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/**
 * @file rtl_params.c
 *
 * Parameters for RTL
 *
 * @author Julian Oes <julian@oes.ch>
 */

/*
 * RTL parameters, accessible via MAVLink
 */

/**
 * RTL altitude
 *
 * Altitude to fly back in RTL in meters
 *
 * @unit m
 * @min 0
 * @max 150
 * @decimal 1
 * @increment 0.5
 * @group Return Mode
 */
PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);


/**
 * Return mode loiter altitude
 *
 * Stay at this altitude above home position after RTL descending.
 * Land (i.e. slowly descend) from this altitude if autolanding allowed.
 *
 * @unit m
 * @min 2
 * @max 100
 * @decimal 1
 * @increment 0.5
 * @group Return Mode
 */
PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);

/**
 * Return mode delay
 *
 * Delay after descend before landing in Return mode.
 * If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.
 *
 * @unit s
 * @min -1
 * @max 300
 * @decimal 1
 * @increment 0.5
 * @group Return Mode
 */
PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);

/**
 * Minimum distance to trigger rising to a safe altitude
 *
 * If the system is horizontally closer than this distance to home
 * it will land straight on home instead of raising to the return
 * altitude first.
 *
 * @unit m
 * @min 0.5
 * @max 20
 * @decimal 1
 * @increment 0.5
 * @group Return Mode
 */
PARAM_DEFINE_FLOAT(RTL_MIN_DIST, 5.0f);

/**
 * Return type
 *
 * Fly straight to the home location or planned mission landing and land there or
 * use the planned mission to get to those points.
 *
 * @value 0 Return home via direct path
 * @value 1 Return to a planned mission landing, if available, via direct path, else return to home via direct path
 * @value 2 Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path
 * @group Return Mode
 */
PARAM_DEFINE_INT32(RTL_TYPE, 0);

/**
 * Half-angle of the RTL cone.
 *
 * Defines the half-angle of the cone which defines the vehicle RTL behavior.
 *
 * @unit degrees
 * @min 0
 * @max 90
 * @value 0 No cone, always climb to RTL_RETURN_ALT above home.
 * @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 home.
 * @group Return Mode
 */
PARAM_DEFINE_INT32(RTL_CONE_ANG, 0);