32(VT_FWD_THRUST_EN, 0);

/**
 * Maximum allowed angle the vehicle is allowed to pitch down to generate forward force
 * when fixed-wing forward actuation is active (seeVT_FW_TRHUST_EN).
 * If demanded down pitch exceeds this limmit, the fixed-wing forward actuators are used instead.
 *
 * @min 0.0
 * @max 45.0
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_DWN_PITCH_MAX, 5.0f);

/**
 * Fixed-wing actuator thrust scale for hover forward flight.
 *
 * Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode.
 * Only active if demaded down pitch is above VT_DWN_PITCH_MAX.
 * Enabled via VT_FWD_THRUST_EN.
 *
 * @min 0.0
 * @max 2.0
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_FWD_THRUST_SC, 0.7f);

/**
 * Back transition MC motor ramp up time
 *
 * This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.
 *
 * @unit s
 * @min 0.0
 * @max 20.0
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_B_TRANS_RAMP, 3.0f);

/**
 * Output on airbrakes channel during back transition
 * Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel
 * Airbrakes need to be enables for your selected model/mixer
 *
 * @min 0
 * @max 1
 * @increment 0.01
 * @decimal 2
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_B_REV_OUT, 0.0f);


/**
 * Delay in seconds before applying back transition throttle
 * Set this to a value greater than 0 to give the motor time to spin down.
 *
 * unit s
 * @min 0
 * @max 10
 * @increment 1
 * @decimal 2
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_B_REV_DEL, 0.0f);

/**
 * Defines the time window during which the pusher throttle will be ramped up linearly to VT_F_TRANS_THR during a transition
 * to fixed wing mode. Zero or negative values will produce an instant throttle rise to VT_F_TRANS_THR.
 *
 * @max 20
 * @increment 0.01
 * @decimal 2
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_PSHER_RMP_DT, 3.0f);