mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 20:53:35 +08:00
172 lines
4.5 KiB
C
172 lines
4.5 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2014-2016 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file navigator_params.c
|
|
*
|
|
* Parameters for navigator in general
|
|
*
|
|
* @author Julian Oes <julian@px4.io>
|
|
* @author Thomas Gubler <thomas@px4.io>
|
|
*/
|
|
|
|
/**
|
|
* Loiter radius (FW only)
|
|
*
|
|
* Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only).
|
|
*
|
|
* @unit m
|
|
* @min 25
|
|
* @max 1000
|
|
* @decimal 1
|
|
* @increment 0.5
|
|
* @group Mission
|
|
*/
|
|
PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
|
|
|
|
/**
|
|
* Acceptance Radius
|
|
*
|
|
* Default acceptance radius, overridden by acceptance radius of waypoint if set.
|
|
* For fixed wing the L1 turning distance is used for horizontal acceptance.
|
|
*
|
|
* @unit m
|
|
* @min 0.05
|
|
* @max 200.0
|
|
* @decimal 1
|
|
* @increment 0.5
|
|
* @group Mission
|
|
*/
|
|
PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f);
|
|
|
|
/**
|
|
* FW Altitude Acceptance Radius
|
|
*
|
|
* Acceptance radius for fixedwing altitude.
|
|
*
|
|
* @unit m
|
|
* @min 0.05
|
|
* @max 200.0
|
|
* @decimal 1
|
|
* @increment 0.5
|
|
* @group Mission
|
|
*/
|
|
PARAM_DEFINE_FLOAT(NAV_FW_ALT_RAD, 10.0f);
|
|
|
|
/**
|
|
* MC Altitude Acceptance Radius
|
|
*
|
|
* Acceptance radius for multicopter altitude.
|
|
*
|
|
* @unit m
|
|
* @min 0.05
|
|
* @max 200.0
|
|
* @decimal 1
|
|
* @increment 0.5
|
|
* @group Mission
|
|
*/
|
|
PARAM_DEFINE_FLOAT(NAV_MC_ALT_RAD, 3.0f);
|
|
|
|
/**
|
|
* Set data link loss failsafe mode
|
|
*
|
|
* The data link loss failsafe will only be entered after a timeout,
|
|
* set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected
|
|
* action will be executed. Setting this parameter to 4 will enable CASA
|
|
* Outback Challenge rules, which are only recommended to participants
|
|
* of that competition.
|
|
*
|
|
* @value 0 Disabled
|
|
* @value 1 Loiter
|
|
* @value 2 Return to Land
|
|
* @value 3 Land at current position
|
|
*
|
|
* @group Mission
|
|
*/
|
|
PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
|
|
|
|
/**
|
|
* Set RC loss failsafe mode
|
|
*
|
|
* The RC loss failsafe will only be entered after a timeout,
|
|
* set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled
|
|
* by setting the COM_RC_IN_MODE param it will not be triggered.
|
|
* Setting this parameter to 4 will enable CASA Outback Challenge rules,
|
|
* which are only recommended to participants of that competition.
|
|
*
|
|
* @value 0 Disabled
|
|
* @value 1 Loiter
|
|
* @value 2 Return to Land
|
|
* @value 3 Land at current position
|
|
*
|
|
* @group Mission
|
|
*/
|
|
PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
|
|
|
|
/**
|
|
* Airfield home Lat
|
|
*
|
|
* Latitude of airfield home waypoint
|
|
*
|
|
* @unit deg * 1e7
|
|
* @min -900000000
|
|
* @max 900000000
|
|
* @group Data Link Loss
|
|
*/
|
|
PARAM_DEFINE_INT32(NAV_AH_LAT, -265847810);
|
|
|
|
/**
|
|
* Airfield home Lon
|
|
*
|
|
* Longitude of airfield home waypoint
|
|
*
|
|
* @unit deg * 1e7
|
|
* @min -1800000000
|
|
* @max 1800000000
|
|
* @group Data Link Loss
|
|
*/
|
|
PARAM_DEFINE_INT32(NAV_AH_LON, 1518423250);
|
|
|
|
/**
|
|
* Airfield home alt
|
|
*
|
|
* Altitude of airfield home waypoint
|
|
*
|
|
* @unit m
|
|
* @min -50
|
|
* @decimal 1
|
|
* @increment 0.5
|
|
* @group Data Link Loss
|
|
*/
|
|
PARAM_DEFINE_FLOAT(NAV_AH_ALT, 600.0f);
|