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 *
 *   Copyright (c) 2023 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,
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 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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 * 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.
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 ****************************************************************************/

/**
 * Default horizontal velocity in mission
 *
 * Horizontal velocity used when flying autonomously in e.g. Missions, RTL, Goto.
 *
 * @unit m/s
 * @min 3.0
 * @max 20.0
 * @increment 1
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);

/**
 * Automatic ascent velocity
 *
 * Ascent velocity in auto modes.
 * For manual modes and offboard, see MPC_Z_VEL_MAX_UP
 *
 * @unit m/s
 * @min 0.5
 * @max 8.0
 * @increment 0.1
 * @decimal 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_UP, 3.f);

/**
 * Automatic descent velocity
 *
 * Descent velocity in auto modes.
 * For manual modes and offboard, see MPC_Z_VEL_MAX_DN
 *
 * @unit m/s
 * @min 0.5
 * @max 4.0
 * @increment 0.1
 * @decimal 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f);

/**
 * Acceleration for auto and for manual
 *
 * Note: In manual, this parameter is only used in MPC_POS_MODE 4.
 *
 * @unit m/s^2
 * @min 2.0
 * @max 15.0
 * @increment 1
 * @decimal 2
 * @group Multicopter Position Control
 */

PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f);

/**
 * Jerk limit in auto mode
 *
 * Limit the maximum jerk of the vehicle (how fast the acceleration can change).
 * A lower value leads to smoother vehicle motions, but it also limits its
 * agility.
 *
 * @unit m/s^3
 * @min 1.0
 * @max 80.0
 * @increment 1
 * @decimal 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f);

/**
 * Proportional gain for horizontal trajectory position error
 *
 * @min 0.1
 * @max 1.0
 * @decimal 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f);

/**
 * Maximum horizontal error allowed by the trajectory generator
 *
 * The integration speed of the trajectory setpoint is linearly
 * reduced with the horizontal position tracking error. When the
 * error is above this parameter, the integration of the
 * trajectory is stopped to wait for the drone.
 *
 * This value can be adjusted depending on the tracking
 * capabilities of the vehicle.
 *
 * @min 0.1
 * @max 10.0
 * @decimal 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f);

/**
 * Max yaw rate in auto mode
 *
 * Limit the rate of change of the yaw setpoint in autonomous mode
 * to avoid large control output and mixer saturation.
 *
 * @unit deg/s
 * @min 0.0
 * @max 360.0
 * @decimal 1
 * @increment 5
 * @group Multicopter Attitude Control
 */
PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);

/**
 * Yaw mode.
 *
 * Specifies the heading in Auto.
 *
 * @min 0
 * @max 4
 * @value 0 towards waypoint
 * @value 1 towards home
 * @value 2 away from home
 * @value 3 along trajectory
 * @value 4 towards waypoint (yaw first)
 * @group Mission
 */
PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);