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/**
* @file vmount_params.c
* @author Leon Müller (thedevleon)
* @author Matthew Edwards (mje-nz)
*
*/

/**
* Mount input mode
*
* RC uses the AUX input channels (see MNT_MAN_* parameters),
* MAVLINK_ROI uses the MAV_CMD_DO_SET_ROI Mavlink message, and MAVLINK_DO_MOUNT the
* MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL messages to control a mount.
*
* @value -1 DISABLED
* @value 0 AUTO
* @value 1 RC
* @value 2 MAVLINK_ROI (protocol v1)
* @value 3 MAVLINK_DO_MOUNT (protocol v1)
* @value 4 MAVlink gimbal protocol v2
* @min -1
* @max 4
* @group Mount
* @reboot_required true
*/
PARAM_DEFINE_INT32(MNT_MODE_IN, -1);

/**
* Mount output mode
*
* AUX uses the mixer output Control Group #2.
* MAVLINK uses the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL MavLink messages
* to control a mount (set MNT_MAV_SYSID & MNT_MAV_COMPID)
*
* @value 0 AUX
* @value 1 MAVLink gimbal protocol v1
* @value 2 MAVLink gimbal protocol v2
* @min 0
* @max 2
* @group Mount
*/
PARAM_DEFINE_INT32(MNT_MODE_OUT, 0);

/**
* Mavlink System ID of the mount
*
* If MNT_MODE_OUT is MAVLink gimbal protocol v1, mount configure/control commands will be sent with this target ID.
*
* @group Mount
*/
PARAM_DEFINE_INT32(MNT_MAV_SYSID, 1);

/**
* Mavlink Component ID of the mount
*
* If MNT_MODE_OUT is MAVLink protocol v2, mount configure/control commands will be sent with this component ID.
*
* @group Mount
*/
PARAM_DEFINE_INT32(MNT_MAV_COMPID, 154);

/**
* Mixer value for selecting normal mode
*
* if required by the gimbal (only in AUX output mode)
*
* @min -1.0
* @max 1.0
* @decimal 3
* @group Mount
*/
PARAM_DEFINE_FLOAT(MNT_OB_NORM_MODE, -1.0f);

/**
* Mixer value for selecting a locking mode
*
* if required for the gimbal (only in AUX output mode)
*
* @min -1.0
* @max 1.0
* @decimal 3
* @group Mount
*/
PARAM_DEFINE_FLOAT(MNT_OB_LOCK_MODE, 0.0f);

/**
* Auxiliary channel to control roll (in AUX input or manual mode).
*
* @value 0 Disable
* @value 1 AUX1
* @value 2 AUX2
* @value 3 AUX3
* @value 4 AUX4
* @value 5 AUX5
* @value 6 AUX6
* @min 0
* @max 6
* @group Mount
*/
PARAM_DEFINE_INT32(MNT_MAN_ROLL, 0);

/**
* Auxiliary channel to control pitch (in AUX input or manual mode).
*
* @value 0 Disable
* @value 1 AUX1
* @value 2 AUX2
* @value 3 AUX3
* @value 4 AUX4
* @value 5 AUX5
* @value 6 AUX6
* @min 0
* @max 6
* @group Mount
*/
PARAM_DEFINE_INT32(MNT_MAN_PITCH, 0);

/**
* Auxiliary channel to control yaw (in AUX input or manual mode).
*
* @value 0 Disable
* @value 1 AUX1
* @value 2 AUX2
* @value 3 AUX3
* @value 4 AUX4
* @value 5 AUX5
* @value 6 AUX6
* @min 0
* @max 6
* @group Mount
*/
PARAM_DEFINE_INT32(MNT_MAN_YAW, 0);

/**
* Stabilize the mount
*
* Set to true for servo gimbal, false for passthrough.
* This is required for a gimbal which is not capable of stabilizing itself
* and relies on the IMU's attitude estimation.
*
* @value 0 Disable
* @value 1 Stabilize all axis
* @value 2 Stabilize yaw for absolute/lock mode.
* @min 0
* @max 2
* @group Mount
*/
PARAM_DEFINE_INT32(MNT_DO_STAB, 0);

/**
* Range of pitch channel output in degrees (only in AUX output mode).
*
* @min 1.0
* @max 720.0
* @decimal 1
* @group Mount
*/
PARAM_DEFINE_FLOAT(MNT_RANGE_PITCH, 90.0f);

/**
* Range of roll channel output in degrees (only in AUX output mode).
*
* @min 1.0
* @max 720.0
* @decimal 1
* @group Mount
*/
PARAM_DEFINE_FLOAT(MNT_RANGE_ROLL, 90.0f);

/**
* Range of yaw channel output in degrees (only in AUX output mode).
*
* @min 1.0
* @max 720.0
* @decimal 1
* @group Mount
*/
PARAM_DEFINE_FLOAT(MNT_RANGE_YAW, 360.0f);

/**
* Offset for pitch channel output in degrees.
*
* @min -360.0
* @max 360.0
* @decimal 1
* @group Mount
*/
PARAM_DEFINE_FLOAT(MNT_OFF_PITCH, 0.0f);

/**
* Offset for roll channel output in degrees.
*
* @min -360.0
* @max 360.0
* @decimal 1
* @group Mount
*/
PARAM_DEFINE_FLOAT(MNT_OFF_ROLL, 0.0f);

/**
* Offset for yaw channel output in degrees.
*
* @min -360.0
* @max 360.0
* @decimal 1
* @group Mount
*/
PARAM_DEFINE_FLOAT(MNT_OFF_YAW, 0.0f);

/**
 * Angular pitch rate for manual input in degrees/second.
 *
 * Full stick input [-1..1] translats to [-pitch rate..pitch rate].
 *
 * @min 1.0
 * @max 90.0
 * @group Mount
 */
PARAM_DEFINE_FLOAT(MNT_RATE_PITCH, 30.0f);

/**
 * Angular yaw rate for manual input in degrees/second.
 *
 * Full stick input [-1..1] translats to [-yaw rate..yaw rate].
 *
 * @min 1.0
 * @max 90.0
 * @group Mount
 */
PARAM_DEFINE_FLOAT(MNT_RATE_YAW, 30.0f);

/**
 * Input mode for RC gimbal input
 *
 * @value 0 Angle
 * @value 1 Angular rate
 * @min 0
 * @max 1
 * @group Mount
 */
PARAM_DEFINE_INT32(MNT_RC_IN_MODE, 1);