/****************************************************************************
 *
 *   Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * Primary baro ID
 *
 * @category system
 * @group Sensor Calibration
 */
PARAM_DEFINE_INT32(CAL_BARO_PRIME, 0);

/**
 * Airspeed sensor compensation model for the SDP3x
 *
 * Model with Pitot
 * 		CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed.
 * 		CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor.
 * Model without Pitot (1.5 mm tubes)
 * 		CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed.
 * 		CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor.
 * Tube Pressure Drop
 * 		CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter.
 * 		CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.
 *
 * @value 0 Model with Pitot
 * @value 1 Model without Pitot (1.5 mm tubes)
 * @value 2 Tube Pressure Drop
 *
 * @group Sensors
 */
PARAM_DEFINE_INT32(CAL_AIR_CMODEL, 0);

/**
 * Airspeed sensor tube length.
 *
 * See the CAL_AIR_CMODEL explanation on how this parameter should be set.
 *
 * @min 0.01
 * @max 2.00
 * @unit meter
 *
 * @group Sensors
 */
PARAM_DEFINE_FLOAT(CAL_AIR_TUBELEN, 0.2f);

/**
 * Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation.
 *
 * @min 0.1
 * @max 100
 * @unit millimeter
 *
 * @group Sensors
 */
PARAM_DEFINE_FLOAT(CAL_AIR_TUBED_MM, 1.5f);

/**
 * Differential pressure sensor offset
 *
 * The offset (zero-reading) in Pascal
 *
 * @category system
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);

/**
 * Differential pressure sensor analog scaling
 *
 * Pick the appropriate scaling from the datasheet.
 * this number defines the (linear) conversion from voltage
 * to Pascal (pa). For the MPXV7002DP this is 1000.
 *
 * NOTE: If the sensor always registers zero, try switching
 * the static and dynamic tubes.
 *
 * @group Sensor Calibration
 */
PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);

/**
 * QNH for barometer
 *
 * @min 500
 * @max 1500
 * @group Sensors
 * @unit hPa
 *
 * @reboot_required true
 *
 */
PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f);

/**
 * Board rotation
 *
 * This parameter defines the rotation of the FMU board relative to the platform.
 *
 * @value 0 No rotation
 * @value 1 Yaw 45°
 * @value 2 Yaw 90°
 * @value 3 Yaw 135°
 * @value 4 Yaw 180°
 * @value 5 Yaw 225°
 * @value 6 Yaw 270°
 * @value 7 Yaw 315°
 * @value 8 Roll 180°
 * @value 9 Roll 180°, Yaw 45°
 * @value 10 Roll 180°, Yaw 90°
 * @value 11 Roll 180°, Yaw 135°
 * @value 12 Pitch 180°
 * @value 13 Roll 180°, Yaw 225°
 * @value 14 Roll 180°, Yaw 270°
 * @value 15 Roll 180°, Yaw 315°
 * @value 16 Roll 90°
 * @value 17 Roll 90°, Yaw 45°
 * @value 18 Roll 90°, Yaw 90°
 * @value 19 Roll 90°, Yaw 135°
 * @value 20 Roll 270°
 * @value 21 Roll 270°, Yaw 45°
 * @value 22 Roll 270°, Yaw 90°
 * @value 23 Roll 270°, Yaw 135°
 * @value 24 Pitch 90°
 * @value 25 Pitch 270°
 * @value 26 Roll 270°, Yaw 270°
 * @value 27 Roll 180°, Pitch 270°
 * @value 28 Pitch 90°, Yaw 180
 * @value 29 Pitch 90°, Roll 90°
 * @value 30 Yaw 293°, Pitch 68°, Roll 90° (Solo)
 * @value 31 Pitch 90°, Roll 270°
 * @value 32 Pitch 9°, Yaw 180°
 * @value 33 Pitch 45°
 * @value 34 Pitch 315°
 * @value 35 Roll 90°, Yaw 270°
 *
 * @reboot_required true
 *
 * @group Sensors
 */
PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);

/**
 * Board rotation Y (Pitch) offset
 *
 * This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user
 * to fine tune the board offset in the event of misalignment.
 *
 * @unit deg
 * @group Sensors
 */
PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f);

/**
 * Board rotation X (Roll) offset
 *
 * This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user
 * to fine tune the board offset in the event of misalignment.
 *
 * @unit deg
 * @group Sensors
 */
PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);

/**
 * Board rotation Z (YAW) offset
 *
 * This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user
 * to fine tune the board offset in the event of misalignment.
 *
 * @unit deg
 * @group Sensors
 */
PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);

/**
 * Thermal control of sensor temperature
 *
 * @value -1 Thermal control unavailable
 * @value 0 Thermal control off
 * @value 1 Thermal control enabled
 * @category system
 * @group Sensors
 */
PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);

/**
* Driver level notch frequency for gyro
*
* The center frequency for the 2nd order notch filter on the gyro driver.
* This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency.
* This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
* See "IMU_GYRO_NF_BW" to set the bandwidth of the filter.
*
* @min 0
* @max 1000
* @unit Hz
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_NF_FREQ, 0.0f);

/**
* Driver level notch bandwidth for gyro
*
* The frequency width of the stop band for the 2nd order notch filter on the gyro driver.
* See "IMU_GYRO_NF_FREQ" to activate the filter and to set the notch frequency.
*
* @min 0
* @max 100
* @unit Hz
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_NF_BW, 20.0f);

/**
* Driver level cutoff frequency for gyro
*
* The cutoff frequency for the 2nd order butterworth filter on the gyro driver.
* This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
*
* @min 0
* @max 1000
* @unit Hz
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);

/**
* Gyro control data maximum publication rate
*
* This is the maximum rate the gyro control data (sensor_gyro_control) will be allowed to publish at.
* Set to 0 to disable and publish at the native sensor sample rate.
*
* @min 0
* @max 2000
* @value 0 0 (no limit)
* @value 50 50 Hz
* @value 250 250 Hz
* @value 400 400 Hz
* @value 1000 1000 Hz
* @value 2000 2000 Hz
* @unit Hz
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 0);

/**
* Driver level cutoff frequency for accel
*
* The cutoff frequency for the 2nd order butterworth filter on the accel driver.
* This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
*
* @min 0
* @max 1000
* @unit Hz
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_ACCEL_CUTOFF, 30.0f);