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/**
 * @file land_detector.c
 * Land detector algorithm parameters.
 *
 * @author Johan Jansen <jnsn.johan@gmail.com>
 */

/**
 * Multicopter max climb rate
 *
 * Maximum vertical velocity allowed in the landed state (m/s up and down)
 *
 * @unit m/s
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.70f);

/**
 * Multicopter max horizontal velocity
 *
 * Maximum horizontal velocity allowed in the landed state (m/s)
 *
 * @unit m/s
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.50f);

/**
 * Multicopter max rotation
 *
 * Maximum allowed angular velocity around each axis allowed in the landed state.
 *
 * @unit deg/s
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);

/**
 * Multicopter max throttle
 *
 * Maximum actuator output on throttle allowed in the landed state
 *
 * @min 0.1
 * @max 0.5
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.15f);

/**
 * Multicopter specific force threshold
 *
 * Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection
 *
 * @min 0.1
 * @max 10
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_FFALL_THR, 2.0f);

/**
 * Multicopter free-fall trigger time
 *
 * milliseconds that freefall conditions have to hold before triggering a freefall
 *
 * @min 20
 * @max 5000
 *
 * @group Land Detector
 */
PARAM_DEFINE_INT32(LNDMC_FFALL_TRIG, 200);	//minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h

/**
 * Fixedwing max horizontal velocity
 *
 * Maximum horizontal velocity allowed in the landed state (m/s)
 *
 * @unit m/s
 * @min 0.5
 * @max 10
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);

/**
 * Fixedwing max climb rate
 *
 * Maximum vertical velocity allowed in the landed state (m/s up and down)
 *
 * @unit m/s
 * @min 5
 * @max 20
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.0f);

/**
 * Fixedwing max short-term velocity
 *
 * Maximum velocity integral in flight direction allowed in the landed state (m/s)
 *
 * @unit m/s
 * @min 2
 * @max 10
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDFW_VELI_MAX, 4.0f);

/**
 * Airspeed max
 *
 * Maximum airspeed allowed in the landed state (m/s)
 *
 * @unit m/s
 * @min 4
 * @max 20
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDFW_AIRSPD_MAX, 8.00f);